2012 12th IEEE International Workshop on Advanced Motion Control (AMC)最新文献_第8页

Focusing control system for suppressing multi-harmonic disturbances in high speed optical disk systems 高速光盘系统中抑制多谐波干扰的聚焦控制系统

2012 12th IEEE International Workshop on Advanced Motion Control (AMC) Pub Date : 2012-03-25 DOI: 10.1109/AMC.2012.6197015

Tatsuya Nakazaki, Tokoku Ogata, K. Ohishi, T. Miyazaki, D. Koide, Y. Takano, H. Tokumaru

引用次数: 2

Derivation of nonlinear dynamic model of novel pneumatic artificial muscle manipulator with a magnetorheological brake 新型带磁流变制动器气动人工肌肉机械臂非线性动力学模型的推导

2012 12th IEEE International Workshop on Advanced Motion Control (AMC) Pub Date : 2012-03-25 DOI: 10.1109/AMC.2012.6197020

H. Tomori, Y. Midorikawa, Taro Nakamura

引用次数: 7

Torque-control based compliant actuation of a quadruped robot 基于转矩控制的四足机器人柔性驱动

2012 12th IEEE International Workshop on Advanced Motion Control (AMC) Pub Date : 2012-03-25 DOI: 10.1109/AMC.2012.6197133

Michele Focchi, Thiago Boaventura, C. Semini, M. Frigerio, J. Buchli, D. Caldwell

引用次数: 32

Total harmonic distortion of haptic modal information for analysis of human fingertip motion 基于总谐波畸变的人体指尖运动模态信息分析

2012 12th IEEE International Workshop on Advanced Motion Control (AMC) Pub Date : 2012-03-25 DOI: 10.1109/AMC.2012.6197114

T. Shimono, Yoshiyuki Hatta, N. Motoi

引用次数: 1

Two approaches to bounded jerk trajectory planning 有界推力轨迹规划的两种方法

2012 12th IEEE International Workshop on Advanced Motion Control (AMC) Pub Date : 2012-03-25 DOI: 10.1109/AMC.2012.6197130

Branislav Konjevic, M. Puncec, Z. Kovačić

引用次数: 1

Acceleration control of stacked piezoelectric actuator utilizing disturbance observer and reaction force observer 基于扰动观测器和反作用力观测器的叠加式压电驱动器加速度控制

2012 12th IEEE International Workshop on Advanced Motion Control (AMC) Pub Date : 2012-03-25 DOI: 10.1109/AMC.2012.6197129

Shinnosuke Yamaoka, T. Nozaki, D. Yashiro, K. Ohnishi

{"title":"Acceleration control of stacked piezoelectric actuator utilizing disturbance observer and reaction force observer","authors":"Shinnosuke Yamaoka, T. Nozaki, D. Yashiro, K. Ohnishi","doi":"10.1109/AMC.2012.6197129","DOIUrl":"https://doi.org/10.1109/AMC.2012.6197129","url":null,"abstract":"Stacked piezoelectric actuators are suitable for micro manipulation since it has a high positional resolution and large generative force. However, it is difficult to control acceleration of piezoelectric actuator because of its hysteresis characteristic and spring characteristic. Therefore in this paper, piezo disturbance observer (PDOB) is proposed. Because PDOB treats hysteresis characteristic and spring characteristic as disturbance and compensates these elements, acceleration control is achieved. In addition, piezo reaction force observer (PRFOB) is proposed. By eliminating spring force from disturbance, PRFOB estimates the reaction force without utilizing any force sensors. Validities of PDOB and PRFOB are verified by experiments. Finally, experiment of micro-macro bilateral control (MMBC) constructed a master system and slave system is performed. The master system is a linear motor with conventional disturbance observer (DOB) and reaction force observer (RFOB). The slave system is a stacked piezoelectric actuator with PDOB and PRFOB. It achieved MMBC between a linear motor and a piezoelectric actuator.","PeriodicalId":6439,"journal":{"name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"17 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2012-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84401134","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

A method of joint torque control for a tendon-driven system 一种肌腱驱动系统关节转矩控制方法

2012 12th IEEE International Workshop on Advanced Motion Control (AMC) Pub Date : 2012-03-25 DOI: 10.1109/AMC.2012.6197107

Uichiro Nishio, T. Nozaki, K. Ohnishi

{"title":"A method of joint torque control for a tendon-driven system","authors":"Uichiro Nishio, T. Nozaki, K. Ohnishi","doi":"10.1109/AMC.2012.6197107","DOIUrl":"https://doi.org/10.1109/AMC.2012.6197107","url":null,"abstract":"It is hoped that robots are utilized in environments where human lives. Robots should work safely and perform complicated tasks. For safety, precise force control and lightweight mechanism are important because robots contact with human. In order to perform complicated tasks, multi-degrees-of-freedom system is needed. Tendon-driven system is able to achieve precise motion control and complicated tasks. In this system, wires are utilized as force transmission. Therefore, the system can achieve lightweight robot and can generate large joint torque. However, each joint torque interferes mutually because the tendons are attached to each link. Tendon tension must be kept over zero because the tendons can only generate traction force. In this paper, an inverse matrix of transposed Jacobian matrix with tension control was proposed in order to achieve tension control and torque control. This inverse matrix contains two conditions. One is the condition of joint torque control. The other is the condition that the minimum value of tendon tension is kept zero. In addition, the minimum value of tendon tension can be easily changed by bias force. Simulation results and experimental results show the validity of the proposed method.","PeriodicalId":6439,"journal":{"name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"47 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2012-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88393837","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

Nonlinear two-dimensional modeling of a McPherson suspension for kinematics and dynamics simulation McPherson悬架的非线性二维建模及其运动学和动力学仿真

2012 12th IEEE International Workshop on Advanced Motion Control (AMC) Pub Date : 2012-03-25 DOI: 10.1109/AMC.2012.6197009

Jorge Hurel, A. Mandow, A. García-Cerezo

引用次数: 27

High mobility control for a wheel-legged mobile robot based on resolved momentum control 基于分解动量控制的轮腿移动机器人高机动性控制

2012 12th IEEE International Workshop on Advanced Motion Control (AMC) Pub Date : 2012-03-25 DOI: 10.1109/AMC.2012.6197115

A. Suzumura, Y. Fujimoto

引用次数: 12

Scaling bilateral controls with impedance transmission using transfer admittance 缩放双边控制与阻抗传输使用转移导纳

2012 12th IEEE International Workshop on Advanced Motion Control (AMC) Pub Date : 2012-03-25 DOI: 10.1109/AMC.2012.6197044

T. Mizoguchi, T. Nozaki, K. Ohnishi

{"title":"Scaling bilateral controls with impedance transmission using transfer admittance","authors":"T. Mizoguchi, T. Nozaki, K. Ohnishi","doi":"10.1109/AMC.2012.6197044","DOIUrl":"https://doi.org/10.1109/AMC.2012.6197044","url":null,"abstract":"Scaling bilateral control is a method to extend human ability by using master and slave robots. Position scaling extends working space of human; force scaling extends sensitivity of human. This technology is useful when the slave robot is larger in size compared with the master robot. In general, correct environmental impedance, such as softness or hardness of the object, cannot be transmitted in scaling bilateral control due to a mismatch of force scaling and position scaling in the bilateral control. However, correct environmental impedance is necessary for the safe operation, especially in the scaling bilateral control where the mass of robot tends to become large. This paper proposes a method of transmitting environmental impedance in position scaling bilateral control. Position scaling is focused for the sake of extending working space of operator when the slave robot has larger working space compared with the master robot. There exist two methods to scale position in bilateral control; scaling with constant coefficient and scaling with dimension variation. Conventionally, neither of these achieves correct impedance transmission. Proposed method can be applied to both position scaling methods with the same procedure and achieves impedance transmission by using property of gyrator type bilateral control. The transfer admittance has an ability to bring back the scaled bilateral control to non scaled bilateral control during contact motion. The effect of the proposal is verified through simulation and experiment.","PeriodicalId":6439,"journal":{"name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"35 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2012-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"89897250","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