9th IEEE International Workshop on Advanced Motion Control, 2006.最新文献

Fuzzy model based nonlinear control of an active oscillation suppression system comprised of mechanically flexible elements and triple configuration of u-shaped electromagnets 基于模糊模型的由机械柔性元件和三组u型电磁铁组成的主动振动抑制系统的非线性控制

9th IEEE International Workshop on Advanced Motion Control, 2006. Pub Date : 2006-05-30 DOI: 10.1109/AMC.2006.1631745

K. Erkan, T. Koseki

引用次数: 2

Stick-slip based micropositioning stage for transmission electron microscope 基于粘滑的透射电镜微定位台

9th IEEE International Workshop on Advanced Motion Control, 2006. Pub Date : 2006-05-30 DOI: 10.1109/AMC.2006.1631707

O. Holub, M. Spiller, Z. Hurák

引用次数: 3

A control strategy of null space motion using passivity of PID controller 一种基于PID控制器无源性的零空间运动控制策略

9th IEEE International Workshop on Advanced Motion Control, 2006. Pub Date : 2006-05-30 DOI: 10.1109/AMC.2006.1631655

T. Shibata, T. Murakami

{"title":"A control strategy of null space motion using passivity of PID controller","authors":"T. Shibata, T. Murakami","doi":"10.1109/AMC.2006.1631655","DOIUrl":"https://doi.org/10.1109/AMC.2006.1631655","url":null,"abstract":"In this paper, strategy of design in null space by a PID controller is proposed. There are many studies about asymptotical stabilizing by PID controller about a robot manipulator. Recently, robot works in various situations. It is necessary for the robot manipulator to have many degrees of freedom (DOF). So, we consider a control strategy of manipulator motion using a redundant manipulator. The redundant manipulator can divide into work space and null space. Here, we propose that work space carries out position control and null space uses PID control. Work space sets an observer. It is said to be work space observer. And, in null space, design of parameters of PID controller is used passive theory. In addition when unknown disturbance (interactive null space interference) is operated null space, it is compensated by the PID controller. To compensate null space disturbance, gamma-dissipative property is used. Finally, we carry out experiments for 4-link manipulator. In addition, comparing proposed method with PD control using null space observer is introduced. So, feasibility of control design of null space by the PID controller is confirmed","PeriodicalId":301450,"journal":{"name":"9th IEEE International Workshop on Advanced Motion Control, 2006.","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-05-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122977929","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

Performance of driving method of piezoelectric actuator by using current pulse 利用电流脉冲驱动压电作动器的性能

9th IEEE International Workshop on Advanced Motion Control, 2006. Pub Date : 2006-05-30 DOI: 10.1109/AMC.2006.1631711

K. Furutani, K. Iida

引用次数: 5

New synthesis design of reliable robust tracking controllers using LMI 基于LMI的可靠鲁棒跟踪控制器综合设计

9th IEEE International Workshop on Advanced Motion Control, 2006. Pub Date : 2006-05-30 DOI: 10.1109/AMC.2006.1631632

Fu-zhong Wang, G. M. Dimirovski, Yuanwei Jing, Si-ying Zhang

引用次数: 1

Visual tracking and control of a moving overhead crane load 移动桥式起重机载荷的视觉跟踪与控制

9th IEEE International Workshop on Advanced Motion Control, 2006. Pub Date : 2006-05-30 DOI: 10.1109/AMC.2006.1631733

Y. Yoshida, K. Tsuzuki

{"title":"Visual tracking and control of a moving overhead crane load","authors":"Y. Yoshida, K. Tsuzuki","doi":"10.1109/AMC.2006.1631733","DOIUrl":"https://doi.org/10.1109/AMC.2006.1631733","url":null,"abstract":"The trial stereovision is manufactured which is a non-contact sensor and tried to control the overhead crane by visual feedback. The stereovision has four degree of freedom for tracking and gazing with two cameras. The three-dimensional position of the crane load is provided with image data of two cameras, the focus distance, and four-vision drive angles and is used for crane control. The desired angles to control the stereovision is obtained using inverse kinematics that a point of intersection of two camera optical axes seems to always accord with the crane load center. On the other hand, in the overhead crane, positioning and vibration suppression of the crane load are controlled, using three-dimensional position of the crane load measured by the stereovision. The overhead crane load is transported by the simultaneous traveling, traversing and hoisting motions of the trolley and swings with the vibrating amplitude and its direction. Therefore the dynamic overhead crane model has five degree of freedom. Variable feedback digital gains of the trolley to control the crane load are pursued in consideration of the rope length change. Experimental results of the positioning and swing control of the crane load and tracking of the stereovision in case of the load transportation with up and down hoisting are reported, and the possibility of zoom lens activity is described. The experimental results of overhead crane control by visual feedback show that the control system was effective","PeriodicalId":301450,"journal":{"name":"9th IEEE International Workshop on Advanced Motion Control, 2006.","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-05-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129499795","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: 31

Study on direct torque control of permanent magnet synchronous motor in electric vehicle drive 电动汽车驱动中永磁同步电机直接转矩控制研究

9th IEEE International Workshop on Advanced Motion Control, 2006. Pub Date : 2006-05-30 DOI: 10.1109/AMC.2006.1631757

Xu Jia-qun, Ouyang Minggao, Tang Renyuan

引用次数: 14

Robust design of body slip angle observer with cornering power identification at each tire for vehicle motion stabilization 车身滑移角观测器的鲁棒设计及各轮胎转向力辨识

9th IEEE International Workshop on Advanced Motion Control, 2006. Pub Date : 2006-05-30 DOI: 10.1109/AMC.2006.1631726

Y. Aoki, Z. Li, Y. Hori

引用次数: 7

Adaptive space vector modulator for three-level NPC PWM inverter-fed induction motor 三电平NPC PWM逆变式异步电动机自适应空间矢量调制器

9th IEEE International Workshop on Advanced Motion Control, 2006. Pub Date : 2006-05-30 DOI: 10.1109/AMC.2006.1631714

W. Kolomyjski, M. Malinowski, M. Kazmierkowski

引用次数: 20

Position and attitude control of a spherical rolling robot equipped with a gyro 装有陀螺的球面滚动机器人的位置和姿态控制

9th IEEE International Workshop on Advanced Motion Control, 2006. Pub Date : 2006-05-30 DOI: 10.1109/AMC.2006.1631695

T. Otani, T. Urakuboi, S. Maekawa, H. Tamaki, Y. Tada

引用次数: 57