The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04.最新文献_第9页

H/sub /spl infin// control of the magnetic bearing considering initial state uncertainties 考虑初始状态不确定性的磁轴承H/sub /spl / in//控制

The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297680

T. Namerikawa, W. Shinozuka

引用次数: 6

Dynamic model and control of six-phase spiral motor 六相螺旋电机的动力学模型与控制

The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297942

T. Kominami, Y. Fujimoto

{"title":"Dynamic model and control of six-phase spiral motor","authors":"T. Kominami, Y. Fujimoto","doi":"10.1109/AMC.2004.1297942","DOIUrl":"https://doi.org/10.1109/AMC.2004.1297942","url":null,"abstract":"Various industrial applications utilize linear actuators which are usually performed by rotational type motors in combination with ball screw, by hydraulic actuators, and by linear motors. The ball screw has small friction, which has bad influence on positioning accuracy. The hydraulic actuators have maintenance problem. Also the equipment of the linear motors becomes complicated it makes a lot of magnetic flux of leak. In this paper, we propose a new spiral type motor which overcome the conventional defects of these linear actuators. By using spirally shaped rotor and stator, it can transform the rotational motion to forth-and-back movement according to the screw mechanism. The friction free screw mechanism is realized by magnetic levitation of the rotor. The basic model of six-phase spiral motor is introduced. The model was analyzed by using a equivalent magnetic circuit. All interlinkage magnetic flux is given from a equivalent magnetic circuit. The thrust and torque equation is also given and the numerical examples are shown. When the spiral motor is driven, it is required to keep the displacement of gap x/sub g/ being zero in order to avoid touchdown. We applied a two-degree-of-freedom control to the gap control. The simulation results of the gap control are shown.","PeriodicalId":258936,"journal":{"name":"The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04.","volume":"62 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":"129492640","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

Spacecraft high precision optimized control for free-falling test mass tracking in LISA-Pathfinder mission lisa -探路者任务中航天器自由落体试验质量跟踪高精度优化控制

The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297928

D. Bortoluzzi, M. Lio, Roberto Oboe, Stefano Vitale

{"title":"Spacecraft high precision optimized control for free-falling test mass tracking in LISA-Pathfinder mission","authors":"D. Bortoluzzi, M. Lio, Roberto Oboe, Stefano Vitale","doi":"10.1109/AMC.2004.1297928","DOIUrl":"https://doi.org/10.1109/AMC.2004.1297928","url":null,"abstract":"LISA (Laser Interferometer Space Antenna) is the first space mission for the in-flight detection of gravitational waves. In order to reduce the mission risk, some of the key technologies needed for LISA is tested by means of the LISA Test-Flight package (LTP) on board the LISA Pathfinder mission (SMART-2). The goal of the LISA Pathfinder is to provide inflight testing of the free-fall level of a reference Test Mass (TM) to within a factor 10 from the LISA top-science requirement. One of the critical technologies to be tested is the Test Masses Drag-Free and Attitude Control System (DFACS), which is the system that has to provide the test masses inertial insulation through satellite relative position control up to the nanometer level. The system analyzed in the paper is modelled as a multibody made of the satellite, actuated through thrusters, and two test masses, kept at a fixed relative distance by using a capacitive actuation. The paper presents a new control design procedure for this MIMO system. The procedure, based on a multi-objective optimization, yields to controllers that achieve the prescribed levels of performance in terms of disturbance rejection, robustness and phase margin.","PeriodicalId":258936,"journal":{"name":"The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04.","volume":"2 6","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113931474","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

Development of configuration differing master slave combined forceps 构型不同主从组合钳的研制

The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297671

S. Takashi, N. Kazuo, F. Toshiharu, O. Soji, M. Yasuhide, K. Masaki, J. Makoto, M. Nobuto

引用次数: 4

Contact stability analysis using dynamic control model 基于动态控制模型的接触稳定性分析

The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297666

A. Kato, K. Ohnishi

引用次数: 0

VHDL-AMS modeling and library building for Power Electrical Engineering 电力电气工程VHDL-AMS建模与库建设

The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297651

F. Legrand, H. Levi, N. Couture, J. Charlot

引用次数: 7

Sequence generation of discrete event system and logic controller and its applicability to fault detection 离散事件系统和逻辑控制器的序列生成及其在故障检测中的适用性

The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297936

T. Zanma, T. Miyabayashi, M. Ishida

引用次数: 2

Constructing a platform of robust position estimation for mobile robot by ODR 构建了一个基于ODR的移动机器人鲁棒位置估计平台

The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297678

M. Kondo, K. Ohnishi

{"title":"Constructing a platform of robust position estimation for mobile robot by ODR","authors":"M. Kondo, K. Ohnishi","doi":"10.1109/AMC.2004.1297678","DOIUrl":"https://doi.org/10.1109/AMC.2004.1297678","url":null,"abstract":"Today there is an increasing need for robots which move autonomously and work various operations. The robot taken up in this paper is two wheeled vehicle which has 6-D.O.F manipulator. Considering the position estimation of the vehicle, the conventional method is Dead-Reckoning method, which accuracy of estimation is almost good. But once slip occurs to the vehicle, a position estimated from dead-reckoning loses accuracy, because of wheelspin. Slip environment is often seen in our living space. So a wheeled robot has to detect a slip and compensate for the error. Counting the issue described above, mobile robot should have some sensors which obtains its position and attitude in noncontact from the floor. So in this paper, the method using optical sensor to estimate the vehicle position is proposed. This method is called Optical Dead-Reckoning (ODR) method. Two optical sensors mounted under the vehicle body is going to scan the floor and detect vehicle movement. The value obtained from ODR has no error of slip and friction of floor. Based on this ODR method, optical sensors are mounted on the actual robot, and some experimental results are shown.","PeriodicalId":258936,"journal":{"name":"The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04.","volume":"257 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":"124225594","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

Analysis of the knot-tying force in dog models 犬模型打结力分析

The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297670

J. Oguma, S. Ozawa, Y. Morikawa, T. Furukawa, M. Kitajima, K. Nakazawa, K. Ohnishi

{"title":"Analysis of the knot-tying force in dog models","authors":"J. Oguma, S. Ozawa, Y. Morikawa, T. Furukawa, M. Kitajima, K. Nakazawa, K. Ohnishi","doi":"10.1109/AMC.2004.1297670","DOIUrl":"https://doi.org/10.1109/AMC.2004.1297670","url":null,"abstract":"From our experience of endoscopic surgery using the surgical robot da Vinci at our hospital, it has become clear that the lack of a sense of touch of the forceps makes meticulous operations difficult. For the development of a surgical robot that would impart a sense of touch, we investigated the appropriate knot-tying force by determining the relation between this force and wound healing in dog models. We cut and then sutured the jejenum of Beagle dogs, using a series of knot-tying forces (0.5-5.0 N). The jejenum was then removed on the 4/sup th/, 7/sup th/, 11/sup th/ and 14/sup th/ postoperative days, and the microvessel density for each force was measured to determine the appropriate knot-tying force for the jejenum. The microvessel density in the submucosa on the 7/sup th/ and 11/sup th/ postoperative days was significantly higher for the knot-tying force of 1.5 N than for other forces used. Thus, the results of our study suggested that a knot-tying force of 1.5 N was the most appropriate force for suturing of wounds of the jejenum. We consider that this result would be useful for the development of a surgical robot that imparts a sense of touch to the surgeon's hand.","PeriodicalId":258936,"journal":{"name":"The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04.","volume":"151 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":"132013676","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

The transformation of modified 4-channel architecture 修改后的四通道架构的改造

The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297668

Y. Sumiyoshi, K. Ohnishi

{"title":"The transformation of modified 4-channel architecture","authors":"Y. Sumiyoshi, K. Ohnishi","doi":"10.1109/AMC.2004.1297668","DOIUrl":"https://doi.org/10.1109/AMC.2004.1297668","url":null,"abstract":"Bilateral control, the technology of teleoperation with force feedback, is progressing rapidly and has a field with an important application in space, oceanic engineering, medicine, and so on. Many researchers have employed velocity, force or impedance information to propose a variety of bilateral control. As a conventional bilateral control, position-position, force-position architecture are known. But, these architecture was only intuitive and did not have a clear performance index. Hannafod, Lawrence and so on had established a clear design method based on transparency by using the H matrix and a four-channel architecture, and among the control architectures that incorporate velocity and force feedforward, the 4-channel architecture has shown perfect transparency in ideal condition. Furthermore, by using a local force feedback, one can counteract an impact force imposed by the operator or the environment force reflection. But, it seems that this modified 4-channel architecture does not show the effect of local force feedback well from the point of view of visual. In addition, like a parallel control and a compliance control, control architecture which have a part where force information is converted into position information through filter cannot be expressed clearly in this architecture. So, the authors transformed the 4-channel architecture to make these control laws easy to evaluate. The authors introduce the transformation of the modified 4-channel architecture to clarify the meaning of local force feedback, and to express the above-mentioned controller clearly.","PeriodicalId":258936,"journal":{"name":"The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04.","volume":"42 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":"128033037","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: 15