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Proceedings of IECON '93 - 19th Annual Conference of IEEE Industrial Electronics最新文献

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Learning friction compensation in robot manipulators 学习机器人操作手的摩擦补偿
Proceedings of IECON '93 - 19th Annual Conference of IEEE Industrial Electronics Pub Date : 1993-11-15 DOI: 10.1109/IECON.1993.339433
S. P. Chan
{"title":"Learning friction compensation in robot manipulators","authors":"S. P. Chan","doi":"10.1109/IECON.1993.339433","DOIUrl":"https://doi.org/10.1109/IECON.1993.339433","url":null,"abstract":"It is difficult to represent the nonlinear characteristics of friction in terms of a mathematical model. An alternative approach of using a neural network to learn the uncertainties in the friction torque of robot manipulators is proposed. Furthermore a true teaching signal for learning the uncertainties is derived. After learning, the neural network is capable of reproducing the training data. It is then embedded in the structure of a joint torque perturbation observer to compensate for the uncertainties in friction. As a result, an accurate estimate of the joint reaction torque during electronic component insertion by a SCARA robot can be deduced. This approach offers distinct advantages over the conventional method of using a structured friction model.<<ETX>>","PeriodicalId":132101,"journal":{"name":"Proceedings of IECON '93 - 19th Annual Conference of IEEE Industrial Electronics","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-11-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122288053","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 4
Inverse kinematics problem for multi-degrees-of-freedom manipulator based on robust control 基于鲁棒控制的多自由度机械臂逆运动学问题
Proceedings of IECON '93 - 19th Annual Conference of IEEE Industrial Electronics Pub Date : 1993-11-15 DOI: 10.1109/IECON.1993.339102
K. Ohnishi, T. Murakami
{"title":"Inverse kinematics problem for multi-degrees-of-freedom manipulator based on robust control","authors":"K. Ohnishi, T. Murakami","doi":"10.1109/IECON.1993.339102","DOIUrl":"https://doi.org/10.1109/IECON.1993.339102","url":null,"abstract":"This paper describes several control strategies to simplify inverse kinematics problem in multidegrees-of-freedom manipulator based on robust control. To construct motion controller of the manipulator, both joint space and operational space are available. In general, it is easy for manipulator user to recognize the motion of the manipulator in operational space. So the operational space is selected to synthesize the motion reference to the manipulator. In this case, the motion reference should be transformed into the joint space where the actuator exists. In this paper, we explain the simplification methods of the transformation from the operational space to the joint space, that is, the inverse kinematics problem by using the robust control. Several experimental results are shown to confirm the validity of the proposed methods.<<ETX>>","PeriodicalId":132101,"journal":{"name":"Proceedings of IECON '93 - 19th Annual Conference of IEEE Industrial Electronics","volume":"93 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-11-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121084157","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Status and trends in power semiconductor devices 功率半导体器件的现状与趋势
Proceedings of IECON '93 - 19th Annual Conference of IEEE Industrial Electronics Pub Date : 1993-11-15 DOI: 10.1109/IECON.1993.339117
D. Blackburn
{"title":"Status and trends in power semiconductor devices","authors":"D. Blackburn","doi":"10.1109/IECON.1993.339117","DOIUrl":"https://doi.org/10.1109/IECON.1993.339117","url":null,"abstract":"A brief description of some developments that affect the application of power semiconductor devices is given. Developments in 'chips', packages, simulation, and new materials are included.<<ETX>>","PeriodicalId":132101,"journal":{"name":"Proceedings of IECON '93 - 19th Annual Conference of IEEE Industrial Electronics","volume":"57 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-11-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115213549","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
Dynamic model based auto-tuning digital servo driver 基于动态模型的自整定数字伺服驱动器
Proceedings of IECON '93 - 19th Annual Conference of IEEE Industrial Electronics Pub Date : 1993-11-15 DOI: 10.1109/IECON.1993.339153
Shinichi Kobayashi, I. Awaya, H. Kuromaru, K. Oshitani
{"title":"Dynamic model based auto-tuning digital servo driver","authors":"Shinichi Kobayashi, I. Awaya, H. Kuromaru, K. Oshitani","doi":"10.1109/IECON.1993.339153","DOIUrl":"https://doi.org/10.1109/IECON.1993.339153","url":null,"abstract":"This paper presents a new digital servo driver which realizes an auto-tuning function using the disturbance torque observer. By the auto-tuning function, the host controller of the driver can obtain parameters for advanced controls (such as predictive control, etc.). The control parameters such as the inertia constant, the viscous coefficient and the constant disturbance torque, are automatically obtained by the orthogonal relation between the torque components of the estimated disturbance torque. The proposed auto-tuning algorithm is realized with a simple software. The experimental results show that the dynamic model based auto-tuning digital servo driver can achieve good performances and that the driver is able to estimate all parameters accurately.<<ETX>>","PeriodicalId":132101,"journal":{"name":"Proceedings of IECON '93 - 19th Annual Conference of IEEE Industrial Electronics","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-11-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121197683","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 27
Optimal control of three level PWM inverters 三电平PWM逆变器的最优控制
Proceedings of IECON '93 - 19th Annual Conference of IEEE Industrial Electronics Pub Date : 1993-11-15 DOI: 10.1109/IECON.1993.339242
S. Halász, A.A. Hassan, B.T. Huu
{"title":"Optimal control of three level PWM inverters","authors":"S. Halász, A.A. Hassan, B.T. Huu","doi":"10.1109/IECON.1993.339242","DOIUrl":"https://doi.org/10.1109/IECON.1993.339242","url":null,"abstract":"The harmonic loss-minimized optimal PWM strategy for three-level inverters is investigated. The different PWM methods for low, middle and high speed regions are presented. It is shown that for three-level inverters, the optimized strategy in all speed regions differs from the optimal PWM strategy of two-level inverters. The developed optimal control ensures a minimum of motor harmonic losses for a predetermined number of commutations of three-level PWM inverters and for a given value of the fundamental harmonic voltage.<<ETX>>","PeriodicalId":132101,"journal":{"name":"Proceedings of IECON '93 - 19th Annual Conference of IEEE Industrial Electronics","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-11-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123849894","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 6
Laser beam printer adjustment by use of subjective evaluation pattern 激光束打印机调节采用主观评价模式
Proceedings of IECON '93 - 19th Annual Conference of IEEE Industrial Electronics Pub Date : 1993-11-15 DOI: 10.1109/IECON.1993.339452
Y. Shimodaira, M. Takahashi, T. Muraoka, H. Ikeda, T. Yugami
{"title":"Laser beam printer adjustment by use of subjective evaluation pattern","authors":"Y. Shimodaira, M. Takahashi, T. Muraoka, H. Ikeda, T. Yugami","doi":"10.1109/IECON.1993.339452","DOIUrl":"https://doi.org/10.1109/IECON.1993.339452","url":null,"abstract":"Presented is a new adjustment method of laser beam (LB) printer for improving the quality of the printed material. For the correct adjustment of the LB-printer, the quality of characters, figures and lines can be tested without using a micro-densitometer when a new evaluation pattern is printed on a sheet of paper. The quality of the printed material is determined depending on whether the elemental dots or lines are printed in a correct size or not. Since this new evaluation pattern is used to evaluate the quality of characters, figures and lines in five steps, the line width printed on a sheet of paper is expanded or shrunken with an expansion ratio of +20%, +10%, 0%, -10% or -20% of the normal size of the elemental dots. This new evaluation pattern can be used to check if the printer is operating normally.<<ETX>>","PeriodicalId":132101,"journal":{"name":"Proceedings of IECON '93 - 19th Annual Conference of IEEE Industrial Electronics","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-11-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121514242","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 3
Calibration of manipulator using vision sensor on hand unit 在机械手上使用视觉传感器进行校准
Proceedings of IECON '93 - 19th Annual Conference of IEEE Industrial Electronics Pub Date : 1993-11-15 DOI: 10.1109/IECON.1993.339271
K. Nakazawa
{"title":"Calibration of manipulator using vision sensor on hand unit","authors":"K. Nakazawa","doi":"10.1109/IECON.1993.339271","DOIUrl":"https://doi.org/10.1109/IECON.1993.339271","url":null,"abstract":"A robot has its original error of link length and angular offsets. Consequently, it has low absolute positioning accuracy, although the robot has good repeatability. For this reason, calibration of the manipulator is required. This paper proposes a calibration method using information obtained through a vision sensor, which is installed on the hand. First, the robot makes a series of movements with a vision sensor. Next, the sensor projects a laser onto an object and takes an image at each position. Finally, parameters are calibrated using the error of 3D position by the Newton method.<<ETX>>","PeriodicalId":132101,"journal":{"name":"Proceedings of IECON '93 - 19th Annual Conference of IEEE Industrial Electronics","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-11-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121523932","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 3
Optimal regional poles placement with time-weighted performance index 基于时间加权性能指标的最优区域极点配置
Proceedings of IECON '93 - 19th Annual Conference of IEEE Industrial Electronics Pub Date : 1993-11-15 DOI: 10.1109/IECON.1993.339421
Tsu-Tian Lee, Jenq‐Lang Wu
{"title":"Optimal regional poles placement with time-weighted performance index","authors":"Tsu-Tian Lee, Jenq‐Lang Wu","doi":"10.1109/IECON.1993.339421","DOIUrl":"https://doi.org/10.1109/IECON.1993.339421","url":null,"abstract":"The design of optimal discrete-time linear time-invariant systems with time-weighted performance index is studied. The optimal state feedback control law, that ensures all closed-loop poles lie inside a region H and minimizes a time-weighted performance index, is derived. The region H could be any region bounded by line segments and/or quadratic curves. The performance index consists of two parts, namely, one part is used to penalize the sustained error, while the other part is used to improve the robustness of the closed-loop system. Illustrative examples are included to demonstrate the validity and applicability of the proposed method.<<ETX>>","PeriodicalId":132101,"journal":{"name":"Proceedings of IECON '93 - 19th Annual Conference of IEEE Industrial Electronics","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-11-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125268005","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
An advanced on-line video tracking system 先进的在线视频跟踪系统
Proceedings of IECON '93 - 19th Annual Conference of IEEE Industrial Electronics Pub Date : 1993-11-15 DOI: 10.1109/IECON.1993.339364
J. Hwang, Y. Ooi, S. Ozawa
{"title":"An advanced on-line video tracking system","authors":"J. Hwang, Y. Ooi, S. Ozawa","doi":"10.1109/IECON.1993.339364","DOIUrl":"https://doi.org/10.1109/IECON.1993.339364","url":null,"abstract":"This paper describes an on-line visual sensing system available to a security area. The sensing system capable of tracking and zooming functions detects an unexpected object and records the series of available extracted object images in the time varying environment. Two algorithms-image processing to detect the object motion and parallel pan/tilt/zoom control-are proposed for the sensing system. In the image processing, the object edge image is first abstracted by specific temporal differentiation of two successive edge images. The object size as a major information in zoom-lens control is determined by multi-stage eigenvalues of the real symmetric matrix in the abstracted image which is designed for low computational cost as well as noise detection. Secondly for a practical application, the organic path planning of parallel sensor control-three mechanical freedoms of pan, tilt and zoom-is established, and pipeline processing between image processing and sensor control is designed. Experimental results show that the proposed system is valid for numerous kinds of moving objects in the security zone.<<ETX>>","PeriodicalId":132101,"journal":{"name":"Proceedings of IECON '93 - 19th Annual Conference of IEEE Industrial Electronics","volume":"192 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-11-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116531675","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Robust stabilization of large-scale interconnected systems including delayed perturbations 包含时滞扰动的大型互联系统的鲁棒镇定
Proceedings of IECON '93 - 19th Annual Conference of IEEE Industrial Electronics Pub Date : 1993-11-15 DOI: 10.1109/IECON.1993.339417
Hansheng Wu, K. Mizukami
{"title":"Robust stabilization of large-scale interconnected systems including delayed perturbations","authors":"Hansheng Wu, K. Mizukami","doi":"10.1109/IECON.1993.339417","DOIUrl":"https://doi.org/10.1109/IECON.1993.339417","url":null,"abstract":"The problem of robust stabilization of large-scale interconnected systems including delayed perturbations are considered. On the basis of algebraic Riccati equations, a class of decentralized state feedback controllers are proposed, and some sufficient conditions on the decentralized state feedback controllers are derived so that the systems remain stable in the presence of delayed perturbations. The results obtained in this paper are applicable not only to the systems with multiple time-varying delays, but also to the systems without exact knowledge of the delays, i.e. the systems with uncertain delays. Our results give a bound on perturbations including uncertainties and time-delay.<<ETX>>","PeriodicalId":132101,"journal":{"name":"Proceedings of IECON '93 - 19th Annual Conference of IEEE Industrial Electronics","volume":"98 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-11-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116501605","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
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