2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)最新文献_第4页

Robust vibration control of two-mass resonant systems in state space 状态空间双质量谐振系统的鲁棒振动控制

2016 IEEE 14th International Workshop on Advanced Motion Control (AMC) Pub Date : 2016-04-22 DOI: 10.1109/AMC.2016.7496413

E. Sariyildiz, Haoyong Yu, T. Nozaki, T. Murakami

{"title":"Robust vibration control of two-mass resonant systems in state space","authors":"E. Sariyildiz, Haoyong Yu, T. Nozaki, T. Murakami","doi":"10.1109/AMC.2016.7496413","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496413","url":null,"abstract":"In this paper, a novel robust position controller is proposed for two-mass resonant systems. It is designed by using Differential Flatness (DF) and Disturbance Observer (DOb) in state space. Firstly, DF-based trajectory tracking controller is designed by neglecting plant uncertainties and external disturbances. Since a two-mass resonant system is controllable, state and control input references are generated in terms of differentially flat output. However, the trajectory tracking controller is sensitive so the stability and performance may significantly change due to the robustness issues in practice. Secondly, the robustness is achieved by treating estimated disturbances, which are obtained via DOb, in the design of the controller. A two-mass resonant system includes matched and mismatched disturbances; therefore, the robustness cannot be achieved by directly feeding-back their estimations. The states of the system are re-constructed by using estimated disturbances so that the mismatched disturbance is automatically cancelled via state feed-back control. The matched disturbance is simply cancelled by feeding-back its estimation. Hence, the robust trajectory tracking controller is designed for two-mass resonant systems. The validity of the proposal is verified by giving simulation results.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123664823","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

Separated adaptive control scheme of a rotor-flying manipulator 一种旋翼飞行机械臂分离自适应控制方案

2016 IEEE 14th International Workshop on Advanced Motion Control (AMC) Pub Date : 2016-04-22 DOI: 10.1109/AMC.2016.7496329

Bin Yang, Yuqing He, Jianda Han, Guangjun Liu

{"title":"Separated adaptive control scheme of a rotor-flying manipulator","authors":"Bin Yang, Yuqing He, Jianda Han, Guangjun Liu","doi":"10.1109/AMC.2016.7496329","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496329","url":null,"abstract":"Rotor flying manipulator (RFM), a new kind of mobile robot system being composed of a rotor flying robot (RFR) and a (several) manipulator(s), has absorbed great attentions in recent years because it enables a RFR to complete active tasks such as mastering and transporting objects. However, steady control of the RFM during both maneuvering and operating is of great difficulty due to the heavy force/moment coupling between the RFR and the manipulator, which introduce high nonlinearity and complexity to the system model. In this paper, a new control scheme of the RFM is proposed to ensure the steady flight. Firstly, the nonlinear mathematical model is derived, which is followed by the coupling analysis to show how the movement of the manipulator influences the whole system's behavior. Subsequently, based on these analyses, a new control scheme is designed with obtainable coupling force/moment. The basic idea of the controller is to take the coupling as a disturbance and separately control the RFR and the manipulator, and the stability is ensured to properly design the controller parameters. Finally, simulations are conducted and the results show the feasibility and validity of the proposed controller.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"62 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131540504","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: 0

A study on real time integrated lane detection and vehicle tracking method with side-mirror cameras 基于侧镜摄像头的实时综合车道检测与车辆跟踪方法研究

2016 IEEE 14th International Workshop on Advanced Motion Control (AMC) Pub Date : 2016-04-22 DOI: 10.1109/AMC.2016.7496374

Quang Nguyen Van, Moonyoung Yoon, W. Che, DukSun Yun, Heungseob Kim, KwangSuck Boo

引用次数: 3

Mobile robot floor classification using motor current and accelerometer measurements 移动机器人地板分类使用电机电流和加速度计测量

2016 IEEE 14th International Workshop on Advanced Motion Control (AMC) Pub Date : 2016-04-22 DOI: 10.1109/AMC.2016.7496407

Yanming Pei, L. Kleeman

{"title":"Mobile robot floor classification using motor current and accelerometer measurements","authors":"Yanming Pei, L. Kleeman","doi":"10.1109/AMC.2016.7496407","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496407","url":null,"abstract":"Accurate localisation of an indoor robot critically depends on the odometry calibration which varies with different types of floor surfaces. Motion control accuracy of robots can be improved by independently calibrating odometry parameters for each floor surface. This paper presents a new robot floor classification system based on motor current measurements with compensation for variations in the floor inclination angles. The motor current is proportional to the rolling resistance on a flat floor when the robot travels at a constant velocity. We show that commonly occurring small deviations of less than one degree in the inclination of indoor floors significantly affects motor current measurements. The paper compensates for floor inclination variations with a low cost accelerometer. Floors are classified using a Support Vector Machine (SVM) with an accuracy of 95% for a 0.2 m travelling distance and 4 indoor surfaces that include similar carpets. Experimental results show that our proposed method significantly improves a previous floor classification system based on a colour sensor. Our previous work has shown that correct floor classification can improve robot motion control through more accurate odometry calibration, localisation, mapping and path planning.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130575250","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

Concept of a computerized numerical control kernel for execution on multi-core processors 在多核处理器上执行的计算机数控内核的概念

2016 IEEE 14th International Workshop on Advanced Motion Control (AMC) Pub Date : 2016-04-22 DOI: 10.1109/AMC.2016.7496412

Matthias Keinert, A. Lechler, A. Verl

引用次数: 1

On explicit implementation of multiple disturbance observers derived from three-degree-of-freedom control 基于三自由度控制的多干扰观测器的显式实现

2016 IEEE 14th International Workshop on Advanced Motion Control (AMC) Pub Date : 2016-04-22 DOI: 10.1109/AMC.2016.7496390

A. Suzumura, Y. Fujimoto

引用次数: 2

Fundamental study for a fractional order repetitive control using Generalized Repetitive Control for high precision motor control 基于广义重复控制的分数阶重复控制在高精度电机控制中的基础研究

2016 IEEE 14th International Workshop on Advanced Motion Control (AMC) Pub Date : 2016-04-22 DOI: 10.1109/AMC.2016.7496405

Masato Kanematsu, H. Fujimoto

引用次数: 0

An approach to balance and posture estimation using image feature points for biped walking robot 基于图像特征点的两足步行机器人平衡和姿态估计方法

2016 IEEE 14th International Workshop on Advanced Motion Control (AMC) Pub Date : 2016-04-22 DOI: 10.1109/AMC.2016.7496400

N. Oda, Mina Yamazaki

引用次数: 3

Control of a soft-bodied XY peristaltic table for delicate sorting 控制一个柔软的XY蠕动工作台，用于精细的分类

2016 IEEE 14th International Workshop on Advanced Motion Control (AMC) Pub Date : 2016-04-22 DOI: 10.1109/AMC.2016.7496376

Ryman Hashem, B. Smith, David Browne, Weiliang Xu, M. Stommel

{"title":"Control of a soft-bodied XY peristaltic table for delicate sorting","authors":"Ryman Hashem, B. Smith, David Browne, Weiliang Xu, M. Stommel","doi":"10.1109/AMC.2016.7496376","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496376","url":null,"abstract":"A demand for a soft body robotic h a s become widely apparent especially in industrial sectors to accomplish the rotation of a variety of organic matter. The inaccuracy of the classical robots in the handling of many organic objects such as fruits or eggs in production lines has triggered the necessity for soft body robotics. In this paper, we introduce a hybrid robotic prototype (X-Y soft-bodied peristaltic table) combining soft and hard robotics techniques with cutting-edge design in its physical stature, so as to control its 25 motors and to be autonomous. These 25 motors are capable of generating peristaltic motion in the soft layers of the table surface, thus providing a physical force that transports delicate objects. Two control systems have been developed to validate the industrial potential of a peristaltic XY table. The first system is a dynamic real-time path planning program that has been written to determine the shortest path from an object on the table's surface to a target position selected by the user; the second system is an artificial neural network (ANN) that has been developed to estimate the relationship between the table's actuation pattern and the corresponding surface deformation.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"308 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116276317","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

Maximum torque generation of SEA under velocity control SEA在速度控制下产生的最大转矩

2016 IEEE 14th International Workshop on Advanced Motion Control (AMC) Pub Date : 2016-04-22 DOI: 10.1109/AMC.2016.7496322

Chan Lee, Wiha Choi, Sehoon Oh

{"title":"Maximum torque generation of SEA under velocity control","authors":"Chan Lee, Wiha Choi, Sehoon Oh","doi":"10.1109/AMC.2016.7496322","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496322","url":null,"abstract":"Nowadays, compliance is required in various research. Series Elastic Actuator (SEA) has been emerged as one of the promising actuator system, since it provides various benefits such as safety, force sensing, energy storing with its inherent compliance. While the SEA contributes not only to the human interacting robot but also to wide robotics area, there is still limitation in performance that is caused by non-linearity and discontinuous power transfer. The cause of these influence is arisen from the electric devices (e.g., sensor, motor) and mechanical characteristics (e.g., friction, gear backlash), since SEA consists of a motor, a spring and a gear reducer to amplify the output torque. We focus on improvement of maximum force control performance (i.e., control bandwidth) taking into consideration saturation characteristic of the motor drive. Especially velocity limitation which interrupts spring deformation tracking performance is concentrated in this research; the spring in SEA transforms displacement to output force and its performance depends on the position control performance of the SEA. A novel index called Maximum Torque Transmissibility (MTT) is defined to assess the ability to fully utilize maximum continuous motor torque input which is saturated by velocity output limitation condition. Novel and practical frequency bandwidth can be found based on the proposed MTT.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126018530","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