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The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04.最新文献

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Development of gel-structured electro-rheological fluids and their application to mechanical damper elements 凝胶结构电流变液的发展及其在机械阻尼元件上的应用
The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297926
Y. Kakinuma, T. Yakoh, T. Aoyama, H. Anzai, K. Isobe
{"title":"Development of gel-structured electro-rheological fluids and their application to mechanical damper elements","authors":"Y. Kakinuma, T. Yakoh, T. Aoyama, H. Anzai, K. Isobe","doi":"10.1109/AMC.2004.1297926","DOIUrl":"https://doi.org/10.1109/AMC.2004.1297926","url":null,"abstract":"Electrorheological fluids (ERF) are functional fluids whose viscoelastic property varies according to the intensity of the applied electric field. The disadvantages of ERF are the sedimentation of ER particles and the requirement of seal mechanism. In order to solve these problems, gel structured electrorheological fluids ERF are developed in this study. The basic characteristics of ERF film is experimentally analyzed. Based on the results of basic analysis, the ERF was applied to the mechanical damper elements.","PeriodicalId":258936,"journal":{"name":"The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04.","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123593389","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
Shaft inserting task into inclined hole of moving object by using one dimensional PSDs sensor 利用一维psd传感器将轴插入运动物体的倾斜孔中
The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297947
Y. Yamada, S. Hayakawa, N. Tsuchida
{"title":"Shaft inserting task into inclined hole of moving object by using one dimensional PSDs sensor","authors":"Y. Yamada, S. Hayakawa, N. Tsuchida","doi":"10.1109/AMC.2004.1297947","DOIUrl":"https://doi.org/10.1109/AMC.2004.1297947","url":null,"abstract":"In assembly operations by the industrial robot, the shaft insertion is very important and frequently performed. We have studied the shaft inserting system for the moving object by using a PSD (Position Sensitive Detector). In this paper, we propose the new position error detecting sensor in which four dimensional PSDs are arranged in cross. This sensor can detect the position error and inclined angle between the center of shaft and the hole in real time. At first, we show the detecting principle of the position and the inclined angle of this sensor. Next, we show the configuration of the robot system with this sensor. Using this robot system, the robot can insert a shaft into no inclination hole of the moving object with a clearance of 50 /spl mu/m at a velocity of 80 mm/s. From the experimental result for the inclined angle detection, the characteristic of the inclined angle detection differed from the one of the theoretical output. We verify the difference between the experiment result and the theory result.","PeriodicalId":258936,"journal":{"name":"The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04.","volume":"57 2","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120931265","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
Kinematic analysis of human lifting movement for biped robot control 双足机器人人体升降运动控制的运动学分析
The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297906
N. Matsunaga, Y. Okimura, S. Kawaji
{"title":"Kinematic analysis of human lifting movement for biped robot control","authors":"N. Matsunaga, Y. Okimura, S. Kawaji","doi":"10.1109/AMC.2004.1297906","DOIUrl":"https://doi.org/10.1109/AMC.2004.1297906","url":null,"abstract":"An increasing biped robot development may be viewed in terms of realization of autonomous works in real world, where robot motion with lifting and/or carrying of heavy objects must be designed. Such motion control of biped robot working by himself is an important issues, in which many configurations and motions appear depending on position of robot and object. Isaka et al. analyzed the lifting motion of skilled lifter and mentioned that the configuration of lifting is important to realize the efficient lifting with small burden to the lower back. In their analysis the motion was limited for weight lift, and the object's position was fixed. So, it is required to analyze various human lifting motions in many situations for new biped robot control. Our study aims at realization of biped robot that can walk and lifting heavy objects. In this paper, dynamic characteristics of human lifting movement are analyzed through lifting of barbell in various situations. Furthermore, based on the lifting analysis, the comparison of motion control between lifting and jumping is discussed.","PeriodicalId":258936,"journal":{"name":"The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04.","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116806830","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
Sensor system and trajectory control of a biped robot 双足机器人传感器系统与轨迹控制
The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297901
S. Lohmeier, K. Loeffler, M. Gienger, H. Ulbrich, F. Pfeiffer
{"title":"Sensor system and trajectory control of a biped robot","authors":"S. Lohmeier, K. Loeffler, M. Gienger, H. Ulbrich, F. Pfeiffer","doi":"10.1109/AMC.2004.1297901","DOIUrl":"https://doi.org/10.1109/AMC.2004.1297901","url":null,"abstract":"The development of walking machines comprises nearly all important technical areas due to the interdisciplinary character of these robots. In the following, we give an overview of the technological aspects based on the experiences with the development of the biped JOHNNIE. The objectives are to realize a three-dimensional dynamically stable motion on even and uneven ground and around curves. The control scheme of the anthropomorphic biped robot JOHNNIE is based on a comprehensive mechanical model. In order to perform a dynamically stable motion, the robot is equipped with a comprehensive set of sensors that allow to determine the complete state of the system. With our new control concept and the new computer system, stable walking can be realized with up to 2.4 km/h and step lengths of 55 cm.","PeriodicalId":258936,"journal":{"name":"The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04.","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129566680","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: 14
Snubber design approach for dc-dc converter based on differential evolution method 基于差分演化法的dc-dc变换器缓冲器设计方法
The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297647
O. Težak, D. Dolinar, M. Milanovič
{"title":"Snubber design approach for dc-dc converter based on differential evolution method","authors":"O. Težak, D. Dolinar, M. Milanovič","doi":"10.1109/AMC.2004.1297647","DOIUrl":"https://doi.org/10.1109/AMC.2004.1297647","url":null,"abstract":"The design of snubber circuits for MOS-FET low power dc-dc converters are presented in this paper. Experimental evaluation is proposed for the analyses and the design procedure. The appropriate design of the snubber circuit can increase the power range, or decrease total power dissipation of the low-power dc-dc converters available as integrated circuit. The evaluation of snubber circuit is based on experimental results. Currents and voltages wave-shapes were approximated by the continuous functions. Total energy dissipation functions were determined as well. For calculation of approximation coefficients the method based on differential evolution algorithm has been used. Proposed method enables that the power transistor dissipation decrease by almost 30% in the case that the efficiency of converter not changes. Benefits, drawbacks and limits of the proposed approach are detailed and studied. Experimental results, obtained from laboratory prototype of boost converter are reported as well.","PeriodicalId":258936,"journal":{"name":"The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04.","volume":"98 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114977890","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
Neural network-based correction and interpolation of encoder signals for precision motion control 基于神经网络的精确运动控制编码器信号校正与插值
The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297919
K. Tang, K. Tan, Tong-heng Lee, C. Teo
{"title":"Neural network-based correction and interpolation of encoder signals for precision motion control","authors":"K. Tang, K. Tan, Tong-heng Lee, C. Teo","doi":"10.1109/AMC.2004.1297919","DOIUrl":"https://doi.org/10.1109/AMC.2004.1297919","url":null,"abstract":"Precision control is the core of many applications in the industry, particularly robotics and drive control. To achieve it, precise measurement of the signals generated by incremental encoder sensors is essential. High precision and resolution motion control relies critically on the precision and resolution achievable from the encoders. In this paper, a dynamic neural network-based approach for the correction and interpolation of quadrature encoder signals is developed. In this work, the radial basis functions (RBF) neural network is employed to carry out concurrently the correction and interpolation of encoder signals in realtime. The effectiveness of the proposed approach is verified in the simulation results provided.","PeriodicalId":258936,"journal":{"name":"The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04.","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125930176","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
Residual vibration suppression using initial value compensation for repetitive positioning 基于初始值补偿的重复定位残余振动抑制
The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297931
N. Hirose, M. Kawafuku, M. Iwasaki, H. Hirai
{"title":"Residual vibration suppression using initial value compensation for repetitive positioning","authors":"N. Hirose, M. Kawafuku, M. Iwasaki, H. Hirai","doi":"10.1109/AMC.2004.1297931","DOIUrl":"https://doi.org/10.1109/AMC.2004.1297931","url":null,"abstract":"This paper presents a novel residual vibration suppression methodology for the repetitive fast-response and high-precision positioning in machine tool drives. In sequential positioning motions, as the interval period of position references becomes shorter, the residual vibration in response due to undesired initial values deteriorates the positioning accuracy, since the positioning controller is generally designed on the condition that initial state variables are zero. In this research, an initial value compensation (IVC) approach is proposed under the theoretical study on effects of the initial values on the position transient response. The IVC can appropriately assign poles and zeros of the transfer characteristic of position output for the initial values by applying an additional input corresponding to the initial state variables, enabling the response to be residual vibration free. The desired positioning performance, as a result, can be achieved in repetitive motions with arbitrary interval period. The effectiveness of the proposed compensation has been verified by numerical simulations and experiments using a positioning device of industrial machine tools.","PeriodicalId":258936,"journal":{"name":"The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04.","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128542650","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
Field oriented control of linear induction motor taking into account end-effects 考虑末端效应的直线感应电机磁场定向控制
The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297952
E.F. da Silva, C.C. dos Santos, J.W.L. Nerys
{"title":"Field oriented control of linear induction motor taking into account end-effects","authors":"E.F. da Silva, C.C. dos Santos, J.W.L. Nerys","doi":"10.1109/AMC.2004.1297952","DOIUrl":"https://doi.org/10.1109/AMC.2004.1297952","url":null,"abstract":"It is presented in this paper a methodology to detect the slip angular frequency and the primary voltage in a linear induction motor taking into account the end effects, and based on field oriented control. The end effects of linear induction motor introduce undesired phenomena to high performance control. Simulation results are presented to show the validity of the proposed control. A good performance is obtained by means of PI controller; the linor (secondary) flux is obtained properly by the proposed control.","PeriodicalId":258936,"journal":{"name":"The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04.","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125604207","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: 37
Robust feedforward tracking control based on sudden disturbance observer and ZPET control for optical disk recording system 基于突然扰动观测器和ZPET控制的光盘记录系统鲁棒前馈跟踪控制
The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297693
T. Miyazaki, Kiyoshi Ohishi, K. Inomata, K. Kuramochi, D. Koide, D. Tokumaru
{"title":"Robust feedforward tracking control based on sudden disturbance observer and ZPET control for optical disk recording system","authors":"T. Miyazaki, Kiyoshi Ohishi, K. Inomata, K. Kuramochi, D. Koide, D. Tokumaru","doi":"10.1109/AMC.2004.1297693","DOIUrl":"https://doi.org/10.1109/AMC.2004.1297693","url":null,"abstract":"This paper proposes a new robust tracking servo system for optical disk recording system with feedforward controller and sudden disturbance observer. In optical recording systems, the tracking servo system must suppress the influence of sudden disturbance and periodic disturbance. In order to suppress the periodic disturbance, this paper designs the feedforward control system with prediction of tracking error. For suppressing the sudden disturbance, this paper proposes the sudden disturbance observer by using the predictively tracking error. The experimental results point out that the proposed tracking servo system has a precise tracking response against both periodic disturbance and sudden disturbance.","PeriodicalId":258936,"journal":{"name":"The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04.","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125714566","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
Event-driven approach to control design for single phase inverter 事件驱动的单相逆变器控制设计
The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297939
A. Polic, K. Jezernik
{"title":"Event-driven approach to control design for single phase inverter","authors":"A. Polic, K. Jezernik","doi":"10.1109/AMC.2004.1297939","DOIUrl":"https://doi.org/10.1109/AMC.2004.1297939","url":null,"abstract":"This paper introduces a new, systematic approach to the modeling of systems with discrete and non deterministic signals. Modeling of discrete event-driven systems is based on matrix representation of Petri Nets. The discrete dynamics of such a system is then described by transferring such a system between its specific discrete states, often known as modes. This is described using combination of algebraic and logic equations. To show the application of proposed approach, simulation results for the single phase DC/AC inverter are presented as well as experimental results for the second order element. Connecting introduced modeling approach with the sliding mode theory, overall functionality of the system can be described. This is important for the simulation, analysis and implementation of rare and expensive systems, where the target system does not allow the traditional try and fix implementation approach.","PeriodicalId":258936,"journal":{"name":"The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04.","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132884115","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
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