发布求助
文献互助 智能选刊 最新文献

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

筛选
英文 中文
Suppression of vibration due to transmission error of harmonic drives using peak filter with acceleration feedback 利用带加速度反馈的峰值滤波器抑制谐波传动传动误差引起的振动
2008 10th IEEE International Workshop on Advanced Motion Control Pub Date : 2008-03-26 DOI: 10.1109/AMC.2008.4516063
Cheng-Huei Han, Chun-Chih Wang, M. Tomizuka
{"title":"Suppression of vibration due to transmission error of harmonic drives using peak filter with acceleration feedback","authors":"Cheng-Huei Han, Chun-Chih Wang, M. Tomizuka","doi":"10.1109/AMC.2008.4516063","DOIUrl":"https://doi.org/10.1109/AMC.2008.4516063","url":null,"abstract":"Harmonic drives are widely used in robotics and precision positioning systems because of their unique properties such as near-zero backlash, high speed reduction ratio. However, they possess a periodic positioning error known as the transmission error and it produces a speed ripple on the gear output shaft. This is critical when the frequency of the speed variation coincides with the resonant frequency of the control system. This paper presents a speed control system to suppress the vibrations caused by the transmission error from harmonic drives. First, a new analysis scheme is proposed to analyze the effects of the transmission error. Next, a peak filter using load side acceleration information is designed and added into the servo loop in parallel with the existing controller. Simulation and experimental results show that the proposed system regulates the load side velocity satisfactorily and suppresses the vibration caused by the transmission error effectively.","PeriodicalId":192217,"journal":{"name":"2008 10th IEEE International Workshop on Advanced Motion Control","volume":"12 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":"122401088","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
Dynamically optimal polynomial splines for flexible servo-systems: Experimental results 柔性伺服系统的动态最优多项式样条:实验结果
2008 10th IEEE International Workshop on Advanced Motion Control Pub Date : 2008-03-26 DOI: 10.1109/AMC.2008.4516048
J. De Caigny, B. Demeulenaere, J. De Schutter, J. Swevers
{"title":"Dynamically optimal polynomial splines for flexible servo-systems: Experimental results","authors":"J. De Caigny, B. Demeulenaere, J. De Schutter, J. Swevers","doi":"10.1109/AMC.2008.4516048","DOIUrl":"https://doi.org/10.1109/AMC.2008.4516048","url":null,"abstract":"This work considers the design of point-to-point input trajectories that result in minimal residual vibration of flexible motion systems. The design is based on a recently developed optimization framework for polynomial spline design. This framework is based on linear programming and automatically selects the optimal number and location of the spline knots, while also allowing the designer to consider input constraints and robustness against parametric uncertainty and unmodeled dynamics. Simulation and experimental results are presented for a two-degree-of-freedom (2-DOF) test setup and compared to two literature benchmark methods.","PeriodicalId":192217,"journal":{"name":"2008 10th IEEE International Workshop on Advanced Motion Control","volume":"62 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":"131744247","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
Point-contact type foot with springs and posture control for biped walking on rough terrain 带弹簧和姿态控制的点接触式足部，用于两足在崎岖地形上行走
2008 10th IEEE International Workshop on Advanced Motion Control Pub Date : 2008-03-26 DOI: 10.1109/AMC.2008.4516114
S. Sano, Moyuru Yamada, N. Uchiyama, S. Takagi
{"title":"Point-contact type foot with springs and posture control for biped walking on rough terrain","authors":"S. Sano, Moyuru Yamada, N. Uchiyama, S. Takagi","doi":"10.1109/AMC.2008.4516114","DOIUrl":"https://doi.org/10.1109/AMC.2008.4516114","url":null,"abstract":"This paper proposes a new foot system to achieve stable biped walking on rough terrain. The new foot system, which is named point-contact type foot with springs (PCFS), has four passive joints each of which equips a spring and a sensor. The proposed foot system has the following advantages: 1) The geometrical adaptability to rough terrain. 2) The measurability of the posture of the robot. 3) The absorption of the influence of disturbances. The index of stability like ZMP and the posture of the robot can be estimated from the displacement of each spring. The foot system can also absorb not only the impact at the foot landing but also the influence of irregularities on the ground and unexpected disturbances. However, because the biped walking by use of the foot with springs corresponds to walking on a soft ground, posture control is indispensable. Therefore we consider an appropriate walking pattern generation and present feedback control for the proposed foot system. The effectiveness of the proposed foot system is demonstrated by simulation results.","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":"133904003","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: 20
Polynomial spline input design for LPV motion systems LPV运动系统的多项式样条输入设计
2008 10th IEEE International Workshop on Advanced Motion Control Pub Date : 2008-03-26 DOI: 10.1109/AMC.2008.4516046
J. De Caigny, B. Demeulenaere, J. De Schutter, J. Swevers
{"title":"Polynomial spline input design for LPV motion systems","authors":"J. De Caigny, B. Demeulenaere, J. De Schutter, J. Swevers","doi":"10.1109/AMC.2008.4516046","DOIUrl":"https://doi.org/10.1109/AMC.2008.4516046","url":null,"abstract":"This paper considers the concurrent design of point- to-point trajectories and corresponding feedforward inputs for mechatronic motion systems. This design approach is an extension of a recently developed linear optimization framework for polynomial splines of a chosen degree. This optimization framework minimizes the higher derivatives of the spline, thereby ensuring smoothness of the systems input, and is capable of automatically selecting the optimal number and location of the knots of the polynomial spline inputs. By including a discrete- time linear system model in the optimization framework, the input of the motion system is obtained as a dynamically optimal polynomial spline, taking into account boundary and bound constraints on both system input and output, as well a their derivatives. Numerical results illustrate the potential of the presented design approach for linear parameter varying systems.","PeriodicalId":192217,"journal":{"name":"2008 10th IEEE International Workshop on Advanced Motion Control","volume":"11 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":"114455561","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
Electric tilting 3-wheel vehicle for a sustainable urban mobility 电动倾斜三轮车，可持续城市交通
2008 10th IEEE International Workshop on Advanced Motion Control Pub Date : 2008-03-26 DOI: 10.1109/AMC.2008.4516162
M. Bertoluzzo, G. Buja, A. Doria, D. Mazzaro
{"title":"Electric tilting 3-wheel vehicle for a sustainable urban mobility","authors":"M. Bertoluzzo, G. Buja, A. Doria, D. Mazzaro","doi":"10.1109/AMC.2008.4516162","DOIUrl":"https://doi.org/10.1109/AMC.2008.4516162","url":null,"abstract":"The paper presents the design and the development of an electric tilting three-wheel vehicle. It shows the possibilities offered by the integration of novel mechanical and electrical technologies in the arrangement of a vehicle for a sustainable urban mobility. The vehicle retains the performance of a light internal-combustion vehicle with two or four wheels (acceleration, maximum speed, range) while exhibiting zero road emissions and superior maneuverability and stability.","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":"117076076","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: 5
Identification of human operation using data clustering and its application to automated system 基于数据聚类的人工操作识别及其在自动化系统中的应用
2008 10th IEEE International Workshop on Advanced Motion Control Pub Date : 2008-03-26 DOI: 10.1109/AMC.2008.4516102
H. Sato, T. Zanma, M. Ishlda
{"title":"Identification of human operation using data clustering and its application to automated system","authors":"H. Sato, T. Zanma, M. Ishlda","doi":"10.1109/AMC.2008.4516102","DOIUrl":"https://doi.org/10.1109/AMC.2008.4516102","url":null,"abstract":"Human operation is realized by the combination of continuous operations and logical judgements. Such a system is called a hybrid dynamical system (HDS). In this paper, we consider a driving task. Then we identify the task using the clustering method which is one of identification methods of the HDS. Furthermore, we apply to an automatic driving system. Both simulation and application results illustrate the effectiveness of the system.","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":"129744612","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
Motion coordination control of multiple marine crafts 多船运动协调控制
2008 10th IEEE International Workshop on Advanced Motion Control Pub Date : 2008-03-26 DOI: 10.1109/AMC.2008.4516039
J. Ghommam, G. Poisson
{"title":"Motion coordination control of multiple marine crafts","authors":"J. Ghommam, G. Poisson","doi":"10.1109/AMC.2008.4516039","DOIUrl":"https://doi.org/10.1109/AMC.2008.4516039","url":null,"abstract":"In this paper, we consider formation control of fully- actuated marine craft systems with motion in three degrees of freedom (3-DOF). In particular, we consider the case where n independent vehicles are expected to satisfy a given formation pattern and where the formation as a whole is expected to track a smooth reference trajectory. To this end, we propose decentralized control laws for each vehicle and show that the formation error dynamics is globally exponentially stable under closed- loop control. The control laws are designed in the framework of Lyapunov direct method and graph theory, and the independent control laws are designed to provide feedback from any adjacent vehicle.","PeriodicalId":192217,"journal":{"name":"2008 10th IEEE International Workshop on Advanced Motion Control","volume":"2015 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":"128032542","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: 5
Physical human-robot interaction: Dependability, safety, and performance 物理人机交互:可靠性、安全性和性能
2008 10th IEEE International Workshop on Advanced Motion Control Pub Date : 2008-03-26 DOI: 10.1109/AMC.2008.4516033
A. Bicchi, M. Bavaro, Gianluca Boccadamo, D. D. Carli, R. Filippini, G. Grioli, M. Piccigallo, Alessandro Rosi, R. Schiavi, Soumen Sen, G. Tonietti
{"title":"Physical human-robot interaction: Dependability, safety, and performance","authors":"A. Bicchi, M. Bavaro, Gianluca Boccadamo, D. D. Carli, R. Filippini, G. Grioli, M. Piccigallo, Alessandro Rosi, R. Schiavi, Soumen Sen, G. Tonietti","doi":"10.1109/AMC.2008.4516033","DOIUrl":"https://doi.org/10.1109/AMC.2008.4516033","url":null,"abstract":"Robots designed to share an environment with humans, such as e.g. in domestic or entertainment applications or in cooperative material-handling tasks, must fulfill different requirements from those typically met in industry. It is often the case, for instance, that accuracy requirements are less demanding. On the other hand, concerns of paramount importance are safety and dependability of the robot system. According to such difference in requirements, it can be expected that usage of conventional industrial arms for anthropic environments will be far from optimal. An approach to increase the safety level of robot arms interacting with humans consists in the introduction of compliance at the mechanical design level. In this paper we discuss the problem of achieving good performances in accuracy and promptness with a robot manipulator under the condition that safety is guaranteed throughout whole task execution. Intuitively, while a rigid and powerful structure of the arm would favor its performance, lightweight compliant structures are more suitable for safe operation. The quantitative analysis of the resulting design trade-off between safety and performance has a strong impact on how robot mechanisms and controllers should be designed for human- interactive applications. We discuss few different possible concepts for safely actuating joints, and focus on aspects related to the implementation of the mechanics and control of this new class of robots.","PeriodicalId":192217,"journal":{"name":"2008 10th IEEE International Workshop on Advanced Motion Control","volume":"10 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":"121168191","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: 80
High precision VSS motion control of servo drives 高精度VSS运动控制伺服驱动器
2008 10th IEEE International Workshop on Advanced Motion Control Pub Date : 2008-03-26 DOI: 10.1109/AMC.2008.4516154
K. Jezernik
{"title":"High precision VSS motion control of servo drives","authors":"K. Jezernik","doi":"10.1109/AMC.2008.4516154","DOIUrl":"https://doi.org/10.1109/AMC.2008.4516154","url":null,"abstract":"In this paper we investigate the advantages and feasibility of motor control using very fast (MHz) switching in place of traditional amplifiers. We also propose integrated motion-control architecture based on a sliding mode control to be implemented in digital logic at an equally high rate. A switching controller combines the current and motion feedback paths into a single loop. A model-based observer estimates the load torque. When compared to second-order controllers implemented with traditional amplifiers, the proposed design promises increased performance, better efficiency, and improved load estimation. Recent advances in semiconductor technology provide the required fast switching and logic with relatively standard components. Simple implementation make concepts of switching control very attractive in motion control systems like control of dc or ac servomotors. The control algorithm designed by proposed approach can be easily implemented on DSP/FPGA platforms.","PeriodicalId":192217,"journal":{"name":"2008 10th IEEE International Workshop on Advanced Motion Control","volume":"78 6 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":"116374368","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
A disturbance observer approach to detecting and rejecting narrow-band disturbances in hard disk drives 一种检测和抑制硬盘驱动器窄带干扰的干扰观测器方法
2008 10th IEEE International Workshop on Advanced Motion Control Pub Date : 2008-03-26 DOI: 10.1109/AMC.2008.4516075
Q. Zheng, M. Tomizuka
{"title":"A disturbance observer approach to detecting and rejecting narrow-band disturbances in hard disk drives","authors":"Q. Zheng, M. Tomizuka","doi":"10.1109/AMC.2008.4516075","DOIUrl":"https://doi.org/10.1109/AMC.2008.4516075","url":null,"abstract":"This paper presents a servo compensator to detect and reject narrow-band disturbances in the non-repeatable runout (NRRO) for hard disk drives (HDDs). A disturbance observer (DOB) with a band-pass Q filter is used to detect the presence of the narrow-band disturbance. Once the disturbance is detected, the frequency of the disturbance is identified by the least mean squares (LMS) algorithm. Based on the frequency estimate, a narrow band-pass Q filter centered at the estimated frequency is applied to the DOB to compensate for the disturbance. The performance of this compensator is demonstrated by simulation on an open-source realistic hard disk drive model.","PeriodicalId":192217,"journal":{"name":"2008 10th IEEE International Workshop on Advanced Motion Control","volume":"1984 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":"130370830","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
首页 上一页 下一页 尾页
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整，为了账户安全，请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
请完成安全验证×
相关产品
×
本文献相关产品
联系我们：info@booksci.cn Book学术提供免费学术资源搜索服务，方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号：481959085
Book学术官方微信