发布求助
文献互助 智能选刊 最新文献

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

筛选
英文 中文
PDS control of macro-micro arm 宏微臂的PDS控制
The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297653
M. Kimata, Y. Morita, H. Ukai, H. Kando, F. Matsuno
{"title":"PDS control of macro-micro arm","authors":"M. Kimata, Y. Morita, H. Ukai, H. Kando, F. Matsuno","doi":"10.1109/AMC.2004.1297653","DOIUrl":"https://doi.org/10.1109/AMC.2004.1297653","url":null,"abstract":"This paper presents a Lyapunov-based positioning controller for a macro-micro arm suppressing the bending vibration of the macro arm. On the basis of the distributed parameter model, the output feedback control law is constructed using Lyapunov method. The asymptotic stability on the neighborhood of the desired states of the closed-loop system is proved. The proposed controller consists of the PD feedback of the motor angle and a feedback of the bending strain at the tip of the macro arm. Some simulations are performed to show the effectiveness of the proposed controller.","PeriodicalId":258936,"journal":{"name":"The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04.","volume":"1994 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":"131148727","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
Use of dynamic emulation of mechanical loads in the design of adjustable speed applications 使用动态仿真的机械负载在设计的可调速度的应用
The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297950
M. Rodic, K. Jezernik, M. Trlep
{"title":"Use of dynamic emulation of mechanical loads in the design of adjustable speed applications","authors":"M. Rodic, K. Jezernik, M. Trlep","doi":"10.1109/AMC.2004.1297950","DOIUrl":"https://doi.org/10.1109/AMC.2004.1297950","url":null,"abstract":"A rapid prototyping procedure is presented in the paper. An approach to the dynamic emulation of mechanical loads, the \"hardware-in-the-loop\" procedure where the applied prototype is reused for many different applications using the same drive, is explained and analyzed. Instead of the actual load, a torque driven machine is introduced. The load torque, which it produces, is calculated in such a manner, that the input/output behavior of the experimental system resembles one of the actual (emulated) one. A simple feedforward scheme, combined with a feedback controller, is used fore the calculation. In contrast to the existing references the method is simple and requires no torque measurement. The method is used for the evaluation of the control algorithms, regardless the control and estimation methods used. Algorithms are developed with the use of Matlab/Simulink and experiments are executed with the use of the dSPACE system.","PeriodicalId":258936,"journal":{"name":"The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04.","volume":"67 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":"114013132","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
Motion control in the support phase for a one-legged hopping robot 单腿跳跃机器人支撑阶段的运动控制
The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297677
K. Ohnishi, E. Ohashi
{"title":"Motion control in the support phase for a one-legged hopping robot","authors":"K. Ohnishi, E. Ohashi","doi":"10.1109/AMC.2004.1297677","DOIUrl":"https://doi.org/10.1109/AMC.2004.1297677","url":null,"abstract":"In this paper, the method of determinating the leg length and the leg angle at touchdown is proposed. With this method, the robot can track the soft-landing trajectory, considering the torque limits of the joints. Suppressing impact force in the landing phase remains as a big issue to be resolved for hopping robots. This paper applies the soft-landing trajectory which was proposed before in order to minimize impact force of landing. Regarding hopping as an extended function of walking robots, they would have rotary joints instead of prismatic joints. Considering torque limits of joints, the relationship between the tip position from the COG (center of gravity) and the COG velocity at touchdown is determined so as to track the soft-landing trajectory. In addition, the vertical velocity of the COG is estimated from the duration of the aerial phase. Consequently, even if a floor level varies, the hopping robot can select a proper landing position of the tip without getting over the torque limit at landing. Numerical results verify the proposed method.","PeriodicalId":258936,"journal":{"name":"The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04.","volume":"4 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":"122211961","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
Visual walking for biped walking robot MARI-2 双足步行机器人MARI-2的视觉行走
The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297902
Y. Asano, C. Zhu, A. Kawamura
{"title":"Visual walking for biped walking robot MARI-2","authors":"Y. Asano, C. Zhu, A. Kawamura","doi":"10.1109/AMC.2004.1297902","DOIUrl":"https://doi.org/10.1109/AMC.2004.1297902","url":null,"abstract":"The concept of the visual walking is proposed in this paper, which is a hybrid control of servoing the camera image feature point by the posture control and/or tracking it by the biped walking. This control includes the decision making among the environmental conditions. The control algorithm for the visual walking is presented and it is verified by several experiments.","PeriodicalId":258936,"journal":{"name":"The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04.","volume":"10 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":"123540734","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
Control of pushing operation by a redundant manipulator 用冗余机械手控制推动
The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297660
T. Kawasa, K. Ohnishi
{"title":"Control of pushing operation by a redundant manipulator","authors":"T. Kawasa, K. Ohnishi","doi":"10.1109/AMC.2004.1297660","DOIUrl":"https://doi.org/10.1109/AMC.2004.1297660","url":null,"abstract":"This paper describes a new approach to pushing operation from one place to another. Pushing operation doesn't need a complicated structure of the end effector in comparison with grasping object. Therefore it is available for multipurpose. However pushing is more instability than pulling and grasping from dynamics' point of view. Hence it is thought that its control system will be complexity. Then, in this paper, the new control method about pushing operation from one place to another by a redundant manipulator is proposed. The purpose of this research is that the center of the object tracks a certain trajectory(in this paper, sin curve) exactly. In this paper, a work space observer is adopted so as to compensate the disturbance to the object. Therefore, the acceleration control system in the object coordinate is necessary to be constructed. Basically, the drive of the object in the translational direction is realized by impedance control and the moment of the object is realized by changing the point which the end effector touches.","PeriodicalId":258936,"journal":{"name":"The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04.","volume":"168 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":"121809760","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
Yaw rate control of electric vehicle using steer-by-wire system 基于线控转向系统的电动汽车横摆角速度控制
The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297636
M. Hosaka, Toshiyuki Murakami
{"title":"Yaw rate control of electric vehicle using steer-by-wire system","authors":"M. Hosaka, Toshiyuki Murakami","doi":"10.1109/AMC.2004.1297636","DOIUrl":"https://doi.org/10.1109/AMC.2004.1297636","url":null,"abstract":"Recently electric power steering system has been developed. Steer-by-wire system has big advantages of packaging flexibility, advanced vehicle control system, and superior performance. Steer-by-wire system has no mechanical linkage between the steering gear and the steering column. It is possible to control the steering wheel and the front-wheels steering independently. The active steering which reduce the difference between actual and estimated vehicle yaw rate can be realized. Since the information from the steering wheel is important for the driver to know the road condition, tire force should be fed back to the steering wheel. But unexpected disturbance is better suppressed without affecting to the steering wheel. Based on estimating the vehicle side slip angle from the internal sensor response, the tire self-aligning torque can be estimated. This torque is fed back to the steering wheel so that the driver can know the road condition. In this paper, we propose the method to control the vehicle yaw rate using steer-by-wire system, also disturbance applied to the front tires is suppressed by disturbance observer without affecting to the steering wheel. Numerical simulations are carried out to show the validity of the proposed method.","PeriodicalId":258936,"journal":{"name":"The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04.","volume":"69 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":"129282878","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: 26
Reproducibility and operationality in bilateral teleoperation 双侧远程手术的再现性和可操作性
The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297669
W. Iida, K. Ohnishi
{"title":"Reproducibility and operationality in bilateral teleoperation","authors":"W. Iida, K. Ohnishi","doi":"10.1109/AMC.2004.1297669","DOIUrl":"https://doi.org/10.1109/AMC.2004.1297669","url":null,"abstract":"There are many works about bilateral teleoperation. However, good touch sense of remote object has not been realized in actual system yet. In this paper, the goals of bilateral teleoperation are considered as following two points. One is a reproduction of environmental impedance in master side. The other is a realization of small operational force. Operational force means the force the operator feels in addition to real environmental force. Corresponding to these goals, novel evaluation indices are defined which are named \"reproducibility\" and \"operationality\", respectively. Moreover, control stability must be satisfied. After all, bilateral teleoperation must satisfy three conditions such as reproducibility, operationality and stability. Using defined evaluation indices, bilateral controller is designed. Through analysis, it is confirmed that the three desired conditions in bilateral teleoperation are well satisfied with this controller. The effectiveness of this research is demonstrated by an experiment with bilateral forceps robot.","PeriodicalId":258936,"journal":{"name":"The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04.","volume":"252 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":"129066633","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: 432
High performance motion control of linear motors based on multirate adaptive robust control 基于多速率自适应鲁棒控制的直线电机高性能运动控制
The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297927
Hiroshi Fujimoto, Bin Yao
{"title":"High performance motion control of linear motors based on multirate adaptive robust control","authors":"Hiroshi Fujimoto, Bin Yao","doi":"10.1109/AMC.2004.1297927","DOIUrl":"https://doi.org/10.1109/AMC.2004.1297927","url":null,"abstract":"It is well known that a plant becomes non-minimum phase in discrete-time domain when the relative degree of the original continuous-time plant is greater than 2 even if the plant is minimum-phase in continuous-time domain. Thus, it was difficult to apply the conventional adaptive controllers directly to these systems. In this paper, multirate adaptive robust control (MARC) is proposed for these systems. This scheme is developed by the good combination of perfect tracking control (PTC) with multirate feedforward control which has been proposed by the first author and discontinuous projection based adaptive robust control (ARC) which has been proposed by the second author. The proposed MARC can guarantee 1) perfect tracking for plant with parametric uncertainty and 2) overall stability even if there exist modeling error and disturbance. The proposed scheme is applied to the high-speed position control of a linear motor, and the advantages are demonstrated through experiments.","PeriodicalId":258936,"journal":{"name":"The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04.","volume":"142 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":"121386056","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
Repetitive control of hard disk drives based on switching scheme: experimental verification for multiple mode disturbance 基于切换方案的硬盘驱动器重复控制:多模态扰动的实验验证
The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297688
H. Fujimoto, F. Kawakami, S. Kondo
{"title":"Repetitive control of hard disk drives based on switching scheme: experimental verification for multiple mode disturbance","authors":"H. Fujimoto, F. Kawakami, S. Kondo","doi":"10.1109/AMC.2004.1297688","DOIUrl":"https://doi.org/10.1109/AMC.2004.1297688","url":null,"abstract":"Because the record density of hard disk drive (HDD) increased very rapidly, the required servo accuracy is getting dramatically severe. In this paper, novel feedforward (FF) control is proposed to reject the periodic disturbance based on switching scheme and open-loop observer. The advantages of proposed method are verified by several experiments. First, the proposed FF method is compared with the conventional feedback (FB) control in the case of single-mode disturbance rejection. Second, multiple-mode disturbance is considered in high-frequency region, which cannot be rejected by conventional technologies. The final experiments show that the proposed control algorithm eliminates 20.4 [%] tracking error compared with a conventional method.","PeriodicalId":258936,"journal":{"name":"The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04.","volume":"148 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":"123210796","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 control of micro-scale electric vehicle by DYC considering lane marker information 考虑车道标志信息的微型电动汽车DYC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.2004.1297639
P. Raksincharoensak, M. Shino, M. Nagai
{"title":"Motion control of micro-scale electric vehicle by DYC considering lane marker information","authors":"P. Raksincharoensak, M. Shino, M. Nagai","doi":"10.1109/AMC.2004.1297639","DOIUrl":"https://doi.org/10.1109/AMC.2004.1297639","url":null,"abstract":"This paper examines the feasibility of direct yaw moment control (DYC) in the context of driving assistance system. The lane marker information is acquired by CCD camera with image processing system and used in the design of vehicle motion control. The assist direct yaw moment required for vehicle control is generated by differential longitudinal forces between left and right tires. The resulting assist yaw moment controls the vehicle yaw rate in order to trace the desired yaw rate for tracking desired lane. Yaw moment controller design procedure is presented. The feasibility and capability of DYC as a driver assistance system are shown by computer simulations and experiments on micro-scale electric vehicle.","PeriodicalId":258936,"journal":{"name":"The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04.","volume":"71 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":"115955531","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
首页 上一页 下一页 尾页
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整，为了账户安全，请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
请完成安全验证×
相关产品
×
本文献相关产品
联系我们：info@booksci.cn Book学术提供免费学术资源搜索服务，方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号：604180095
Book学术官方微信
小红书