Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE最新文献_第3页

A fuzzy control algorithm reducing steady-state position errors of robotic manipulators 一种减少机械臂稳态位置误差的模糊控制算法

Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509391

C. Kang, Hee-Sung Kwak

引用次数: 3

Development of biomimetic prosthetic hand controlled by electromyogram 肌电控制仿生假手的研制

Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509388

R. Okuno, Masaki Yoshida, K. Akazawa

{"title":"Development of biomimetic prosthetic hand controlled by electromyogram","authors":"R. Okuno, Masaki Yoshida, K. Akazawa","doi":"10.1109/AMC.1996.509388","DOIUrl":"https://doi.org/10.1109/AMC.1996.509388","url":null,"abstract":"The purpose of this study was to develop a new type of myoelectrically-controlled biomimetic prosthetic hand (biomimetic Kobe Hand) which had almost the same dynamics as those of the neuromuscular control system of finger muscles, in particular, including mechanical properties of the muscle and of the stretch reflex. One of the characteristic features of the neuromuscular control system in man was a decrease in the compliance around the joint with increasing activities of the muscle. The Kobe hand consisted of a processing unit of surface EMG signals, a digital servo system of DC motor and a mechanical hand of one-degree-of-freedom with three fingers. Those nonlinear properties of the neuromuscular control system were realized by using a position control system of the finger movement, force feedback and variable gain which was modulated by amplitude of IEMGs (rectified and smoothed electromyograms). EMG signals picked up from a pair of antagonistic muscles of the forearm were used as control signals. Usefulness of the biomimetic Kobe hand was showed by executing myoelectric control experiments with both healthy and amputated subjects.","PeriodicalId":360541,"journal":{"name":"Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE","volume":"36 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":"131513822","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: 10

Fieldbus based integrated communication and control systems-architectural implications 基于现场总线的集成通信和控制系统——体系结构意义

Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509306

J. Decotignie, D. Auslander, M. Moreaux

{"title":"Fieldbus based integrated communication and control systems-architectural implications","authors":"J. Decotignie, D. Auslander, M. Moreaux","doi":"10.1109/AMC.1996.509306","DOIUrl":"https://doi.org/10.1109/AMC.1996.509306","url":null,"abstract":"Fieldbusses are often used in control applications with feedback loops using the fieldbus for input and output operations. Intuitively, it is felt that communication delays may degrade the achievable feedback performance. In this paper, we use the modified synchronous model to calculate the different constraints imposed by fieldbusses on periodic distributed applications when predictable communications are required. We then apply these results to two different control architectures, feedback and feedforward systems. It appears that feedback systems with sensor to actuator delay below the sampling period duration lead to an inefficient use of processing resources and heavily constrain the transfers on the fieldbus. We present two possible implementations of feedforward and feedback systems which, under the same load conditions on the fieldbus, exhibit a much better use of resources. We also show that the message transfer laxity may always be kept large enough by proper selection of the implementation. Finally, these results are illustrated in the architecture of a computer numerical controller for machine-tools.","PeriodicalId":360541,"journal":{"name":"Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE","volume":"34 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":"115162049","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

Octree-based approach to real-time collision-free path planning for robot manipulator 基于八叉树的机械臂实时无碰撞路径规划方法

Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509334

K. Hamada, Y. Hori

引用次数: 26

Observer-based nonlinear friction compensation in servo drive system 基于观测器的伺服驱动系统非线性摩擦补偿

Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509430

M. Iwasaki, N. Matsui

引用次数: 19

Gain scheduled control for robot manipulator's contact tasks on flexible environments 柔性环境下机器人机械手接触任务的调度控制

Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509301

Jianqing Wu, Zhiwei Luo, K. Ito

引用次数: 6

A sensor stabilizing technology of air cushion for pile detection 一种用于桩检测的气垫传感器稳定技术

Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509437

N. Shimoi, S. Koga, K. Itoh, F. Iitaka, Y. Shinoda

引用次数: 1

A mechanism for three dimensional levitated movement of a small magnet 一种小磁铁的三维悬浮运动机构

Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509293

T. Nakamura, M. B. Khamesee

{"title":"A mechanism for three dimensional levitated movement of a small magnet","authors":"T. Nakamura, M. B. Khamesee","doi":"10.1109/AMC.1996.509293","DOIUrl":"https://doi.org/10.1109/AMC.1996.509293","url":null,"abstract":"This paper deals with basic technologies for noncontact manipulation of small objects using magnets in micromachine applications. A small permanent magnet is manipulated by controlling a magnetic field applied to it. We propose a mechanism to control the magnetic field for the three-dimensional levitated movement of the object. The mechanism consists of eight electromagnets, pole-pieces to connect the magnetic poles, a soft iron yoke, and permanent magnets embedded in the yoke to compensate the gravity force of an object: a small permanent magnet. Regulation of magnetic field and as a result, motion of the object are deeply related to geometric design of the pole-piece. Various pole-pieces were designed and tested experimentally. Motion of the object in the vertical direction is realized by controlling the sum of the electromagnet-currents for the regulation of magnetic field gradient. Motion on the horizontal plane is realized by controlling the ratio of each electromagnet-current for the regulation of location of maximum magnetic field. The results of several experiments show that the proposed mechanism is effective.","PeriodicalId":360541,"journal":{"name":"Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE","volume":"55 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":"124868783","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

Motor speed estimation by redundant processing 电机转速估计的冗余处理

Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509322

Gang-Hyeon Choi, H. Nakamura, H. Kobayashi

引用次数: 1

A step and settle positioning algorithm for electro-mechanical systems with damping 带有阻尼的机电系统步进定位算法

Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509378

C. Kempf

引用次数: 8