2008 10th IEEE International Workshop on Advanced Motion Control最新文献_第4页

A 4WD omnidirectional wheelchair with a chair tilting mechanism for enhancing step climbing capability 四轮驱动全向轮椅，配有轮椅倾斜装置，可提高攀爬台阶的能力

2008 10th IEEE International Workshop on Advanced Motion Control Pub Date : 2008-03-26 DOI: 10.1109/AMC.2008.4516113

M. Wada

{"title":"A 4WD omnidirectional wheelchair with a chair tilting mechanism for enhancing step climbing capability","authors":"M. Wada","doi":"10.1109/AMC.2008.4516113","DOIUrl":"https://doi.org/10.1109/AMC.2008.4516113","url":null,"abstract":"This paper presents the development of 4WD omnidirectional wheelchair with a chair tilting mechanism and experimental verification using a wheelchair prototype. For enhancing the mobility of standard wheelchairs, a new type of omnidirectional mobile platform with four-wheel drive (4WD) mechanism is introduced. The mobile platform includes a pair of normal wheels on the rear side of the platform and a pair of omni-wheels on the front side. The normal wheel in rear and the omni-wheel in front, mounted on the same side of the base, are interconnected by a chain or a belt transmission to rotate in unison with a drive motor, i.e. a synchro-drive transmission. To rotate a chair at the center of the mobile base about vertical axis, the third motor is installed on the platform. The prototype wheelchair with the proposed 4WD system is capable of climbing over a 9 cm single step. The 4WD system provides enhanced step climb capability however, chair inclination becomes large when either front or rear wheels are on a step because wheelbase of the developed wheelchair is almost same as a standard one. This large inclination not only gives a high risk for falling but also brakes a load distribution condition between front and rear wheels which is required for climbing the step. To solve these problems relating to the chair inclination, we develop a chair tilting mechanism for the 4WD wheelchair including lift up mechanism controlled by a stability algorithm using an inclination sensor. To verify the proposed system, experimental results are also presented in which successful climbing of a 9 cm step is realized.","PeriodicalId":192217,"journal":{"name":"2008 10th IEEE International Workshop on Advanced Motion Control","volume":"203 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":"131437786","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

Movement control using zero dynamics of two-wheeled inverted pendulum robot 基于零动力学的两轮倒立摆机器人运动控制

2008 10th IEEE International Workshop on Advanced Motion Control Pub Date : 2008-03-26 DOI: 10.1109/AMC.2008.4516038

N. Hatakeyama, Akira Shimada

引用次数: 23

A low-power interface for the readout and motion-control of a MEMS capacitive sensor 用于 MEMS 电容式传感器读出和运动控制的低功耗接口

2008 10th IEEE International Workshop on Advanced Motion Control Pub Date : 2008-03-26 DOI: 10.1109/AMC.2008.4516052

S. A. Jawed, D. Cattin, M. Gottardi, N. Massari, R. Oboe, A. Baschirotto

引用次数: 6

Comparison of rolling friction behavior in HDDs hdd中滚动摩擦行为的比较

2008 10th IEEE International Workshop on Advanced Motion Control Pub Date : 2008-03-26 DOI: 10.1109/AMC.2008.4516078

M. Kawafuku, A. Ohta, M. Iwasaki, H. Hirai

引用次数: 2

Uncalibrated visual servo control with neural network 基于神经网络的无标定视觉伺服控制

2008 10th IEEE International Workshop on Advanced Motion Control Pub Date : 2008-03-26 DOI: 10.1109/AMC.2008.4516044

R. Klobučar, J. Cas, R. Šafarič

{"title":"Uncalibrated visual servo control with neural network","authors":"R. Klobučar, J. Cas, R. Šafarič","doi":"10.1109/AMC.2008.4516044","DOIUrl":"https://doi.org/10.1109/AMC.2008.4516044","url":null,"abstract":"Research into robotics visual servo systems is an important content in the robotics field. This paper describes a control approach for a robotics manipulator. In this paper, a multilayer feedforward network is applied to a robot visual servo control problem. The model uses a new neural network architecture and a new algorithm for modifying neural connection strength. No a-prior knowledge is required of robot kinematics and camera calibration. The network is trained using an end- effector position. After training, performance is measured by having the network generate joint-angles for arbitrary end effector trajectories. A 2-degrees-of-freedom (DOF) parallel manipulator was used for the study. It was discovered that neural networks provide a simple and effective way of controlling robotic tasks. This paper explores the application of a neural network for approximating nonlinear transformation relating to the robot's tip-position, from the image coordinates to its joint coordinates. Real experimental examples are given to illustrate the significance of this method. Experimental results are compared with a similar method called the Broyden method, for uncalibrated visual servo- control.","PeriodicalId":192217,"journal":{"name":"2008 10th IEEE International Workshop on Advanced Motion Control","volume":"24 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":"128970486","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

An estimation method of muscular tensions using functional effective muscle strength 一种利用功能性有效肌力估算肌肉张力的方法

2008 10th IEEE International Workshop on Advanced Motion Control Pub Date : 2008-03-26 DOI: 10.1109/AMC.2008.4516104

Y. Hashimoto, S. Komada, J. Hirai

引用次数: 4

Trajectory tracking control of a 6-degree-of-freedom robot arm using nonlinear optimization 基于非线性优化的六自由度机械臂轨迹跟踪控制

2008 10th IEEE International Workshop on Advanced Motion Control Pub Date : 2008-03-26 DOI: 10.1109/AMC.2008.4516144

F. Lombai, G. Szederkényi

引用次数: 15

An improved adaptive neural network compensation of pivot nonlinearity in hard disk drives 一种改进的自适应神经网络对硬盘支点非线性的补偿

2008 10th IEEE International Workshop on Advanced Motion Control Pub Date : 2008-03-26 DOI: 10.1109/AMC.2008.4516107

F. Hong, C. Du

{"title":"An improved adaptive neural network compensation of pivot nonlinearity in hard disk drives","authors":"F. Hong, C. Du","doi":"10.1109/AMC.2008.4516107","DOIUrl":"https://doi.org/10.1109/AMC.2008.4516107","url":null,"abstract":"In hard disk drives (HDDs), the movement of the read/write (R/V) head is driven by voice-coil-motor (VCM) which is supported by a pivot cartridge consisting of a pair of preloaded ball bearings. The pivot friction nonlinearity is defined as the frictional hysteresis that occurs at the bearing of the actuator pivot in the hard disk drives. This nonlinear effect can be observed as a large gain reduction especially in the low-frequency range and will cause large residual errors and/or high-frequency oscillations which in turn affect track-following and seeking performance. Basically, the linear techniques were usually used to suppress the influences by raising the low-frequency gain but were limited b.y the Bode's gain-phase relationship. In this paper, an improved adaptive neural network (NN) controller is designed to compensate for the pivot nonlinearity. To capture the time- varying uncertainties and nonlinearity, the adaptive tuning scheme is employed for the NN weights and the width in RBF functions. The proposed scheme has the advantages of fast convergence for parameter estimation and improvement of high hump of the magnitude of closed-loop sensitivity function. The simulation results show the effectiveness of the proposed scheme.","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":"128705431","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

Four-quadrant bi-directional drive system based on PWM DC-DC converter 基于PWM DC-DC变换器的四象限双向驱动系统

2008 10th IEEE International Workshop on Advanced Motion Control Pub Date : 2008-03-26 DOI: 10.1109/AMC.2008.4516096

B. Axelrod, Y. Berkovich, A. loinovici

引用次数: 1

An analysis of force control based on momentum 基于动量的力控制分析

2008 10th IEEE International Workshop on Advanced Motion Control Pub Date : 2008-03-26 DOI: 10.1109/AMC.2008.4516092

S. Sakaino, K. Ohnishi

引用次数: 2