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Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE最新文献

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Development of a tactile sensing flexible actuator 触觉传感柔性致动器的研制
Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509337
Y. Tanaka, A. Gofuku, Y. Fujino
{"title":"Development of a tactile sensing flexible actuator","authors":"Y. Tanaka, A. Gofuku, Y. Fujino","doi":"10.1109/AMC.1996.509337","DOIUrl":"https://doi.org/10.1109/AMC.1996.509337","url":null,"abstract":"The disadvantages of flexible artificial fingers have been improved. The finger is provided with the tactile sense by two types of sensors to detect when the finger tip touches an object and to estimate both the finger force and object size. The rigidity is enhanced by equipping the finger with a reinforcing material similar to that of human bone. A prototype robot hand with four fingers has been manufactured for experiments and mounted on an industrial articulated robot. The effectiveness of the improved robot hand finger was confirmed throughout experimental tests of grasping action.","PeriodicalId":360541,"journal":{"name":"Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115190943","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
Disturbance compensation control of direct drive motor using an adaptive observer 基于自适应观测器的直驱电机扰动补偿控制
Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509408
V. Kroumov, A. Inoue
{"title":"Disturbance compensation control of direct drive motor using an adaptive observer","authors":"V. Kroumov, A. Inoue","doi":"10.1109/AMC.1996.509408","DOIUrl":"https://doi.org/10.1109/AMC.1996.509408","url":null,"abstract":"An adaptive scheme for cancellation of unknown disturbances in the control of an DD motor is proposed. The design is based on coprime factorization of the plant model over a ring of proper stable rational functions. This description gives a simple structure in which there is no need of canonical transformations. An adaptive adjusting law is used to identify the unknown parameters of the compensator cancelling the disturbances. Comparison between the proposed scheme and an existing controller is given.","PeriodicalId":360541,"journal":{"name":"Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE","volume":"64 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129407840","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
Vibration control of flexible robotic arms using robust model matching control 基于鲁棒模型匹配控制的柔性机械臂振动控制
Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509327
Jinaming Lu, Muhammad Shafiq, T. Yahagi
{"title":"Vibration control of flexible robotic arms using robust model matching control","authors":"Jinaming Lu, Muhammad Shafiq, T. Yahagi","doi":"10.1109/AMC.1996.509327","DOIUrl":"https://doi.org/10.1109/AMC.1996.509327","url":null,"abstract":"Presents a new method for the vibration control of flexible robotic arms using a robust model matching control strategy. To reduce the order of the compensator the rigid-body mode and the first flexible mode are considered as a nominal model. The other flexible modes are considered as unmodeled dynamics. The method is suitable to robustly control the nominal model in the presence of unmodeled flexible dynamics and achieve the desired model matching simultaneously. Moreover, the sufficient condition for stabilizing the nominal model in the presence the unmodeled flexible dynamics is derived. Finally, computer simulation results are presented to demonstrate the effectiveness of the proposed method.","PeriodicalId":360541,"journal":{"name":"Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128327077","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: 4
Slip frequency estimation for sensorless low speed control of induction motor 异步电动机无传感器低速控制的转差频率估计
Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509397
Tae-Woong Kim, A. Kawamura
{"title":"Slip frequency estimation for sensorless low speed control of induction motor","authors":"Tae-Woong Kim, A. Kawamura","doi":"10.1109/AMC.1996.509397","DOIUrl":"https://doi.org/10.1109/AMC.1996.509397","url":null,"abstract":"This paper proposes a novel slip frequency estimation algorithm without using a speed or position sensor, especially aimed at the very low rotor speed estimation. The stator flux is obtained by the simple digital integration from the compensated stator voltage and the high-pass filtered stator currents. And the rotor speed is estimated from the proposed slip frequency estimation algorithm, which has advantages of more accuracy and stability in the very low speed range. It is reported in the paper that a rotor speed estimation as low as 5 rpm is verified through the experiments combined with the voltage command type vector control and the proposed slip frequency estimation algorithm.","PeriodicalId":360541,"journal":{"name":"Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128702186","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
Parameter sensitivity of speed estimation in speed sensorless induction motor drives 无速度传感器感应电机转速估计的参数灵敏度
Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509398
C. Attaianese, G. Fusco, I. Marongiu, A. Perfetto
{"title":"Parameter sensitivity of speed estimation in speed sensorless induction motor drives","authors":"C. Attaianese, G. Fusco, I. Marongiu, A. Perfetto","doi":"10.1109/AMC.1996.509398","DOIUrl":"https://doi.org/10.1109/AMC.1996.509398","url":null,"abstract":"A method for evaluating the sensitivity of speed estimation to parameter variations in inverter motor drives with microprocessor based control is proposed in the paper. By using a full order flux asymptotic observer, the step by step analytical determination of the stator current error is carried out. In this way, the motor speed can be expressed as a function of motor parameters, allowing sensitivity evaluation.","PeriodicalId":360541,"journal":{"name":"Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128945539","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 organized motion control of multi-directional wave maker 多向造波器的组织运动控制
Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509294
B.T. Nohara, I. Yamamoto, M. Matsuura
{"title":"The organized motion control of multi-directional wave maker","authors":"B.T. Nohara, I. Yamamoto, M. Matsuura","doi":"10.1109/AMC.1996.509294","DOIUrl":"https://doi.org/10.1109/AMC.1996.509294","url":null,"abstract":"This paper describes the hardware and associated software of the organized motion control of a multi-directional wave maker which has been developed in the seakeeping model basin. The developed wave maker is a flap type wave maker which consists of multi-segmented flaps, actuators (AC servo motors) which drive segmented flaps, and the computer system which manages the motion control of actuators. Waves can be generated by the forward and/or backward movement of flaps which are connected mechanically by ball screws rotated by AC servo motors. How the flaps are moved decides the type of waves such as the wave height, the wave period, and the wave spectrum, etc. The width of the test basin and a flap size are 30m and 0.4m, respectively. Therefore, the number of segmentation of flaps becomes 75. The computer system drives simultaneously these 75-axes AC servo motors. The organized motion control of 75-axes-servo-system for the multi-directional wave maker is completed and the high performance of the wave generation, especially the real time calculation of setpoints, is achieved by the organized motion control hierarchy design.","PeriodicalId":360541,"journal":{"name":"Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122613763","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
Model based prediction, preview and robust controls in motion control systems 运动控制系统中基于模型的预测、预览和鲁棒控制
Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509370
M. Tomizuka
{"title":"Model based prediction, preview and robust controls in motion control systems","authors":"M. Tomizuka","doi":"10.1109/AMC.1996.509370","DOIUrl":"https://doi.org/10.1109/AMC.1996.509370","url":null,"abstract":"This paper describes the role of mathematical models in various model-based control schemes such as predictive control and preview control. To prevent the deterioration of performance of these control approaches in the presence of model uncertainties and disturbances, model based methods for state estimation, disturbance estimation and parameter identification may be utilized to obtain robust high performance motion control system.","PeriodicalId":360541,"journal":{"name":"Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE","volume":"277 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122986687","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: 49
The control for the disturbance in the system with time delay 对系统中具有时滞的扰动进行控制
Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509431
T. Takehara, T. Kunitake, H. Hashimoto, F. Harashima
{"title":"The control for the disturbance in the system with time delay","authors":"T. Takehara, T. Kunitake, H. Hashimoto, F. Harashima","doi":"10.1109/AMC.1996.509431","DOIUrl":"https://doi.org/10.1109/AMC.1996.509431","url":null,"abstract":"The control for a disturbance adding to the input side of a plant in a system with output time delay is discussed. We aim to achieve a new approach to control the disturbance more effectively based on Smith predictor control. To obtain the disturbance information, the disturbance estimate observer is proposed. Simulation of the disturbance observer has been conducted and the characteristics of the method using the observer have been evaluated.","PeriodicalId":360541,"journal":{"name":"Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE","volume":"231 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123065224","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: 21
Speed control of symmetrical type three-mass resonant system by PID-controller 对称型三质量谐振系统速度的pid控制
Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509315
Y. Takeichi, S. Komada, M. Ishida, T. Hori
{"title":"Speed control of symmetrical type three-mass resonant system by PID-controller","authors":"Y. Takeichi, S. Komada, M. Ishida, T. Hori","doi":"10.1109/AMC.1996.509315","DOIUrl":"https://doi.org/10.1109/AMC.1996.509315","url":null,"abstract":"In this paper, we deal with a symmetrical type three-mass resonant system like an elevator system. First, the block diagram of the symmetrical type three-mass resonant system is converted into a form with two types of vibration blocks, it is found that there is a vibration which can't be observed from motor speed when the parameters become a certain condition. We employ the PID-controller and attach dampers to simple-rods that is a kind of flexible shafts. We can raise response frequency to anti-resonant frequency and determine arbitrary damping characteristics of the system by the PID-controller. The vibration which can't be observed on the motor side is suppressed by attaching dampers to simple-rods.","PeriodicalId":360541,"journal":{"name":"Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117206677","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: 8
A simulation of a road scraper control 一个仿真的道路刮泥机控制
Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509291
P. Saavalainen, K. Nevala, J. Savilampi
{"title":"A simulation of a road scraper control","authors":"P. Saavalainen, K. Nevala, J. Savilampi","doi":"10.1109/AMC.1996.509291","DOIUrl":"https://doi.org/10.1109/AMC.1996.509291","url":null,"abstract":"The automatic control system of the road scraper is based on a 6-D positioning system which measures the position and the orientation of the front frame. Measured information is compared with the numerical road design data, and the control system calculates the desired positions for the cutting blade of the road scraper. A method which controls the position and the orientation of the blade of the road scraper with two lifting cylinders and one sideways moving cylinder is presented in this paper. The inverse kinematics of the road scraper is solved using trigonometric and iterative methods. Inverse kinematics has been verified with the Igrip simulation program. The road scraper has been modeled in the CAD-section of the program. The simulated mechanism has 15 joints (or DOFs), but the real mechanism only 6.","PeriodicalId":360541,"journal":{"name":"Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114351106","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
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