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

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Neural network based control of micro-manipulator 基于神经网络的微型机械臂控制
2008 10th IEEE International Workshop on Advanced Motion Control Pub Date : 2008-03-26 DOI: 10.1109/AMC.2008.4516108
J. Cas, R. Klobučar, R. Šafarič
{"title":"Neural network based control of micro-manipulator","authors":"J. Cas, R. Klobučar, R. Šafarič","doi":"10.1109/AMC.2008.4516108","DOIUrl":"https://doi.org/10.1109/AMC.2008.4516108","url":null,"abstract":"This paper describes a neural network based control approach for position control of a 2DOF micro-manipulator. This micro-manipulator consists of a parallel mechanism, which is fabricated from photo-sensitive micro-structured glass and two piezoelectric actuators (PEA), which actuate the \"x\" and \"y\" degrees of freedom on a working plane with dimensions of 50x50 micrometers. Because the control performance of a micro-manipulator severely deteriorates due to the hysteresis effect of PEAs, a neural network (NN) based position control is proposed in this study to improve control performance. A simulation model of the micro-manipulator and proposed neural network based control algorithm have been developed in Matlab/Simulink.","PeriodicalId":192217,"journal":{"name":"2008 10th IEEE International Workshop on Advanced Motion Control","volume":"17 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":"116719859","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
Two legged jumping simulation and experiment on biped robot MARI-3 双足机器人MARI-3的两腿跳跃仿真与实验
2008 10th IEEE International Workshop on Advanced Motion Control Pub Date : 2008-03-26 DOI: 10.1109/AMC.2008.4516083
T. Maeda, Barkan Ugurlu, A. Kawamura
{"title":"Two legged jumping simulation and experiment on biped robot MARI-3","authors":"T. Maeda, Barkan Ugurlu, A. Kawamura","doi":"10.1109/AMC.2008.4516083","DOIUrl":"https://doi.org/10.1109/AMC.2008.4516083","url":null,"abstract":"In recent years, various control methodologies are reported in the field of biped fast mobility. Most of these reports have focused on the whole body motion generation and overall stability. While considering aforementioned issues, running motion appears to be a very important movement, as it is the combination of fast walking and jumping cycles. Therefore, in this paper, we proposed a control method based on the idea of manipulating Center of Gravity(COG) point in real time to be able to realize this purpose. Our proposed method is verified by 3-D dynamic simulations and experiments. Moreover, an additional method which is based on controlling the angular momentum around COG is proposed and verified in simulation and experiment.","PeriodicalId":192217,"journal":{"name":"2008 10th IEEE International Workshop on Advanced Motion Control","volume":"21 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":"115258486","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: 7
Motion tracking of crane hook based on optical flow and orientation code matching 基于光流和方向码匹配的起重机吊钩运动跟踪
2008 10th IEEE International Workshop on Advanced Motion Control Pub Date : 2008-03-26 DOI: 10.1109/AMC.2008.4516057
S. Takahashi, S. Kaneko
{"title":"Motion tracking of crane hook based on optical flow and orientation code matching","authors":"S. Takahashi, S. Kaneko","doi":"10.1109/AMC.2008.4516057","DOIUrl":"https://doi.org/10.1109/AMC.2008.4516057","url":null,"abstract":"To maintain the safety operation for the crane track, it is important to measure the high accurate three-dimensional position of a crane hook. However, it is not easy to obtain the position information of the swinging crane hook by using sensors. In this paper, we introduce the measurement method of three-dimensional position of the moving crane hook based on the image data obtained by one single camera. First, we treat the detection method of the area of the crane hook by using the optical flow, and then track the detected area based on orientation code matching. Through the experimental results, we show the usefulness of our proposed method.","PeriodicalId":192217,"journal":{"name":"2008 10th IEEE International Workshop on Advanced Motion Control","volume":"52 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":"126742996","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
Disturbance compensation in inching motion of ball screw-driven table system 滚珠丝杠驱动工作台系统微动扰动补偿
2008 10th IEEE International Workshop on Advanced Motion Control Pub Date : 2008-03-26 DOI: 10.1109/AMC.2008.4516070
M. Yamamoto, M. Iwasaki, K. Ito, N. Matsui
{"title":"Disturbance compensation in inching motion of ball screw-driven table system","authors":"M. Yamamoto, M. Iwasaki, K. Ito, N. Matsui","doi":"10.1109/AMC.2008.4516070","DOIUrl":"https://doi.org/10.1109/AMC.2008.4516070","url":null,"abstract":"This paper presents a compensation approach for nonlinear friction in a ball screw-driven table positioning system. In the compensator design, effects of nonlinear friction on the positioning performance at the inching motion are especially paid attention, where a precise nonlinear friction characteristic with nonlinear spring behavior is mathematically modeled and considered. Based on the friction characteristics, a model-based feedfoward disturbance compensation (FDC) approach is applied to improve the disturbance suppression capability. The effectiveness of the proposed positioning control approach with the FDC 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":"126761664","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
Robust visual feedback control of inverted pendulum system against camera misalignment 倒立摆系统对相机不对准的鲁棒视觉反馈控制
2008 10th IEEE International Workshop on Advanced Motion Control Pub Date : 2008-03-26 DOI: 10.1109/AMC.2008.4516058
K. Hirata, T. Mizuno
{"title":"Robust visual feedback control of inverted pendulum system against camera misalignment","authors":"K. Hirata, T. Mizuno","doi":"10.1109/AMC.2008.4516058","DOIUrl":"https://doi.org/10.1109/AMC.2008.4516058","url":null,"abstract":"In this paper, we investigate a version of robust stabilization via dynamic output feedback against affine perturbation to state space model. The motivation arises from the fact that the misalignment between the camera axis and the normal vector of the measurement plane in our visual feedback control experiment with inverted pendulum system can be modeled by this kind of perturbation. By solving related BMI, one can design a controller which tolerate the camera misalignment to some extent. The result is verified via experiments.","PeriodicalId":192217,"journal":{"name":"2008 10th IEEE International Workshop on Advanced Motion Control","volume":"3 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":"122528489","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
Decoupled rotational motion control for visual walking stabilization 视觉行走稳定的解耦旋转运动控制
2008 10th IEEE International Workshop on Advanced Motion Control Pub Date : 2008-03-26 DOI: 10.1109/AMC.2008.4516043
Y. Asano, A. Kawamura
{"title":"Decoupled rotational motion control for visual walking stabilization","authors":"Y. Asano, A. Kawamura","doi":"10.1109/AMC.2008.4516043","DOIUrl":"https://doi.org/10.1109/AMC.2008.4516043","url":null,"abstract":"A definition of the visual walking proposed by authors is that the robot autonomously walks by making decision based on the image feature motion. One of the achievements is \"visual tracking walk\". In the past conference, authors proposed a hybrid control for \"visual walking\". In this paper, the four vertexes of a square surrounding the red target in the image plane are selected as image features. Using such image features, the robot moves in front of the desired position. The rotation orientation of the robot is improved by the feature values caused by the walking motion. The proposed control law is verified by simulations and experiments.","PeriodicalId":192217,"journal":{"name":"2008 10th IEEE International Workshop on Advanced Motion Control","volume":"42 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":"124716822","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: 9
Generalized discussion on design of force-sensor-less Power Assist Control 无力传感器助力控制设计的概论
2008 10th IEEE International Workshop on Advanced Motion Control Pub Date : 2008-03-26 DOI: 10.1109/AMC.2008.4516116
Sehoon Oh, Y. Hori
{"title":"Generalized discussion on design of force-sensor-less Power Assist Control","authors":"Sehoon Oh, Y. Hori","doi":"10.1109/AMC.2008.4516116","DOIUrl":"https://doi.org/10.1109/AMC.2008.4516116","url":null,"abstract":"This paper generalizes the structure of force-sensor-less power assist control (FSPAC) which is a essential technology to design a feedback controller in a human-friendly way. Based on the analysis of the control structure, this paper clarifies the functions of the generalized force-sensor-less power assist control; particularly the functions of two force observers in FSPAC are made clear. Since the FSPAC consists of a positive feedback control, the robustness of the FSPAC is much weaker than the other power assist control with force sensors. This paper clarifies the trade-off between assistance performance and weak robustness in the FSPAC. Comparing power assist control derived from model following design and the disturbance observer based design, the limitation of assistance performance and methods to adjust the gain are revealed. Finally methodology of design the feedback gain in the FSPAC is discussed.","PeriodicalId":192217,"journal":{"name":"2008 10th IEEE International Workshop on Advanced Motion Control","volume":"484 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":"134372941","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: 34
Iterative tuning of feedforward controller with force ripple compensation for wafer stage 圆片级力脉动补偿前馈控制器的迭代整定
2008 10th IEEE International Workshop on Advanced Motion Control Pub Date : 2008-03-26 DOI: 10.1109/AMC.2008.4516072
H. Stearns, S. Mishra, M. Tomizuka
{"title":"Iterative tuning of feedforward controller with force ripple compensation for wafer stage","authors":"H. Stearns, S. Mishra, M. Tomizuka","doi":"10.1109/AMC.2008.4516072","DOIUrl":"https://doi.org/10.1109/AMC.2008.4516072","url":null,"abstract":"Iterative controller tuning is a method to fine-tune controllers in a repetitive process using only data collected in experiment runs. The controller parameters are chosen so as to minimize a certain cost function. The values of the parameters are updated iteratively based on tracking error in a gradient search. Iterative controller tuning is an advantageous method of controller tuning because no prior plant model is necessary. In this paper, we iteratively tune the feedforward controller of a wafer stage of a photolithography machine. A fixed-structure feedforward controller consisting of the inverted plant model was tuned. In addition, an additive feedforward term for compensation of nonlinear force ripple disturbance was tuned. The feedforward controller is tuned with the objective of minimizing a cost function that is a quadratic function of tracking error. Simulation and experimental results are presented which show that the iterative tuning method effectively reduced tracking error.","PeriodicalId":192217,"journal":{"name":"2008 10th IEEE International Workshop on Advanced Motion Control","volume":"36 12","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-03-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132434001","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: 43
Velocity and disturbance observer for non-model based load and friction compensation 非模型载荷和摩擦补偿的速度和扰动观测器
2008 10th IEEE International Workshop on Advanced Motion Control Pub Date : 2008-03-26 DOI: 10.1109/AMC.2008.4516065
G. Palli, C. Melchiorri
{"title":"Velocity and disturbance observer for non-model based load and friction compensation","authors":"G. Palli, C. Melchiorri","doi":"10.1109/AMC.2008.4516065","DOIUrl":"https://doi.org/10.1109/AMC.2008.4516065","url":null,"abstract":"In this paper, a scheme for the simultaneous estimation of the external forces acting on a rigid body together with its velocity is presented. This estimation scheme is based only on the knowledge of the position information and it allows to compensate undesired effects acting on the rigid body, like friction or external unknown loads, without requiring any knowledge of these spurious effects. This goal is achieved by means of two interacting observers, one for the observation of the generalized momenta and another for velocity observation. This compensation scheme can be also used to give to the system the desired dynamics, therefore avoiding the problem of parameter uncertainties. The effectiveness of the proposed scheme is proved both in simulation and experimentally, with a laboratory setup composed by a linear electric drive.","PeriodicalId":192217,"journal":{"name":"2008 10th IEEE International Workshop on Advanced Motion Control","volume":"56 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":"116464751","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: 29
A method for motion extraction and guide based on haptic information relationship 一种基于触觉信息关系的运动提取与导引方法
2008 10th IEEE International Workshop on Advanced Motion Control Pub Date : 2008-03-26 DOI: 10.1109/AMC.2008.4516105
S. Hyodo, K. Ohnishi
{"title":"A method for motion extraction and guide based on haptic information relationship","authors":"S. Hyodo, K. Ohnishi","doi":"10.1109/AMC.2008.4516105","DOIUrl":"https://doi.org/10.1109/AMC.2008.4516105","url":null,"abstract":"Nowadays, with the coming of population aging, extractions of skilled human motion and human support techniques are needed in medical or production fields. This paper proposes a method for motion extraction and guide based on haptic information. Haptic information includes human action force and position response. Human action force and position response are sensed by using master-slave robot hand which is bilateral controlled. Skill motion is extracted as action modes and action energies calculated from human action force relationship and position response relationship. Action modes are modes which express action force and position response direction, and action energies are amplitude of each action mode. Motion guide system is composed of action force extraction and modal compliance controller which are designed based on action modes and action energies. The validity of the proposed methods is shown by the experimental results.","PeriodicalId":192217,"journal":{"name":"2008 10th IEEE International Workshop on Advanced Motion Control","volume":"154 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":"128230239","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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