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

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Optimal link design of a six degree of freedom micro parallel robot based on workspace analysis 基于工作空间分析的六自由度微型并联机器人连杆优化设计
2008 10th IEEE International Workshop on Advanced Motion Control Pub Date : 2008-03-26 DOI: 10.1109/AMC.2008.4516141
S. Stan, V. Maties, R. Balan, C. Rusu, S. Besoiu
{"title":"Optimal link design of a six degree of freedom micro parallel robot based on workspace analysis","authors":"S. Stan, V. Maties, R. Balan, C. Rusu, S. Besoiu","doi":"10.1109/AMC.2008.4516141","DOIUrl":"https://doi.org/10.1109/AMC.2008.4516141","url":null,"abstract":"In this paper a mono-objective optimum design procedure for a six-degree of freedom parallel micro robot is outlined by using optimality criterion of workspace and numerical aspects. A mono-objective optimization problem is formulated by referring to a basic performance of parallel robots. Additional objective functions can be used to extend the proposed design procedure to more general but specific design problems. A kinematic optimization was performed to maximize the workspace of the mini parallel robot. Optimization was performed using genetic algorithms. It is concluded that the optimal design method is useful for the design of a six degree of freedom micro parallel robot.","PeriodicalId":192217,"journal":{"name":"2008 10th IEEE International Workshop on Advanced Motion Control","volume":"28 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":"128140081","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
Direct torque controlled PWM inverter fed PMSM drive for public transport 公共交通用直接转矩控制PWM逆变器永磁同步电动机驱动
2008 10th IEEE International Workshop on Advanced Motion Control Pub Date : 2008-03-26 DOI: 10.1109/AMC.2008.4516155
D. Świerczyński, P. Wójcik, M. Kazmierkowski, M. Janaszek
{"title":"Direct torque controlled PWM inverter fed PMSM drive for public transport","authors":"D. Świerczyński, P. Wójcik, M. Kazmierkowski, M. Janaszek","doi":"10.1109/AMC.2008.4516155","DOIUrl":"https://doi.org/10.1109/AMC.2008.4516155","url":null,"abstract":"In this paper design methodology of digital PI controllers for direct torque controlled-space vector modulated (DTC-SVM) surface Permanent Magnet Synchronous Motor (PMSM) drives for electrical trams applications has been studied. The systematical approach takes into account the full model of the SPMSM and uses analyses in discrete domain. Some simulated and experimental oscillograms of 42 kW tram drive that illustrate properties of the presented design methodology are shown.","PeriodicalId":192217,"journal":{"name":"2008 10th IEEE International Workshop on Advanced Motion Control","volume":"1 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":"129309583","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: 12
Classical control revisited: Variations on a theme 经典控制重访:主题变奏曲
2008 10th IEEE International Workshop on Advanced Motion Control Pub Date : 2008-03-26 DOI: 10.1109/AMC.2008.4516034
W. Messner
{"title":"Classical control revisited: Variations on a theme","authors":"W. Messner","doi":"10.1109/AMC.2008.4516034","DOIUrl":"https://doi.org/10.1109/AMC.2008.4516034","url":null,"abstract":"Many powerful tools for automated controller synthesis now exist. However, classical control concepts are still very useful, because they often allow the designer to more readily employ engineering knowledge when making design trade-offs. This paper presents some recently developed compensator structures that are useful for loop shaping. The complex Proportional- Integral-Lead compensator is a variation of the cascade of of PI compensator and a lead compensator in which complex conjugate zeros provide additional design flexibility compared with the standard structure. Similarly the phase adjustable resonant compensator employs complex conjugate zeros to adjust the phase of at the resonant frequency making design with resonant compensators easier. The utility of these structures is demonstrated with a disk drive example.","PeriodicalId":192217,"journal":{"name":"2008 10th IEEE International Workshop on Advanced Motion Control","volume":"9 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":"133684178","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: 40
New control method for power-assisted wheelchair based on upper extremity movement using surface myoelectric signal 基于上肢运动的动力辅助轮椅表面肌电信号控制新方法
2008 10th IEEE International Workshop on Advanced Motion Control Pub Date : 2008-03-26 DOI: 10.1109/AMC.2008.4516117
Y. Oonishi, Sehoon Oh, Y. Hon
{"title":"New control method for power-assisted wheelchair based on upper extremity movement using surface myoelectric signal","authors":"Y. Oonishi, Sehoon Oh, Y. Hon","doi":"10.1109/AMC.2008.4516117","DOIUrl":"https://doi.org/10.1109/AMC.2008.4516117","url":null,"abstract":"In this paper, we design a new controller of power-assist wheelchair. Conventional power-assist controllers only focus on the amplification of the human input force using torque sensor. Our proposed controller does not use a torque sensor but an electromyogram(EMG) sensor. Our designed controller is composed of EMG filter block, disturbance observer, direction discrimination function and fuzzy controller. We estimate whether the driver wants to propel forward or backward by the EMG signal placed at the triceps brachii muscle and the biceps brachii muscle. Then we provide power assist by combining the filtered myoelectric signal of the adductor pollicis muscle and the estimated human torque signal calculated by the disturbance observer. If the driver wants to stop or decelerate the wheelchair, our designed controller detects the changes of EMG signal and step down assist torque and realize vibration-free speed reduction. Experimental results show that the proposed power-assist method realizes quick and smooth power assist according to the driver's will.","PeriodicalId":192217,"journal":{"name":"2008 10th IEEE International Workshop on Advanced Motion Control","volume":"23 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":"134140886","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: 22
Torsional vibration suppression of a twin-drive geared system using model-based control 基于模型控制的双传动齿轮传动系统扭振抑制
2008 10th IEEE International Workshop on Advanced Motion Control Pub Date : 2008-03-26 DOI: 10.1109/AMC.2008.4516062
M. Itoh
{"title":"Torsional vibration suppression of a twin-drive geared system using model-based control","authors":"M. Itoh","doi":"10.1109/AMC.2008.4516062","DOIUrl":"https://doi.org/10.1109/AMC.2008.4516062","url":null,"abstract":"This paper deals with a control technique of eliminating the transient vibration of a twin-drive geared mechanical system with backlash. This technique is based on a model-based control equipped with a local current compensating loop. The control model as a dynamical compensator is composed of a linear reduced-order model related to the velocity control loop and a delay element related to the backlash. This control model estimates a load speed converted to the motor shaft. The difference between the estimated load speed and the motor speed is dynamically calculated, and it is added to the velocity command to suppress the transient vibration generated at the load. To avoid the interference of the output torque of each motor, a local current compensating loop is integrated into the current loop. In this paper, the performance and the effectiveness of this control method are verified by simulations and experiments. They show satisfactory control results. The settling time of the residual vibration can be shortened down to about 1/2 of the uncompensated vibration level.","PeriodicalId":192217,"journal":{"name":"2008 10th IEEE International Workshop on Advanced Motion Control","volume":"9 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":"134172696","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: 12
On-line parameter tuning of disturbance compensation in precision positioning 精密定位扰动补偿的在线参数整定
2008 10th IEEE International Workshop on Advanced Motion Control Pub Date : 2008-03-26 DOI: 10.1109/AMC.2008.4516147
K. Ito, N. Takigawa, M. Yamamoto, M. Iwasaki, N. Matsui
{"title":"On-line parameter tuning of disturbance compensation in precision positioning","authors":"K. Ito, N. Takigawa, M. Yamamoto, M. Iwasaki, N. Matsui","doi":"10.1109/AMC.2008.4516147","DOIUrl":"https://doi.org/10.1109/AMC.2008.4516147","url":null,"abstract":"This paper presents an on-line parameter tuning for the disturbance model using a least square method base on estimated disturbance errors. In this research, both nonlinear frictions and modeling errors between the mathematical model and the actual plant system are handled as disturbances in mechanism. It is well-known that the disturbance variation deteriorates positioning performances. A viscous friction and a motor torque constant are taken up a problem as primary factors in disturbance variation, because those parameters are frequently varied for temperature change due to drive conditions, such as before/after warm up motion. In the proposed parameter tuning, the disturbance variation is handled as an additive perturbation for the nominal disturbance, and a least square method for the additive perturbation estimates disturbance model parameter errors. The proposed positioning control approach with an adaptive disturbance model-based feedforward compensation has been verified by experiments using a table drive system on machine stand.","PeriodicalId":192217,"journal":{"name":"2008 10th IEEE International Workshop on Advanced Motion Control","volume":"8 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":"131478918","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
Motion control of environmental adaptation for biped robot 双足机器人环境自适应运动控制
2008 10th IEEE International Workshop on Advanced Motion Control Pub Date : 2008-03-26 DOI: 10.1109/AMC.2008.4516084
E. Ohashi, T. Sato, K. Ohnishi
{"title":"Motion control of environmental adaptation for biped robot","authors":"E. Ohashi, T. Sato, K. Ohnishi","doi":"10.1109/AMC.2008.4516084","DOIUrl":"https://doi.org/10.1109/AMC.2008.4516084","url":null,"abstract":"This paper describes adaptive motion of a biped robot with the flat soles. The robot obtains the information of reaction force from the ground by sensors at each corner of the soles. From the sensor information, environment modes are extracted. By utilizing environment mode information, the robot can detect unevenness of the environment. In some cases, the robot cannot achieve stable walking motion because of the unstable contact between the sole and the ground. In order to walk stably on the uneven ground, the robot should contact with three corners of the sole since 3-point contact is stable. Therefore, in this research, we propose a method that is applicable to the robot on the uneven ground. 3-point contact is achieved by determining the environment modes.","PeriodicalId":192217,"journal":{"name":"2008 10th IEEE International Workshop on Advanced Motion Control","volume":"15 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":"134010393","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
Target distance measurement based on camera moving direction estimated with optical flow 基于光流估计相机运动方向的目标距离测量
2008 10th IEEE International Workshop on Advanced Motion Control Pub Date : 2008-03-26 DOI: 10.1109/AMC.2008.4516042
M. Shibata, T. Makino, M. Ito
{"title":"Target distance measurement based on camera moving direction estimated with optical flow","authors":"M. Shibata, T. Makino, M. Ito","doi":"10.1109/AMC.2008.4516042","DOIUrl":"https://doi.org/10.1109/AMC.2008.4516042","url":null,"abstract":"The paper describes a way of measuring the distance toward a target object with using visual information provided by an active camera. The optical flow, which is one of the ways of image analysis in image processing, contributes to recognize the target status and is also available to estimate the distance toward the target. In our approach, at first, the moving direction of the active camera is estimated with using the optical flows. Next, since many of the generated flows include errors, the feasible flows without errors are selected, with referring the estimated moving direction on each flow. Finally, the target distance is estimated with using the selected feasible flows. The distance is obtained by the flows without any error, so that sufficiently correct results have been achieved in the physical experiments.","PeriodicalId":192217,"journal":{"name":"2008 10th IEEE International Workshop on Advanced Motion Control","volume":"38 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":"115986160","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: 13
ZMP disturbance observer for walking stabilization of biped robot 双足机器人行走稳定的ZMP扰动观测器
2008 10th IEEE International Workshop on Advanced Motion Control Pub Date : 2008-03-26 DOI: 10.1541/IEEJIAS.130.283
T. Sato, K. Ohnishi
{"title":"ZMP disturbance observer for walking stabilization of biped robot","authors":"T. Sato, K. Ohnishi","doi":"10.1541/IEEJIAS.130.283","DOIUrl":"https://doi.org/10.1541/IEEJIAS.130.283","url":null,"abstract":"In this paper, a ZMP (zero-moment point) disturbance observer for walking stabilization of the biped robot is proposed. The disturbance to a ZMP is defined as a \"ZMP disturbance\". The ZMP disturbance is composed of a modeling error and external force. The ZMP disturbance observer divides the ZMP disturbance based on the frequency band, and applies a position compensation method and an acceleration compensation method. The ZMP disturbance observer is effective to the ZMP disturbance, and useful for the walking stabilization of the biped robot. Additionally a method of converting the compensation to a COG (center of gravity) trajectory into the compensation to a body trajectory is proposed. The validity of the proposed method was confirmed in the simulations and the experiments.","PeriodicalId":192217,"journal":{"name":"2008 10th IEEE International Workshop on Advanced Motion Control","volume":"102 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":"115600788","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: 28
Preisach model of nonlinear transmission at low velocities in robot joints 机器人关节低速非线性传动的预估模型
2008 10th IEEE International Workshop on Advanced Motion Control Pub Date : 2008-03-26 DOI: 10.1109/AMC.2008.4516156
M. Ruderman, F. Hoffmann, T. Bertram
{"title":"Preisach model of nonlinear transmission at low velocities in robot joints","authors":"M. Ruderman, F. Hoffmann, T. Bertram","doi":"10.1109/AMC.2008.4516156","DOIUrl":"https://doi.org/10.1109/AMC.2008.4516156","url":null,"abstract":"More advanced robotic applications demand novel control schemes and additional sensors to exceed the position accuracy of todays industrial robots. In that context more elaborate models of the transmission behavior of robotic joints open an avenue for advanced control system design with the objective to improve the dynamic accuracy of conventional robots without altering their mechanical structure. This paper introduces a novel advanced transmission model to capture the nonlinear behavior of elastic robot joints at low velocities. The stiffness of the robot joints is identified based upon experimental observations of the dynamic torque-torsion relationship. The prediction of the effective stiffness torque relies on the quasi-static torque equilibrium and the joint torsion observed through internal and external joint encoders. The distributed hysteresis behavior of the torsion as a function of stiffness torque is described by means of the Preisach operator which parameters are identified in a model based dynamic simulation. Finally, the accuracy of the model is verified experimentally by a comparison of the dynamic response between the actual system and the identified model. The proposed model enables the design of an advanced predictive control of robot joints, and thereby contributes to an improvement in the accuracy of standard industrial robotic systems.","PeriodicalId":192217,"journal":{"name":"2008 10th IEEE International Workshop on Advanced Motion Control","volume":"1 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":"116551867","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
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