2012 12th IEEE International Workshop on Advanced Motion Control (AMC)最新文献_第9页

Network in the loop platform for research and training in bilateral control 双边控制研究和培训的闭环网络平台

2012 12th IEEE International Workshop on Advanced Motion Control (AMC) Pub Date : 2012-03-25 DOI: 10.1109/AMC.2012.6197132

Ahmet Kuzu, S. Bogosyan, M. Gokasan

引用次数: 2

A coordinate design of two-degrees-of-freedom controller for fast and precise positioning 二自由度控制器的坐标设计，实现快速、精确的定位

2012 12th IEEE International Workshop on Advanced Motion Control (AMC) Pub Date : 2012-03-25 DOI: 10.1109/AMC.2012.6197048

Takanori Kato, Y. Maeda, M. Iwasaki, H. Hirai

引用次数: 7

Adaptive robust precision motion control of linear motors with high frequency flexible modes 高频柔性模式直线电机的自适应鲁棒精确运动控制

2012 12th IEEE International Workshop on Advanced Motion Control (AMC) Pub Date : 2012-03-25 DOI: 10.1109/AMC.2012.6197108

Zheng Chen, B. Yao, Qingfeng Wang

{"title":"Adaptive robust precision motion control of linear motors with high frequency flexible modes","authors":"Zheng Chen, B. Yao, Qingfeng Wang","doi":"10.1109/AMC.2012.6197108","DOIUrl":"https://doi.org/10.1109/AMC.2012.6197108","url":null,"abstract":"This paper studies precision motion control of linear motors in the presence of parameter variations, disturbances and various significant nonlinearity effects. An adaptive robust control (ARC) algorithm with integrated compensation of major nonlinearities ranging from Coulomb friction and cogging force to the nonlinear electromagnetic field effect is developed. High frequency structural flexible modes and dynamics in linear motors, which are neglected in the previous researches, are explicitly identified experimentally and their effects are carefully examined. With the knowledge of those high frequency dynamics, theoretical analysis is subsequently conducted to generate a set of practically useful guidelines on the tuning of controller gains in maximizing the achievable performance in practice. Comparative experiments of the propose ARC control law with different controller gains are carried out to illustrate the usefulness of the generated guidelines. In addition, to further push the achievable control performance, explicit compensation of the known high-frequency flexible modes and dynamics using pole/zero cancelation is also investigated, and its effectiveness is evaluated through comparative experimental results as well.","PeriodicalId":6439,"journal":{"name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"8 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":"86436513","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

Falling risk evaluation based on plantar contact points for biped robot 基于足底接触点的双足机器人跌落风险评价

2012 12th IEEE International Workshop on Advanced Motion Control (AMC) Pub Date : 2012-03-25 DOI: 10.1109/AMC.2012.6197120

H. Ono, Takahiko Sato, K. Ohnishi

{"title":"Falling risk evaluation based on plantar contact points for biped robot","authors":"H. Ono, Takahiko Sato, K. Ohnishi","doi":"10.1109/AMC.2012.6197120","DOIUrl":"https://doi.org/10.1109/AMC.2012.6197120","url":null,"abstract":"In recent years, humanoid robot has been expected in various fields because of the shape and architecture of humanoid robot and aging of society. It is important that robot does not harm human so that we coexist with robot. Therefore, a lot of researchers have studied about falling down. Zero-Moment Point (ZMP) is most widely used as a stability indicator of biped robot. ZMP, however, is not unsuitable for falling indicator because of behavior of ZMP. On the other hands, Foot-Rotation Indicator (FRI) is useful when robot falls down. However, FRI point does not include content that whether robot keeps a balance on boundary surface of falling. In addition, FRI point is complicated and it is hard to calculate. A permissible amount of falling risk evaluation, therefore, is presented in this paper. This permissible amount is calculated by plantar contact points of the robot, acceleration value of center of gravity (COG) and reaction force. During robot is walking or standing, the falling risk is evaluated by this permissible amount. This method is applied for a condition of robot before robot falls. Proposed method is evaluated by the simulation and experimental results.","PeriodicalId":6439,"journal":{"name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"283 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":"82829114","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

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

Robot motion planning considering the utterance-timing and its experimental evaluation 考虑话语时间的机器人运动规划及其实验评价

2012 12th IEEE International Workshop on Advanced Motion Control (AMC) Pub Date : 2012-03-25 DOI: 10.1109/AMC.2012.6197038

Satoshi Suzuki, Jun Goto, H. Igarashi, Harumi Kobayashi, T. Yasuda, F. Harashima

引用次数: 1

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

Recognition and classification of human motion based on hidden Markov model for motion database 基于运动数据库隐马尔可夫模型的人体运动识别与分类

2012 12th IEEE International Workshop on Advanced Motion Control (AMC) Pub Date : 2012-03-25 DOI: 10.1109/AMC.2012.6197112

Y. Ohnishi, S. Katsura

{"title":"Recognition and classification of human motion based on hidden Markov model for motion database","authors":"Y. Ohnishi, S. Katsura","doi":"10.1109/AMC.2012.6197112","DOIUrl":"https://doi.org/10.1109/AMC.2012.6197112","url":null,"abstract":"In some countries, many problems according to aging are pointed out. Decrease of worker's physical ability is one of them. The old workers have high techniques, but physical ability is lower than that of young workers. And it becomes difficult to keep high quality. Hence it is thought that a power assist by robot is needed. The method that increases human motion simply is mainstream conventional power assist method. However, to assist accurately it is thought that robot has to recognize human motion and has to assist fitly. Hence, the system that save and reproduce human motion “motion database” is necessary. Here, to assist accurately, the motion which includes force information is saved to database. In this research, the trajectory information and the force information of human motion is extracted by using bilateral control and it is modeled. To reproduce appropriate motion from database, a search system is needed. For adapting power assist, the search system should be real-time and be able to search at all times. Therefore, in this research, a real-time motion searching method is proposed. The searching method is based on hidden Markov model because human motion has Markov property. Proposed method can search human motion on real-time while human does motion. The viability of proposed method is confirmed by motion search experiment.","PeriodicalId":6439,"journal":{"name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"168 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":"73193053","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

A design of the preference acquisition detection system using the EEG 基于脑电的偏好采集检测系统的设计

2012 12th IEEE International Workshop on Advanced Motion Control (AMC) Pub Date : 2012-03-25 DOI: 10.1109/AMC.2012.6197046

Yuna Negishi, Y. Mitsukura, H. Fukai, Yohei Tomita

引用次数: 7

Mechatronic control system on a finite state machine 有限状态机机电一体化控制系统

2012 12th IEEE International Workshop on Advanced Motion Control (AMC) Pub Date : 2012-03-25 DOI: 10.1109/AMC.2012.6197010

Franc Hanzic, K. Jezernik, Slavko Cehner

引用次数: 1