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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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On general weighting functions for the application of H/sub /spl infin// optimization method H/sub /spl优化方法应用的一般加权函数
Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509311
Y. Chun, Y. Hori
{"title":"On general weighting functions for the application of H/sub /spl infin// optimization method","authors":"Y. Chun, Y. Hori","doi":"10.1109/AMC.1996.509311","DOIUrl":"https://doi.org/10.1109/AMC.1996.509311","url":null,"abstract":"This paper is dealing with a practical way of deciding performance index and related weighting functions for the application of H/sub /spl infin// optimization method. The proposed method is verified through experiment of two-mass flexible system.","PeriodicalId":360541,"journal":{"name":"Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE","volume":"71 11","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131893651","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
Suppressing vibration of horizontal robot arm with timing belts 用同步带抑制水平机械臂的振动
Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509329
K. Mori, S. Morimoto, Y. Takeda
{"title":"Suppressing vibration of horizontal robot arm with timing belts","authors":"K. Mori, S. Morimoto, Y. Takeda","doi":"10.1109/AMC.1996.509329","DOIUrl":"https://doi.org/10.1109/AMC.1996.509329","url":null,"abstract":"Timing belts are widely used in many industrial applications, such as industrial robot arm. When the belts are used in a robot arm, however, it is difficult to drive the arm without vibrations due to the flexibility of the belts and the complicated machinery of the robot arm makes smooth motion control more difficult. We propose a position control system with suppression of vibrations, and the effectiveness of the proposed system is verified from experimental results.","PeriodicalId":360541,"journal":{"name":"Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE","volume":"11 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":"133341311","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
Application of a virtual environment model to field work planning and the control of distribution line work by robots 虚拟环境模型在现场作业规划和机器人配电网作业控制中的应用
Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509396
H. Ishida, S. Hanaki, N. Murai
{"title":"Application of a virtual environment model to field work planning and the control of distribution line work by robots","authors":"H. Ishida, S. Hanaki, N. Murai","doi":"10.1109/AMC.1996.509396","DOIUrl":"https://doi.org/10.1109/AMC.1996.509396","url":null,"abstract":"We have been carrying out research into the development of new methods of distribution line work conducted by the electric power company, in order to improve the working conditions and work efficiency and to reduce operation costs. One area of research is aimed at the development of a method of controlling robots which automatically perform field work which is, at present, carried out by human labour. This research involves the application of the latest computer graphics (CG) and virtual reality technologies to a machine-use electronic system. This paper describes the first phase of the research. In the first phase, we developed the basic system including a visual model for making up work plans based on the CG technology to create a virtual environment. The field work is simulated by adjusting the images generated by CG and real images. The resultant simulation data is used in the robot control commands.","PeriodicalId":360541,"journal":{"name":"Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE","volume":"47 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":"115427239","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
Robust biped walking with active interaction control between robot and environment 基于机器人与环境主动交互控制的鲁棒双足步行
Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509413
Y. Fujimoto, A. Kawamura
{"title":"Robust biped walking with active interaction control between robot and environment","authors":"Y. Fujimoto, A. Kawamura","doi":"10.1109/AMC.1996.509413","DOIUrl":"https://doi.org/10.1109/AMC.1996.509413","url":null,"abstract":"This paper describes a novel biped walking control based on a force control. The proposed control system can stabilize the contact force between the foot and the ground under the proposed restrictions. As a result, a hierarchical control is proposed, by which the legged locomotion can be realized. The proposed control system is applied to the 19 axes simulation model and the results of stable walking are shown.","PeriodicalId":360541,"journal":{"name":"Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE","volume":"19 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":"121985711","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
Model based speed and rotor resistance estimation for sensorless vector-controlled induction motor drives using floating point DSP 基于浮点DSP的无传感器矢量感应电机转速和转子电阻模型估计
Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509399
T. Pana
{"title":"Model based speed and rotor resistance estimation for sensorless vector-controlled induction motor drives using floating point DSP","authors":"T. Pana","doi":"10.1109/AMC.1996.509399","DOIUrl":"https://doi.org/10.1109/AMC.1996.509399","url":null,"abstract":"The paper deals with the aspects related to simultaneous rotor speed estimation and rotor resistance identification in field-oriented induction motor systems using only the induction motor model. A statistical based computing algorithm is proposed in order to avoid the division by zero. Three basic algorithms have been considered in order to establish the optimum solution. The study of the speed and rotor resistance estimator has been performed together with a Gopinath flux observer. Hence, the rotor flux, rotor speed and resistance have been estimated using only the electrical feedback magnitudes of the motor: the stator voltages and currents. The estimated rotor resistance is applied to the input of the flux observer and voltage compensator blocks. The simulation results prove the simplicity and the performance of the estimator based only on the electromagnetic phenomena inside the motor.","PeriodicalId":360541,"journal":{"name":"Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE","volume":"12 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":"126137275","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
A generalized approach for Lyapunov design of sliding mode controllers for motion control applications 运动控制应用中滑模控制器的广义李雅普诺夫设计方法
Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509441
M. Ertugrul, O. Kaynak, A. Sabanoviç, K. Ohnishi
{"title":"A generalized approach for Lyapunov design of sliding mode controllers for motion control applications","authors":"M. Ertugrul, O. Kaynak, A. Sabanoviç, K. Ohnishi","doi":"10.1109/AMC.1996.509441","DOIUrl":"https://doi.org/10.1109/AMC.1996.509441","url":null,"abstract":"In the application of sliding mode controllers, the main problems that are encountered are chattering and computational power required for the calculation of equivalent control. In this paper, novel approaches for the design of SMC based on the selection of a Lyapunov function are proposed for motion control applications that evade these problems and are easily implementable. A general criterion is established for stability and chattering elimination. Two novel schemes are proposed for the estimation of the equivalent control to avoid the computational burden. Simulation studies carried out on a direct drive arm indicate that the proposed approaches are a good candidate for motion control applications.","PeriodicalId":360541,"journal":{"name":"Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE","volume":"60 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":"127137086","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: 32
Robot hand with fingers using vibration-type ultrasonic motors (driving characteristics) 采用振动型超声电机的带手指机械手(驱动特性)
Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509387
K. Nishibori, S. Kondo, H. Obata, S. Okuma
{"title":"Robot hand with fingers using vibration-type ultrasonic motors (driving characteristics)","authors":"K. Nishibori, S. Kondo, H. Obata, S. Okuma","doi":"10.1109/AMC.1996.509387","DOIUrl":"https://doi.org/10.1109/AMC.1996.509387","url":null,"abstract":"An ultrasonic motor is a promising actuator for robots since it has a simple construction, high response, and high torque at low speeds. This paper proposes a robot hand using vibration-type ultrasonic motors as the fingers instead of moving elements. This robot hand with three fingers can simultaneously grasp and rotate a cylindrical body. The driving characteristics of the robot hand were examined experimentally under various conditions. It was confirmed that high torque was obtained when the optimum contact angle and contact force of the ultrasonic motors were used. The reduction of the output torque is small even when the diameter of the rotational body deviates from the designed value.","PeriodicalId":360541,"journal":{"name":"Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE","volume":"7 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":"128924657","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
Modeling and control of a new type of omnidirectional holonomic vehicle 一种新型全向整车的建模与控制
Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509416
M. Wada, S. Mori
{"title":"Modeling and control of a new type of omnidirectional holonomic vehicle","authors":"M. Wada, S. Mori","doi":"10.1109/AMC.1996.509416","DOIUrl":"https://doi.org/10.1109/AMC.1996.509416","url":null,"abstract":"A new type of omnidirectional holonomic vehicle has been proposed. The vehicle has a pair of driving wheel which configuration has a offset distance between a steering axis and a wheel axis. The wheel of this style is known as a nonholonomic system and is usually used for a caster wheel. In the case of proposed vehicle, a wheel of this style is used as a driving wheel by actuating a wheel axle and a steering axle independently. We first present a concept of the offset steered driving wheel\", then describe kinematic models of the single driving wheel and a holonomic vehicle with proposed driving wheels. To avoid the nonholonomic characteristics of the wheel, we have introduced a control method in which an orientation of the wheel is neglected to be controlled. Therefore only translational velocities of the steering axle of the wheel are controlled so as to realize reference velocities. By using proposed wheel mechanism and the control method, the wheel can achieve a reproduction of caster motion. The vehicle with a couple of proposed driving wheels achieves omnidirectional and holonomic movements. Finally, proposed control methodology which based on kinematic models of the driving wheel and the vehicle has tested by a prototype vehicle. Experiments of the prototype vehicle have shown successful performances.","PeriodicalId":360541,"journal":{"name":"Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE","volume":"17 9","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120910700","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: 13
Many points positioning control of a pneumatic cylinder for a vertical axis actuator using two degrees of freedom PI control method 采用二自由度PI控制方法对垂直轴作动器气缸进行多点定位控制
Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509382
H. Kawanaka, K. Hanada
{"title":"Many points positioning control of a pneumatic cylinder for a vertical axis actuator using two degrees of freedom PI control method","authors":"H. Kawanaka, K. Hanada","doi":"10.1109/AMC.1996.509382","DOIUrl":"https://doi.org/10.1109/AMC.1996.509382","url":null,"abstract":"Recently, pneumatic cylinders have become favorite actuators utilized as Z axis (vertical axis) actuators of industrial robots and for lifting or lowering parts. Two degrees of freedom PI controller is applied to the system for many-points positioning control. From some simulations and experiments, it is confirmed that the proposed control system is effective to improve the overshoot or undershoot and settling time for many points positioning.","PeriodicalId":360541,"journal":{"name":"Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE","volume":"67 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":"116544045","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
Development of a transfer supporting equipment-applying power assist control 一种传输辅助设备——应用助力控制的研制
Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509386
D. Takaoka, T. Iwaki, M. Yamada, K. Tsukamoto
{"title":"Development of a transfer supporting equipment-applying power assist control","authors":"D. Takaoka, T. Iwaki, M. Yamada, K. Tsukamoto","doi":"10.1109/AMC.1996.509386","DOIUrl":"https://doi.org/10.1109/AMC.1996.509386","url":null,"abstract":"Nursing tasks such as lifting the sick and disabled from beds, and transporting them to other places in the hospitals and the welfare institutes are almost always manually performed by nurses. We have developed the transfer supporting equipment to set the nurses from these tasks as one of the development works promoted by Elderly Service Providers Association. The equipment can lift a bedridden person by inserting and extracting plates between the body and bed. The plates are moved by means of the motors driven by the signal transmitted when the operator push or pulling the control bar attached to the equipment. When the power assist control is applied, the insertion of the plate and drawing up of the object can be performed smoothly and completed with small operating power.","PeriodicalId":360541,"journal":{"name":"Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE","volume":"38 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":"124894287","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
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