2008 10th IEEE International Workshop on Advanced Motion Control最新文献

Development of a reduced size unmanned car 研制小型化无人驾驶汽车

2008 10th IEEE International Workshop on Advanced Motion Control Pub Date : 2008-03-26 DOI: 10.1109/AMC.2008.4516163

E. Bertolazzi, F. Biral, P. Bosetti, M. Cecco, Roberto Oboe, F. Zendri

引用次数: 10

An experimental validation of flexible actuator with torque wire for haptic motion 一种用于触觉运动的柔性力矩线执行器的实验验证

2008 10th IEEE International Workshop on Advanced Motion Control Pub Date : 2008-03-26 DOI: 10.1109/AMC.2008.4516134

T. Kobayashi, Y. Soeda, S. Hyodo, K. Ohnishi

引用次数: 2

Quadrant glitch compensation using friction model-based feedforward and an inverse-model-based disturbance observer 使用基于摩擦模型的前馈和基于逆模型的扰动观测器进行象限故障补偿

2008 10th IEEE International Workshop on Advanced Motion Control Pub Date : 2008-03-26 DOI: 10.1109/AMC.2008.4516068

Z. Jamaludin, H. Van Brussel, J. Swevers

{"title":"Quadrant glitch compensation using friction model-based feedforward and an inverse-model-based disturbance observer","authors":"Z. Jamaludin, H. Van Brussel, J. Swevers","doi":"10.1109/AMC.2008.4516068","DOIUrl":"https://doi.org/10.1109/AMC.2008.4516068","url":null,"abstract":"Accurate tracking is essential for machine tools. Both friction forces and cutting forces contribute to positioning and tracking errors. This paper considers contour tracking errors caused by friction forces only. The complex non-linear behaviour of friction at motion reversal causes a unique tracking error known as quadrant glitch. Compensation of quadrant glitches is desired to minimize surface contour error that is visible in circular tracking test. This paper analyzed, simulated and experimentally validated three different friction compensation strategies on a machine tool linear drive: (i) feedforward based on two friction models proposed in the literature, (ii) an inverse- model-based disturbance observer, and (iii) the combination of friction model feedforward and disturbance observer. The considered friction models are a simple static friction model and the recently developed Generalized Maxwell-slip friction model. The combination of feedforward based on the Generalized Maxwell-slip friction model and the disturbance observer yield the smallest tracking error and glitches.","PeriodicalId":192217,"journal":{"name":"2008 10th IEEE International Workshop on Advanced Motion Control","volume":"176 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-03-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126071126","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: 67

Abnormality detection monitoring system for elderly people in sensing and robotic support room 老年人传感机器人辅助室异常检测监控系统

2008 10th IEEE International Workshop on Advanced Motion Control Pub Date : 2008-03-26 DOI: 10.1109/AMC.2008.4516041

H. Seki, S. Tadakuma

{"title":"Abnormality detection monitoring system for elderly people in sensing and robotic support room","authors":"H. Seki, S. Tadakuma","doi":"10.1109/AMC.2008.4516041","DOIUrl":"https://doi.org/10.1109/AMC.2008.4516041","url":null,"abstract":"This paper describes an abnormal behavior detection system based on an omni-directional vision sensor as one of the important elements in realizing \"sensing and robotic support room\" for elderly people. Such support rooms are expected to be further developed in the future with the high performance to automatically recognize elderly people's actions and behavior patterns and detect the unusual patterns using some sensors and to support their daily motions using some robotic manipulator control systems. The proposed monitoring system using an omnidirectional vision sensor automatically learns the daily behavior patterns and detects the unusual behavior patterns and actions using Bayesian network approach. The Bayesian network is constructed using image feature values such as the area and center-of gravity values extracted from the captured image sequence and the respective behavior patterns are represented as the conditional probabilities. Unusual behavior patterns can be automatically detected based on the low generation probability values. Some experiments based on the investigation of elderly people's typical daily behavior patterns show the effectiveness of the proposed system.","PeriodicalId":192217,"journal":{"name":"2008 10th IEEE International Workshop on Advanced Motion Control","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-03-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115089866","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: 8

A vision system for 2D real-time vector motion estimation of a random-sized moving pattern 一种用于二维实时矢量运动估计的视觉系统

2008 10th IEEE International Workshop on Advanced Motion Control Pub Date : 2008-03-26 DOI: 10.1109/AMC.2008.4516059

M. De Nicola, A. Bertaso, N. Massari, M. Gottardi

引用次数: 0

Motion copying system based on real-world haptics 基于真实世界触觉的运动复制系统

2008 10th IEEE International Workshop on Advanced Motion Control Pub Date : 2008-03-26 DOI: 10.1109/AMC.2008.4516137

Y. Yokokura, S. Katsura, K. Ohishi

引用次数: 58

Implementation of internet based telemicromanipulation with delay compensation 基于网络的延时补偿远程操作的实现

2008 10th IEEE International Workshop on Advanced Motion Control Pub Date : 2008-03-26 DOI: 10.1109/AMC.2008.4516085

C. Preeda, G. Hwang, H. Hashimoto

引用次数: 0

Nanoscale servo control of contact-mode AFM with surface topography learning observer 带有表面形貌学习观测器的接触型AFM纳米伺服控制

2008 10th IEEE International Workshop on Advanced Motion Control Pub Date : 2008-03-26 DOI: 10.1109/AMC.2008.4516129

H. Fujimoto, T. Oshima

引用次数: 7

An approach of motion compensation for biped walking robots with structural deformation 具有结构变形的双足步行机器人运动补偿方法

2008 10th IEEE International Workshop on Advanced Motion Control Pub Date : 2008-03-26 DOI: 10.1109/AMC.2008.4516079

N. Oda, H. Nakane

引用次数: 12

A linear programming approach to design robust input shaping 设计鲁棒输入整形的线性规划方法

2008 10th IEEE International Workshop on Advanced Motion Control Pub Date : 2008-03-26 DOI: 10.1109/AMC.2008.4516045

L. V. D. Broeck, G. Pipeleers, J. D. Caigny, B. Demeulenaere, J. Swevers, J. Schutter

{"title":"A linear programming approach to design robust input shaping","authors":"L. V. D. Broeck, G. Pipeleers, J. D. Caigny, B. Demeulenaere, J. Swevers, J. Schutter","doi":"10.1109/AMC.2008.4516045","DOIUrl":"https://doi.org/10.1109/AMC.2008.4516045","url":null,"abstract":"Input shaping is an established technique to generate prefilters that move flexible mechanical systems with little or no residual vibration. While traditional input shaping design strategies are often analytical, the present paper introduces a design method based on numerical optimization. It is shown that, through a careful selection of the optimization variables, objective function and constraints, it is possible to obtain a linear optimization problem. As a result, it is guaranteed that the globally optimal input shaper be found in a few seconds of computational time. The presented optimization framework is able to handle higher-order, linear time-invariant dynamic systems, as opposed to traditional input shapers, which are mainly based on second- order systems. Moreover, constraints on input, output and state variables are easily accounted for, as well as robustness against parametric uncertainty. Numerical results illustrate the capability of the proposed design approach to reproduce existing input shaping design approaches, while experimental results illustrate its potential for higher-order systems.","PeriodicalId":192217,"journal":{"name":"2008 10th IEEE International Workshop on Advanced Motion Control","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-03-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131656587","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: 10