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

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Motion control for articulated robots based on accurate modeling 基于精确建模的关节机器人运动控制
The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297925
Y. Kosaka, A. Shimada
{"title":"Motion control for articulated robots based on accurate modeling","authors":"Y. Kosaka, A. Shimada","doi":"10.1109/AMC.2004.1297925","DOIUrl":"https://doi.org/10.1109/AMC.2004.1297925","url":null,"abstract":"This paper proposes a motion control technique for robot manipulators. The strongest point of the technique is high performance on vibration suppression. The robot control system proposed is characterized by a function that considers the rotor dynamics including rotor masses and the low rigidity in the mechanical reduction gears. The controller is designed as a sampled-data optimal servo control system with a digital disturbance observer expressed by state space form. Finally, an experimental result on a real two degrees of freedom robot manipulator is shown.","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":"121758178","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
Tracking of moving object by manipulator using estimated image feature and its error correction on image planes 基于估计图像特征的机械臂运动目标跟踪及其在图像平面上的误差修正
The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297946
D. Nishio, M. Nakamura, S. Komada, J. Hirai
{"title":"Tracking of moving object by manipulator using estimated image feature and its error correction on image planes","authors":"D. Nishio, M. Nakamura, S. Komada, J. Hirai","doi":"10.1109/AMC.2004.1297946","DOIUrl":"https://doi.org/10.1109/AMC.2004.1297946","url":null,"abstract":"This paper proposes a new visual servo system compensating delay time of image processing. To obtain an image feature without delay time, variation of image feature of manipulators during delay time is estimated by a Jacobian matrix from joint velocity to image feature. An image feature of moving object during delay time is estimated from a simple model by using the average velocity/acceleration that are calculated from the past image data. Moreover, its estimation error is reduced by a method based on past estimation error. The effectiveness of the proposed strategy is confirmed by a tracking of a moving object by a manipulator.","PeriodicalId":258936,"journal":{"name":"The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04.","volume":"24 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":"134570524","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
Experimental approach for high speed walking of biped robot MARI-1 双足机器人MARI-1高速行走的实验方法
The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297907
C. Zhu, M. Okamura, A. Kawamura, Y. Tomizawa
{"title":"Experimental approach for high speed walking of biped robot MARI-1","authors":"C. Zhu, M. Okamura, A. Kawamura, Y. Tomizawa","doi":"10.1109/AMC.2004.1297907","DOIUrl":"https://doi.org/10.1109/AMC.2004.1297907","url":null,"abstract":"In this paper, a biped robot MARI-1 developed in our laboratory, which is light and for the purpose of fast walking, is introduced. The hardware including the robot frame, actuators, sensors, and control system are described. The method of walking pattern generation is presented. For the aim of fast walking, walking pattern modification with ZMP feedback, two control approaches of yaw-axis moment compensation by torso swing, are respectively discussed. The proposed approaches are experimentally confirmed and a walking speed 1.46[km/h] is achieved.","PeriodicalId":258936,"journal":{"name":"The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04.","volume":"5 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":"131579639","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: 23
Modal state control in the frequency domain for active damping of mechanical vibrations in traction drive-trains 牵引传动系机械振动主动阻尼的频域模态控制
The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297661
M. Fleischer
{"title":"Modal state control in the frequency domain for active damping of mechanical vibrations in traction drive-trains","authors":"M. Fleischer","doi":"10.1109/AMC.2004.1297661","DOIUrl":"https://doi.org/10.1109/AMC.2004.1297661","url":null,"abstract":"Modern high-performance locomotives suffer from self-excited vibrations in the traction drive-train due to wheel-rail contact. To suppress these oscillations the motor torque has to be reduced, which decreases the traction force. To avoid this loss of traction force, a universal modal state control concept with feed-forward control is proposed for active damping. It is based on a reduced modal three-inertia model which is identified from an arbitrarily branched multi-inertia traction drive-train. The state control is also designed to be adaptive to wheelset wear. Due to computation time limitations an effort-minimized equivalent modal state control concept is proposed in the frequency domain. Therefore a new design method will be introduced. Finally the proposed modal state control is discussed and compared with a conventional concept by simulation results.","PeriodicalId":258936,"journal":{"name":"The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04.","volume":"21 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":"132931372","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
Simulation study on one leg jumping for biped running 双足跑步单腿跳跃的仿真研究
The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297908
A. Kawamura, K. Sugio, K. Suzuki, C. Zhu
{"title":"Simulation study on one leg jumping for biped running","authors":"A. Kawamura, K. Sugio, K. Suzuki, C. Zhu","doi":"10.1109/AMC.2004.1297908","DOIUrl":"https://doi.org/10.1109/AMC.2004.1297908","url":null,"abstract":"The fast movement of biped robot can be achieved by the fast walking, but the further fast motion can be achieved only by the biped running. To pursue this target, one leg running robot is modeled, analyzed and developed. First, it is theoretically analyzed in the one and two dimensional sagital plane models, secondly, the derived mathematical model is simulated by digital computers, and finally a 3-axis experimental robot is developed.","PeriodicalId":258936,"journal":{"name":"The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04.","volume":"94 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":"124157030","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
Hybrid current-controlled VSI-IM drive 混合电流控制VSI-IM驱动器
The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297941
Z. Cucej, P. Cafuta, R. Svecko
{"title":"Hybrid current-controlled VSI-IM drive","authors":"Z. Cucej, P. Cafuta, R. Svecko","doi":"10.1109/AMC.2004.1297941","DOIUrl":"https://doi.org/10.1109/AMC.2004.1297941","url":null,"abstract":"Development of the hybrid type of control and the introduction of automation in Voltage Source Inverter switching control creates a basis for the evolution of Switching type Current Control in the direction of good compromise between Switching type Current Control and Pulse-Width Modulation features. The main premises in the design of the proposed hybrid current control are: (i) a stator current error plane in the d-q frame is divided into strip shaped regions for the selection of the controllers design (ii) stability is based on common quadratic Lyapunov function, (iii) the globally stable dynamics should guarantee uniform crossing of boundaries in the d-q frame, and (iv) superimposed automation supervises the non-Zenon VSI switching sequence.","PeriodicalId":258936,"journal":{"name":"The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04.","volume":"81 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":"114323775","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
High-bandwidth hard disk drive tracking using a moving-slider MEMS microactuator 采用移动滑块MEMS微致动器的高带宽硬盘驱动器跟踪
The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297684
M. White, T. Hirano, Henry Yang, K. Scott, S. Pattanaik, F. Huang
{"title":"High-bandwidth hard disk drive tracking using a moving-slider MEMS microactuator","authors":"M. White, T. Hirano, Henry Yang, K. Scott, S. Pattanaik, F. Huang","doi":"10.1109/AMC.2004.1297684","DOIUrl":"https://doi.org/10.1109/AMC.2004.1297684","url":null,"abstract":"A moving-slider microactuator that enables both high stroke and good linearity for high track pitch HDDs (hard disk drives) was investigated. A new microactuator design called a \"bipolar microactuator\" was proposed that maintains proper slider grounding. A new microactuator fabrication technique was developed that allows the bonding pads to be manufactured on the sidewall of the microactuator chip for easier assembly into an HDD. The microactuator was used to achieve an open loop servo bandwidth of 8 kHz at 80 kHz sampling rate in a server-class HDD. Higher bandwidths may be achieved with higher sampling rates. A description of the dual-stage control scheme is presented.","PeriodicalId":258936,"journal":{"name":"The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04.","volume":"3 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":"114841167","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: 11
The fuzzy state space controller for buck converter buck变换器的模糊状态空间控制器
The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297649
D. Gleich, M. Milanović, S. Uran, F. Mihalič
{"title":"The fuzzy state space controller for buck converter","authors":"D. Gleich, M. Milanović, S. Uran, F. Mihalič","doi":"10.1109/AMC.2004.1297649","DOIUrl":"https://doi.org/10.1109/AMC.2004.1297649","url":null,"abstract":"In this paper digitally controlled step down converter using fuzzy state space control law algorithms is studied. The state controller is designed to eliminate the start-up overshoot and reduce maximal dynamic error of load change response, but the state controller is not capable to eliminate the steady-state error under the load change condition. In order to improve this property two control algorithm were investigated. The first one was the state controller with constant gains supported by additional decomposed fuzzy PID controller and the second one was fuzzy state space controller. Both of control algorithms are performed at a continuous current mode of operation. The experimental results are presented in the paper. The control algorithms were implemented on 16-bit micro-computer.","PeriodicalId":258936,"journal":{"name":"The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04.","volume":"3 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":"114533229","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
FEM analysis of high thrust spiral motor 大推力螺旋电机有限元分析
The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297943
H. Kwon, Y. Fujimoto
{"title":"FEM analysis of high thrust spiral motor","authors":"H. Kwon, Y. Fujimoto","doi":"10.1109/AMC.2004.1297943","DOIUrl":"https://doi.org/10.1109/AMC.2004.1297943","url":null,"abstract":"We propose a spiral-type motor which has less magnetic flux leakage than linear motor, and has high thrust by control of the current input. The thrust is produced by the direct force from the magnetic field. It has little friction than the linear actuator with rotational motor and ball-screw because no additional hardware is required. This paper presents the concept of spiral motor, and certifies the validity of this motor by simulations of finite-element method (FEM) analysis.","PeriodicalId":258936,"journal":{"name":"The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04.","volume":"68 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":"115059104","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
Control of large ship motions in harbor maneuvers by applying sliding mode control 基于滑模控制的港口机动大型船舶运动控制
The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297953
Minh-Duc Le, Q.-T. Tran, Tu N. Nguyen, V.-D. Giap, T.T. Ho, Van-Duc Phan, T. Nguyen
{"title":"Control of large ship motions in harbor maneuvers by applying sliding mode control","authors":"Minh-Duc Le, Q.-T. Tran, Tu N. Nguyen, V.-D. Giap, T.T. Ho, Van-Duc Phan, T. Nguyen","doi":"10.1109/AMC.2004.1297953","DOIUrl":"https://doi.org/10.1109/AMC.2004.1297953","url":null,"abstract":"A Multivariable Sliding Mode Controller (MSMC) has been constructed for large ships in harbor maneuvers. Computer simulations of motions of a Very Large Crude Carriage with MSMC in various harbor maneuvers verify that the method is very effective to deal with several problems of controlling large ships in harbor maneuvers, including slow speed, modelling non-linearity and strong environmental disturbances.","PeriodicalId":258936,"journal":{"name":"The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04.","volume":"61 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":"128334104","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: 11
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