2010 11th IEEE International Workshop on Advanced Motion Control (AMC)最新文献_第2页

Run-out oriented controller design for nanoscale servo systems of hard disk drives 面向运行的纳米级硬盘驱动器伺服系统控制器设计

2010 11th IEEE International Workshop on Advanced Motion Control (AMC) Pub Date : 2010-03-21 DOI: 10.1109/AMC.2010.5464069

J. Ishikawa

引用次数: 1

Zero phase error tracking control system with multi harmonics disturbance suppression loop 多次谐波干扰抑制回路零相位误差跟踪控制系统

2010 11th IEEE International Workshop on Advanced Motion Control (AMC) Pub Date : 2010-03-21 DOI: 10.1109/AMC.2010.5464102

Y. Kamigaki, K. Ohishi, Yuta Nabata, T. Miyazaki, D. Koide, Y. Takano, H. Tokumaru

{"title":"Zero phase error tracking control system with multi harmonics disturbance suppression loop","authors":"Y. Kamigaki, K. Ohishi, Yuta Nabata, T. Miyazaki, D. Koide, Y. Takano, H. Tokumaru","doi":"10.1109/AMC.2010.5464102","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464102","url":null,"abstract":"Recently, on the view point of capacity of memory, the media of optical disk recording system is increasing. Moreover, its disk rotation speed will be increasing according to its large memory capacity, such as more than 10000[rpm]. The optical disk system has a radial run-out originate from the disk eccentricity. For this reason, the optical disk system has the periodic disturbance which is synchronized to its disk rotation speed. In order to suppress this periodic disturbance, we have proposed the robust feedforword tracking controller based on Zero Phase Error Tracking (ZPET) control. The optical disk system has the periodic harmonics disturbance. However, it is difficult for the conventional robust feedforword tracking controller to suppress the periodic high order harmonics disturbance. In order to overcome this problem, this paper proposes a new ZPET control system with multi harmonics disturbance suppression loop. The experimental results point out that the proposed tracking control system has a precise tracking response against both periodic primary harmonics disturbance and periodic high order harmonics disturbance.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133909481","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

Motion index/search system based on real-world haptics 基于真实世界触觉的运动索引/搜索系统

2010 11th IEEE International Workshop on Advanced Motion Control (AMC) Pub Date : 2010-03-21 DOI: 10.1109/AMC.2010.5464089

Y. Yokokura, S. Katsura

引用次数: 0

Rotation control of polygonal prism by multi-legged robot 多足机器人多角镜的旋转控制

2010 11th IEEE International Workshop on Advanced Motion Control (AMC) Pub Date : 2010-03-21 DOI: 10.1109/AMC.2010.5464064

G. Takeo, T. Takubo, K. Ohara, Y. Mae, T. Arai

{"title":"Rotation control of polygonal prism by multi-legged robot","authors":"G. Takeo, T. Takubo, K. Ohara, Y. Mae, T. Arai","doi":"10.1109/AMC.2010.5464064","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464064","url":null,"abstract":"Rotation is one of efficient transportation methods for big or heavy object. For implementing the rolling operation to the small and light weight robot, it is necessary to consider the movable range of the robot, balance, actuator power and friction control. In this paper, we propose a new method of forward and backward rolling manipulation by using whole body motion for multi-legged robot. To control the balance, the weight shift control considering the Imaginary Zero Moment Point (IZMP) of the object is implemented. When the IZMP is beside the support polygon of the object, the object has rotational force. The rotational force is controlled by the force from the robot, and it can be manipulated by controlling the robot's CoM position and the internal force generated by joint actuators. The internal force can adjust the rotational force but it should be generated considering the friction forces between the object and the floor etc. We analyze available internal force with friction by kinematic solution, and it is implemented to the small multi-legged robot by using position and torque control. The effectiveness is confirmed through experiments.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131720207","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

Robust bank angle estimation for rolling stability control on electric vehicle 基于鲁棒倾斜角估计的电动汽车滚动稳定性控制

2010 11th IEEE International Workshop on Advanced Motion Control (AMC) Pub Date : 2010-03-21 DOI: 10.1109/AMC.2010.5464087

K. Kawashima, Y. Hori, T. Uchida, Sehoon Oh

{"title":"Robust bank angle estimation for rolling stability control on electric vehicle","authors":"K. Kawashima, Y. Hori, T. Uchida, Sehoon Oh","doi":"10.1109/AMC.2010.5464087","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464087","url":null,"abstract":"In this paper, vehicle state variables and bank angle estimation for rolling stability control (RSC) is proposed using one accelerometer and two gyro sensors, instead of using inertial navigation system (INS) or global positioning system (GPS). We proposed a novel robust RSC for in-wheel motor electric vehicle (IMEV) using differential torque by right and left motors which are controlled independently. On bank road, reference lateral acceleration should be corrected properly because output of accelerometer contains a gravity term by the inclination of the sprung mass. Bank angle should be estimated for the high performance RSC too. In this paper, vehicle yaw and roll motion equations are described. Influence of road bank is assumed as disturbance input to the vehicle dynamics at first. Then bank angle is redefined as a state variable and estimated by Kalman filter. Adaptive identification method with respect to cornering stiffness is applied for robust estimation and minimum-order observer is applied to reduce the amount of calculation. In this process, it is shown that vehicle roll angle can be calculated using an accelerometer and a gyro sensor. Validity of proposed methods is verified by simulation results.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131006307","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

Fast and precise positioning by sequential adaptive feedforward compensation for disturbance 通过序列自适应前馈扰动补偿实现快速精确定位

2010 11th IEEE International Workshop on Advanced Motion Control (AMC) Pub Date : 2010-03-21 DOI: 10.1109/AMC.2010.5464094

Kazuaki Ito, Wataru Maebashi, Masafumi Yamamoto, M. Iwasaki, N. Matsui

{"title":"Fast and precise positioning by sequential adaptive feedforward compensation for disturbance","authors":"Kazuaki Ito, Wataru Maebashi, Masafumi Yamamoto, M. Iwasaki, N. Matsui","doi":"10.1109/AMC.2010.5464094","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464094","url":null,"abstract":"This paper presents a fast and precise positioning of table systems using a sequential adaptive methodology for disturbance. In this research, both nonlinear friction and a modeling error between mathematical model and actual plant system are handled as disturbances in mechanism. It is well-known that disturbance variations deteriorate positioning performance. Viscous friction and a motor thrust constant are taken up a problem as primary factors in disturbance variations, because those parameters are frequently varied for temperature change due to drive conditions, such as before/after warming up motion. In this research, feedforward compensation using a disturbance model is applied. Disturbance model parameters are genetically optimized by GA to simulate actual disturbance characteristics, where faithful disturbance characteristics are obtained using an iterative learning process. A sequential adaptive methodology is tuned the model parameters continuously to achieve robust positioning performance irrespective of temperature change. The proposed approach with the adaptive disturbance model-based feedforward compensation has been verified by experiments using a table system on a machine stand.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"53 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133695223","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

Estimation of environmental model with nonlinear stiffness 具有非线性刚度的环境模型的估计

2010 11th IEEE International Workshop on Advanced Motion Control (AMC) Pub Date : 2010-03-21 DOI: 10.1109/AMC.2010.5464039

Masataka Sato, K. Ohnishi

引用次数: 0

Rupture detection for exenteration of tissues using two-DOF haptic surgical forceps robot 基于二自由度触觉手术钳机器人的组织穿刺破裂检测

2010 11th IEEE International Workshop on Advanced Motion Control (AMC) Pub Date : 2010-03-21 DOI: 10.1109/AMC.2010.5464119

Yusuke Kasahara, K. Kitamura, K. Ohnishi, Y. Morikawa, N. Shimojima

引用次数: 12

Design of networked control systems on the basis of stability and performance specifications 基于稳定性和性能指标的网络化控制系统设计

2010 11th IEEE International Workshop on Advanced Motion Control (AMC) Pub Date : 2010-03-21 DOI: 10.1109/AMC.2010.5464080

G. Izuta

引用次数: 0

Compensation for synchronous component of angular transmission errors in harmonic drive gearings 谐波传动中角传动误差同步分量的补偿

2010 11th IEEE International Workshop on Advanced Motion Control (AMC) Pub Date : 2010-03-21 DOI: 10.1109/AMC.2010.5464103

Masafumi Yamamoto, M. Iwasaki, M. Kainuma, Yoshifumi Okitsu, K. Yuki, Kozo Sasaki, T. Yajima

引用次数: 25