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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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A simultaneous optimization algorithm for determining both mechanical-system and controller parameters for positioning control mechanisms 定位控制机构中机械系统参数和控制器参数的同时优化算法
Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509320
A. Arakawa, K. Miyata
{"title":"A simultaneous optimization algorithm for determining both mechanical-system and controller parameters for positioning control mechanisms","authors":"A. Arakawa, K. Miyata","doi":"10.1109/AMC.1996.509320","DOIUrl":"https://doi.org/10.1109/AMC.1996.509320","url":null,"abstract":"This paper presents an optimization algorithm which determines mechanical-system and controller parameters simultaneously, especially for positioning control systems. In order to improve the cost-performance ratios of products such as robots, and elevators, it is important to design them while balancing the performance of the mechanical mechanism with that of the control mechanism. The algorithm proposed in this paper does just that: it determines the mechanical parameters and how to determine the controller parameters. In the controller-design process, nonlinear programming methods are used so that large numbers of specifications and conditions can be dealt with. In the mechanism-design process, a genetic algorithm (GA) is used that allows optimal values to be obtained for complicated systems. Parameters for both mechanism and controller can be obtained by integrating these processes. The numerical result shows that the design parameters obtained satisfy the various specifications.","PeriodicalId":360541,"journal":{"name":"Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE","volume":"39 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":"134531110","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: 16
Asymmetrical modulation and over-modulation techniques of parallel connected NPC-PWM inverters for AC motor drives 交流电机驱动并联NPC-PWM逆变器的不对称调制和过调制技术
Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509423
Keiju Matsui, Y. Kawata, F. Ueda, K. Tsuboi, K. Iwata
{"title":"Asymmetrical modulation and over-modulation techniques of parallel connected NPC-PWM inverters for AC motor drives","authors":"Keiju Matsui, Y. Kawata, F. Ueda, K. Tsuboi, K. Iwata","doi":"10.1109/AMC.1996.509423","DOIUrl":"https://doi.org/10.1109/AMC.1996.509423","url":null,"abstract":"A technique of parallel connection of power devices using current sharing reactors for neutral point clamped (NPC) PWM inverters is reported in this paper. The proposed modulation techniques can improve the output characteristics such as output voltage level or output harmonics. The output voltage waveforms of the proposed inverter have certain voltage levels during their half cycles, thus it is anticipated that it will be difficult to analyze the output waveforms. For such waveforms, a frequency analysis approach is described, whose results are verified by experiments.","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":"134604881","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: 1
Multi-variable virtual impedance control of a robot considering human emotions 考虑人类情感的机器人多变量虚拟阻抗控制
Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509305
M. S. Ben-Lamine, S. Shibata, K. Tanaka, A. Shimizu
{"title":"Multi-variable virtual impedance control of a robot considering human emotions","authors":"M. S. Ben-Lamine, S. Shibata, K. Tanaka, A. Shimizu","doi":"10.1109/AMC.1996.509305","DOIUrl":"https://doi.org/10.1109/AMC.1996.509305","url":null,"abstract":"When robots conduct several tasks transmitting forces to humans, robots must be controlled taking human emotions into consideration. In this paper, a multivariable impedance control of a robot considering human emotions especially when a human contacts with or lean on the robot is proposed. First, human characteristics of changing his/her softness in decreasing the movement of an object which contacts with human hand with certain force are analyzed experimentally. It is expected that the human characteristics can be expressed by the multivariable impedance models. Second, we try to realize a multivariable impedance control of a robot favorable for human emotions based on the approximated human characteristics using rating-scale method.","PeriodicalId":360541,"journal":{"name":"Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE","volume":"53 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":"132719355","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
Identification of a nonlinear motor system with neural networks 非线性运动系统的神经网络辨识
Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509420
K. C. Sio, C.K. Lee
{"title":"Identification of a nonlinear motor system with neural networks","authors":"K. C. Sio, C.K. Lee","doi":"10.1109/AMC.1996.509420","DOIUrl":"https://doi.org/10.1109/AMC.1996.509420","url":null,"abstract":"In this paper, system identification with neural networks is studied. The insufficiency of a static feedforward neural network and a single-layer real-time recurrent neural network in system identification is discussed. Also, a modified recurrent network is proposed for a remedy. Derivations and simulations are provided to verify the beneficial properties of the proposed network.","PeriodicalId":360541,"journal":{"name":"Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE","volume":"50 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":"115096683","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
Implementation of advanced adhesion control for electric vehicle 实现电动汽车的先进附着力控制
Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509287
T. Furuya, Y. Toyoda, Y. Hori
{"title":"Implementation of advanced adhesion control for electric vehicle","authors":"T. Furuya, Y. Toyoda, Y. Hori","doi":"10.1109/AMC.1996.509287","DOIUrl":"https://doi.org/10.1109/AMC.1996.509287","url":null,"abstract":"The most distinct advantage of an electric vehicle (EV) is that we can control the motor torque much more quickly and precisely compared with conventional internal combustion engine vehicles (ICVs). Most of the recently developed EVs do not utilize this advantage. In this paper, first, we propose the advanced adhesion control method utilizing the high torque response of the electric motor. Next, the development of a hardware slip simulator is mentioned. Finally, we report on the development of a real experimental EV \"Todai Sangatsu-Go\" which we are constructing.","PeriodicalId":360541,"journal":{"name":"Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE","volume":"32 4","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120835111","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: 16
The basic characteristics of two-degree-of-freedom PID position controller using a simple design method for linear servo motor drives 二自由度PID位置控制器的基本特点是采用简单的设计方法对直线伺服电机进行驱动
Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509380
M. Sugiura, S. Yamamoto, J. Sawaki, K. Matsuse
{"title":"The basic characteristics of two-degree-of-freedom PID position controller using a simple design method for linear servo motor drives","authors":"M. Sugiura, S. Yamamoto, J. Sawaki, K. Matsuse","doi":"10.1109/AMC.1996.509380","DOIUrl":"https://doi.org/10.1109/AMC.1996.509380","url":null,"abstract":"We propose the method of designing two-degree-of-freedom PID position controller for linear servo motor drive systems. In this method, all the parameters of the position controller can be obtained by the basic arithmetical operations from the values of the mover mass, the thrust constant and the desired cut-off frequency of the position control system. This design method is evaluated from the experiments on the position step responses, the disturbance responses, the positioning accuracy and the frequency responses. Besides, the proposed controller is compared with PID and I-PD controllers on the load variations and the disturbance suppression characteristics. The usefulness of the proposed method is proved from these experimental results.","PeriodicalId":360541,"journal":{"name":"Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE","volume":"31 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":"116543605","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
Leg synchronization by distributed control structure 采用分布式控制结构实现腿同步
Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509411
H. Minamisawa, K. Kawabata, Po Chih Lin, Y. Hanamaki, K. Inagaki, H. Kobayashi
{"title":"Leg synchronization by distributed control structure","authors":"H. Minamisawa, K. Kawabata, Po Chih Lin, Y. Hanamaki, K. Inagaki, H. Kobayashi","doi":"10.1109/AMC.1996.509411","DOIUrl":"https://doi.org/10.1109/AMC.1996.509411","url":null,"abstract":"Generally, hierarchical control for walking robots Is very difficult in real time. Thus, autonomous distributed control structures have become the center of attention. In this paper, we verify our proposed distributed controller by experiments of a quadruped walking robot. We have already ensured validity of our distributed controller by some computer simulations. The experimental results show that the controller has enough property to synchronize robots' legs.","PeriodicalId":360541,"journal":{"name":"Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE","volume":"11 suppl_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":"123520307","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
Analysis on real time motion estimation with active stereo camera 主动立体摄像机实时运动估计分析
Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509434
K. Sabe, H. Hashimoto, F. Harashima
{"title":"Analysis on real time motion estimation with active stereo camera","authors":"K. Sabe, H. Hashimoto, F. Harashima","doi":"10.1109/AMC.1996.509434","DOIUrl":"https://doi.org/10.1109/AMC.1996.509434","url":null,"abstract":"We have developed an active stereo camera device called Active Eye Sensing System (AESS), which is used to measure motion parameters necessary for robot manipulation. Using AESS, we extract a moving object from the gray scale image, keep tracking, and measure its position and velocity. In order to accomplish the precise measurement, there are problems found not in the fixed camera but in the moving camera. At first simulation was done to evaluate the trajectory planning of active camera, not to lose the target object. Then, solutions to measurement problems were experimented on the real-time system. Using the measured data, optical flow based method to extract the orientation of moving object is introduced.","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":"124878051","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
Feedback error learning for control of a robot using SMENN 基于SMENN的机器人控制反馈误差学习
Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509302
Ş. Yıldırım, V. Aslantaş
{"title":"Feedback error learning for control of a robot using SMENN","authors":"Ş. Yıldırım, V. Aslantaş","doi":"10.1109/AMC.1996.509302","DOIUrl":"https://doi.org/10.1109/AMC.1996.509302","url":null,"abstract":"The use of a new recurrent neural network (SMENN) employing feedback error learning for control of a robot is presented in this paper. The control system consisted of a feedback (PID) controller and two recurrent neural-network-based joint controllers. The network was trained using standard BP method as a learning algorithm. The effectiveness of the neural network was tested using different parameters of the robot. Diagonal neural network (DNN) was also employed as controllers of the robot in order to obtain comparisons with the proposed neural network. Moreover, the feasibility of the proposed neural controller (NC) is demonstrated through the simulation of the two-degrees-of-freedom SCARA type robot. Simulation results show the significant improvement of learning time and accuracy, which practically enables the use of NC in robotics applications.","PeriodicalId":360541,"journal":{"name":"Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE","volume":"28 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":"124959098","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
Control system design automation for mechanical systems (first report) 机械系统控制系统设计自动化(第一次报告)
Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509307
K. Maekawa, A. Morita, T. Iwasaki
{"title":"Control system design automation for mechanical systems (first report)","authors":"K. Maekawa, A. Morita, T. Iwasaki","doi":"10.1109/AMC.1996.509307","DOIUrl":"https://doi.org/10.1109/AMC.1996.509307","url":null,"abstract":"The authors propose a controller design automation system for mechanical systems. The system consists of a requirement interpretation block, a modeling block, an analysis/design block, and a verification block. The requirement interpretation block transforms the specifications in terms of the application to those in terms of control. The analysis/design block selects an optimal control structure in addition to control parameters. In this report the authors describe the configuration of the system and the analysis/design block. To explain the functions of the analysis/design block, a mechanical system with two-mass system is used as a controlled object, and a disturbance observer controller, a state observer controller, a PI-D controller, and a PI controller are prepared for a controller.","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":"121581119","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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