The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04.最新文献_第4页

Animal inspired motion control mechanism 动物启发的运动控制机制

The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297634

M. Kumamoto

引用次数: 7

A geometric structure based self-motion control algorithm for redundant manipulators 一种基于几何结构的冗余机械手自运动控制算法

The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297896

X. Luo, A. Kawamura

{"title":"A geometric structure based self-motion control algorithm for redundant manipulators","authors":"X. Luo, A. Kawamura","doi":"10.1109/AMC.2004.1297896","DOIUrl":"https://doi.org/10.1109/AMC.2004.1297896","url":null,"abstract":"This paper presents a real-time self-motion planning algorithm for redundant manipulators. In most situations, the self-motion pattern of a redundant manipulator is restricted by the geometric structure of it. So it is reasonable and feasible to plan the self-motion of the manipulator on the analysis of the geometric structure. In our work, according to a kind of redundant manipulators, which have one extra degree of freedom (DOF) and a special self-motion pattern, a linear constraint based minimal least square algorithm is developed to obtain a vector based self-motion planning. In this algorithm, the motion planning of the end-effector is achieved by a minimal least square-based scheme. The principle that the motion of the end-effector should not be influenced by the self-motion of the manipulator is treated as a set of constraint conditions. A unified expression for self-motion planning is obtained by such a mathematic derivation. This algorithm is suitable for some applications like real-time obstacle avoiding or dexterous manipulating. Numerical simulation is also presented in the paper to verify the algorithm.","PeriodicalId":258936,"journal":{"name":"The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04.","volume":"155 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":"115690260","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 stabilization control of electric vehicle under snowy conditions based on yaw-moment observer 基于偏航矩观测器的电动汽车雪况运动镇定控制

The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297637

H. Fujimoto, T. Saito, T. Noguchi

引用次数: 87

Self sustaining bicycle robot with steering controller 带有转向控制器的自持自行车机器人

The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297665

Y. Tanaka, Toshiyuki Murakami

{"title":"Self sustaining bicycle robot with steering controller","authors":"Y. Tanaka, Toshiyuki Murakami","doi":"10.1109/AMC.2004.1297665","DOIUrl":"https://doi.org/10.1109/AMC.2004.1297665","url":null,"abstract":"Bicycle is a transportation device without any environmental burden. However, bicycle is unstable in itself and it is fall down without human assistance like steering handle or moving upper body. In these days, electric power assistance bicycles are used practically, but all of those bicycles merely assist human with pedal driving and there are no bicycles that help to stabilize its position. Hence, stabilizing the posture and realizing stable driving of a bicycle have been researched. Dynamic model of running bicycle is complicated and it's hard to recognize completely. However, assuming that the rider doesn't move upper body, dynamics of bicycle is represented in equilibrium of gravity and centrifugal force. Centrifugal force is risen out from the running velocity and turning radius determined by steering angle. Under these conditions, it is possible to stabilize bicycle posture by controlling its steering. In this paper, the dynamic model derived from equilibrium of gravity and centrifugal force is proposed. Then the control method for bicycle steering based on acceleration control is proposed. Finally, the validity of this method is proved by the simulations and experimental results.","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":"125431168","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: 117

A real-time network based bilateral robot control with prioritized transfer of state variables 基于状态变量优先转移的实时网络双边机器人控制

The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297915

Y. Uchimura, T. Yakoh, K. Ohnishi

引用次数: 0

Robust design of gain matrix of body slip angle observer for Electric Vehicles and its experimental demonstration 电动汽车车身滑移角观测器增益矩阵的鲁棒设计及实验验证

The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297638

Y. Aoki, T. Inoue, Y. Hori

引用次数: 22

Reachable and stabilizable area of an underactuated manipulator without state feedback control 欠驱动机械臂无状态反馈控制的可达稳定区域

The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297897

T. Matsuda, H. Yabuno, N. Aoshima

引用次数: 5

3D fast walking simulation of biped robot by yaw axis moment compensation 基于偏航轴力矩补偿的双足机器人三维快速行走仿真

The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297903

D. Hanamiya, A. Kawamura

引用次数: 5

H/sub /spl infin////spl mu/ DIA control of the magnetic suspension system H/sub /spl in////spl mu/ DIA控制磁悬浮系统

The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297681

T. Namerikawa, H. Seto

引用次数: 1

Responsive Multithreaded Processor for distributed real-time control 响应式多线程处理器，用于分布式实时控制

The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297912

N. Yamasaki

{"title":"Responsive Multithreaded Processor for distributed real-time control","authors":"N. Yamasaki","doi":"10.1109/AMC.2004.1297912","DOIUrl":"https://doi.org/10.1109/AMC.2004.1297912","url":null,"abstract":"This paper describes the total design of Responsive Multithreaded (RMT) Processor, which is a system LSI that integrates almost all functions for parallel/distributed real-time control. Concretely, RMT Processor integrates an 8-way multithreaded processor (RMT Processing Unit) for real-time processing, real-time communication (Responsive Link II), computer peripherals (DDR SDRAM I/Fs, DMAC, PCI64, USB2.0, IEEE1394, etc.), and control peripherals (PWM Generators, Pulse Counters, etc.). RMT PU can execute eight prioritized threads simultaneously using the finegrained multithreading mechanism (RMT architecture). RMT PU introduces the priority of real-time systems into the processing unit, so that it can guarantee the execution of the prioritized threads according to the priority. Responsive Link II has a lot of unique features including separation of hard real-time communication (event link) and soft real-time communication (data link), the packet overtaking function with 256 level priority at each node, individual routing according to the type of the link and the packet priority, the packet accelerating/decelerating function by replacing the packet priority at each node, etc., so that Responsive Link II can realize real-time communication. RMT Processor can execute such tasks and communications prioritized by the real-time scheduler, overtaking and/or arbitrating them by hardware, to realize real-time communication and processing. As RMT Processor also realizes both high performance and low power, large scale parallel/distributed real-time systems can be designed by using RMT Processors.","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":"127245385","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