Pub Date : 2011-12-01DOI: 10.1109/IECON.2011.6119313
T. Shimono, Nobuyuki Togashi, N. Motoi, A. Kawamura
This paper proposes a manipulability servoing control method in null space for redundant bilateral control systems. In order to bi-directionally transmit vivid haptic sensation between motion control systems, both synchronization of position signals and “action and reaction” law of force signals must simultaneously be achieved. The proposed method adopts modal decoupling method based on Hadamard matrix to bilateral workspace control. Then, this paper investigates the possibility that the proposed method realizes the transmission of haptic sensation and the manipulability servoing between redundant haptic motion systems. In this paper, the effectiveness of the proposed method is confirmed by simulation results and experimental results.
{"title":"Manipulability servoing in null space for bilateral motion control of redundant manipulators","authors":"T. Shimono, Nobuyuki Togashi, N. Motoi, A. Kawamura","doi":"10.1109/IECON.2011.6119313","DOIUrl":"https://doi.org/10.1109/IECON.2011.6119313","url":null,"abstract":"This paper proposes a manipulability servoing control method in null space for redundant bilateral control systems. In order to bi-directionally transmit vivid haptic sensation between motion control systems, both synchronization of position signals and “action and reaction” law of force signals must simultaneously be achieved. The proposed method adopts modal decoupling method based on Hadamard matrix to bilateral workspace control. Then, this paper investigates the possibility that the proposed method realizes the transmission of haptic sensation and the manipulability servoing between redundant haptic motion systems. In this paper, the effectiveness of the proposed method is confirmed by simulation results and experimental results.","PeriodicalId":105539,"journal":{"name":"IECON 2011 - 37th Annual Conference of the IEEE Industrial Electronics Society","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117283085","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}
Pub Date : 2011-12-01DOI: 10.1109/IECON.2011.6119945
E. Ahmed, M. Shoyama
This paper proposes novel stability analysis for variable step size incremental resistance INR maximum power point tracking MPPT. One important factor which judges system dynamics and steady state performances is the scaling factor (N), which used to update the controlling equation in the tracking algorithm to determine the new duty cycle. The main contribution of this analysis appears in developing the overall small signal model of the PV system, which consists of PV module, DC-DC boost converter, digital INR MPPT, and resistive load. The overall system model has been developed. Therefore by using linear control theory, the boundary value of the scaling factor has been determined. The theoretical analysis and the design principle of the proposed stability analysis have been validated using MATLAB simulation, and experimentally using digital signal processor DSP.
{"title":"Novel stability analysis of variable step size incremental resistance INR MPPT for PV systems","authors":"E. Ahmed, M. Shoyama","doi":"10.1109/IECON.2011.6119945","DOIUrl":"https://doi.org/10.1109/IECON.2011.6119945","url":null,"abstract":"This paper proposes novel stability analysis for variable step size incremental resistance INR maximum power point tracking MPPT. One important factor which judges system dynamics and steady state performances is the scaling factor (N), which used to update the controlling equation in the tracking algorithm to determine the new duty cycle. The main contribution of this analysis appears in developing the overall small signal model of the PV system, which consists of PV module, DC-DC boost converter, digital INR MPPT, and resistive load. The overall system model has been developed. Therefore by using linear control theory, the boundary value of the scaling factor has been determined. The theoretical analysis and the design principle of the proposed stability analysis have been validated using MATLAB simulation, and experimentally using digital signal processor DSP.","PeriodicalId":105539,"journal":{"name":"IECON 2011 - 37th Annual Conference of the IEEE Industrial Electronics Society","volume":"68 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115698185","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}
Pub Date : 2011-12-01DOI: 10.1109/IECON.2011.6119294
A. Shukor, I. Smadi, Y. Fujimoto
This paper presents the design and development of a musculoskeletal-inspired robot manipulator using the third prototype of the spiral motor developed in our laboratory. The spiral motors represents the linear contraction/extension of the antagonistic muscles due to the high forward/backward drivability without any gears or mechanisms. Workspace was evaluated and simulations were done in some control schemes to compare the probable methods of workspace control. Finally, spiral motor control and experimental results were presented.
{"title":"Development of a biarticular manipulator using spiral motors","authors":"A. Shukor, I. Smadi, Y. Fujimoto","doi":"10.1109/IECON.2011.6119294","DOIUrl":"https://doi.org/10.1109/IECON.2011.6119294","url":null,"abstract":"This paper presents the design and development of a musculoskeletal-inspired robot manipulator using the third prototype of the spiral motor developed in our laboratory. The spiral motors represents the linear contraction/extension of the antagonistic muscles due to the high forward/backward drivability without any gears or mechanisms. Workspace was evaluated and simulations were done in some control schemes to compare the probable methods of workspace control. Finally, spiral motor control and experimental results were presented.","PeriodicalId":105539,"journal":{"name":"IECON 2011 - 37th Annual Conference of the IEEE Industrial Electronics Society","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117339074","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}
Pub Date : 2011-12-01DOI: 10.1109/IECON.2011.6119640
Tsubasa Suenaga, Y. Fujimoto
This paper presents a high thrust force and high backdrivable linear actuator. We identify motor parameters to control the IPM-type spiral motor and realize passive direct drive with magnetic levitation control.
{"title":"Parameter identification and passive direct drive control with magnetic levitation for IPM-type spiral motor","authors":"Tsubasa Suenaga, Y. Fujimoto","doi":"10.1109/IECON.2011.6119640","DOIUrl":"https://doi.org/10.1109/IECON.2011.6119640","url":null,"abstract":"This paper presents a high thrust force and high backdrivable linear actuator. We identify motor parameters to control the IPM-type spiral motor and realize passive direct drive with magnetic levitation control.","PeriodicalId":105539,"journal":{"name":"IECON 2011 - 37th Annual Conference of the IEEE Industrial Electronics Society","volume":"97 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132057549","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}
Pub Date : 2011-12-01DOI: 10.1109/IECON.2011.6119268
N. Motoi, T. Shimono, A. Kawamura
In this paper, a task realization method based on modal space considering a tool kinematics is proposed. Modal space is a coordinate system which consists of the position/force tasks. In addition, position/force tasks are transformed from motor information by using task Jacobian matrix. In the conventional method, the various tasks are able to be obtained in the case of setting an appropriate task Jacobian matrix. However, the design method of task Jacobian matrix is not clarified. Therefore, only simple task was realized in the conventional researches. In this research, the design method of task Jacobian matrix is proposed. In order to design the appropriate task Jacobian matrix, kinematics parameters of the tool is put to use. Therefore, the task based on the tool is realized even if the motor configuration is asymmetry. Additionally, the virtual coordinate system is also proposed. The virtual coordinate system is defined at the point on the tool where the designer wants to control. Therefore, the various tasks by using the tool are easily able to be realized. The validity of the proposed method is confirmed by the experimental results.
{"title":"Task realization method based on modal space considering tool kinematics","authors":"N. Motoi, T. Shimono, A. Kawamura","doi":"10.1109/IECON.2011.6119268","DOIUrl":"https://doi.org/10.1109/IECON.2011.6119268","url":null,"abstract":"In this paper, a task realization method based on modal space considering a tool kinematics is proposed. Modal space is a coordinate system which consists of the position/force tasks. In addition, position/force tasks are transformed from motor information by using task Jacobian matrix. In the conventional method, the various tasks are able to be obtained in the case of setting an appropriate task Jacobian matrix. However, the design method of task Jacobian matrix is not clarified. Therefore, only simple task was realized in the conventional researches. In this research, the design method of task Jacobian matrix is proposed. In order to design the appropriate task Jacobian matrix, kinematics parameters of the tool is put to use. Therefore, the task based on the tool is realized even if the motor configuration is asymmetry. Additionally, the virtual coordinate system is also proposed. The virtual coordinate system is defined at the point on the tool where the designer wants to control. Therefore, the various tasks by using the tool are easily able to be realized. The validity of the proposed method is confirmed by the experimental results.","PeriodicalId":105539,"journal":{"name":"IECON 2011 - 37th Annual Conference of the IEEE Industrial Electronics Society","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115960708","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}
Pub Date : 2011-12-01DOI: 10.1109/IECON.2011.6120006
E. Saito, S. Katsura
Vibration control of resonant system is an important problem in industry applications. The reason is that degradation of task accuracy and destruction of materials are caused by vibration. Under such a background, state feedback control, H∞ control, and resonant ratio control based on lumped parameter system have been researched for vibration suppression of system with flexible mechanism. On the other hand, methods in distributed parameter model need a lot of calculation in time domain design. In this paper, to suppress vibration of resonant system, a novel position controller based on a transfer function of wave equation is proposed. Superposition of a traveling wave and the reflection wave causes ordinary wave and vibration occurs. Therefore, a method of reflected wave rejection is proposed. Moreover, the proposed method is applied to a two-mass resonant system and three-mass resonant system. Because the proposed method is based on a distributed parameter model, all vibration modes can be suppressed. The effectiveness of the proposed method is verified by experimental results in a 2-mass and 3-mass resonant system.
{"title":"Vibration suppression of resonant system by using wave compensator","authors":"E. Saito, S. Katsura","doi":"10.1109/IECON.2011.6120006","DOIUrl":"https://doi.org/10.1109/IECON.2011.6120006","url":null,"abstract":"Vibration control of resonant system is an important problem in industry applications. The reason is that degradation of task accuracy and destruction of materials are caused by vibration. Under such a background, state feedback control, H∞ control, and resonant ratio control based on lumped parameter system have been researched for vibration suppression of system with flexible mechanism. On the other hand, methods in distributed parameter model need a lot of calculation in time domain design. In this paper, to suppress vibration of resonant system, a novel position controller based on a transfer function of wave equation is proposed. Superposition of a traveling wave and the reflection wave causes ordinary wave and vibration occurs. Therefore, a method of reflected wave rejection is proposed. Moreover, the proposed method is applied to a two-mass resonant system and three-mass resonant system. Because the proposed method is based on a distributed parameter model, all vibration modes can be suppressed. The effectiveness of the proposed method is verified by experimental results in a 2-mass and 3-mass resonant system.","PeriodicalId":105539,"journal":{"name":"IECON 2011 - 37th Annual Conference of the IEEE Industrial Electronics Society","volume":"83 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114529893","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}
Pub Date : 2011-12-01DOI: 10.1109/IECON.2011.6120001
C. Mitsantisuk, K. Ohishi, S. Katsura
Teleoperation systems provide human with the ability to interact unknown environment from a remote side which may be dangerous, hazardous, or difficult to access. This paper addresses the development of a bilateral controller for improving the efficiency of a flexible actuator. Based on various identification results from the different bending angles of thrust wire, the system model for a flexible actuator is established and formulated as a one-mass system with variable backlash and friction. When the thrust wire bends in the different angles, the dead-zone backlash characteristics are varied due to the contact surface between the inner wire and outer tube. Therefore it is not quite possible to compensate this non-linearity effects in a real-time. To overcome the inherent problem of backlash and vibration in the thrust wire, the load-side encoder is mounted to measure the end-effector movement. The information transformation technique called, a modal space design is proposed to achieve the targets of bilateral control and suppress this non-linearity effect of backlash. By using the proposed method, it is not necessary to estimate backlash parameters. This algorithm is verified through the identification and experimental results of master and slave robots with thrust wire.
{"title":"Compensation of backlash for improving the efficiency of flexible actuator in bilateral teleoperation system","authors":"C. Mitsantisuk, K. Ohishi, S. Katsura","doi":"10.1109/IECON.2011.6120001","DOIUrl":"https://doi.org/10.1109/IECON.2011.6120001","url":null,"abstract":"Teleoperation systems provide human with the ability to interact unknown environment from a remote side which may be dangerous, hazardous, or difficult to access. This paper addresses the development of a bilateral controller for improving the efficiency of a flexible actuator. Based on various identification results from the different bending angles of thrust wire, the system model for a flexible actuator is established and formulated as a one-mass system with variable backlash and friction. When the thrust wire bends in the different angles, the dead-zone backlash characteristics are varied due to the contact surface between the inner wire and outer tube. Therefore it is not quite possible to compensate this non-linearity effects in a real-time. To overcome the inherent problem of backlash and vibration in the thrust wire, the load-side encoder is mounted to measure the end-effector movement. The information transformation technique called, a modal space design is proposed to achieve the targets of bilateral control and suppress this non-linearity effect of backlash. By using the proposed method, it is not necessary to estimate backlash parameters. This algorithm is verified through the identification and experimental results of master and slave robots with thrust wire.","PeriodicalId":105539,"journal":{"name":"IECON 2011 - 37th Annual Conference of the IEEE Industrial Electronics Society","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121418429","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}
Pub Date : 2011-12-01DOI: 10.1109/IECON.2011.6119722
D. Yashiro, Dapeng Tian, T. Yakoh
Data quantization is required to design motion control systems with narrow bandwidth. However, performance and stability is significantly deteriorated when control signals in feedback loop is quantized. Therefore, in this paper, optimal dynamic quantizer is utilized to compensate a quantized control signal of disturbance observer based acceleration control systems. Analytical results and experimental results of a position control through a network confirm the validity of the proposed approach. These results show that proposed approach reduces unignorable steady-state errors.
{"title":"Optimal dynamic quantizer based acceleration control with narrow bandwidth","authors":"D. Yashiro, Dapeng Tian, T. Yakoh","doi":"10.1109/IECON.2011.6119722","DOIUrl":"https://doi.org/10.1109/IECON.2011.6119722","url":null,"abstract":"Data quantization is required to design motion control systems with narrow bandwidth. However, performance and stability is significantly deteriorated when control signals in feedback loop is quantized. Therefore, in this paper, optimal dynamic quantizer is utilized to compensate a quantized control signal of disturbance observer based acceleration control systems. Analytical results and experimental results of a position control through a network confirm the validity of the proposed approach. These results show that proposed approach reduces unignorable steady-state errors.","PeriodicalId":105539,"journal":{"name":"IECON 2011 - 37th Annual Conference of the IEEE Industrial Electronics Society","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115265432","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}
Pub Date : 2011-12-01DOI: 10.1109/IECON.2011.6119319
I-Han Liu, M. Tsai, M. Cheng, Ke-Han Su
Generally, poor machining performance may occur due to the abrupt change of acceleration at the portion of a curve with large curvature. In order to deal with this problem, this paper presents a modified trajectory planning scheme based on PH (Pythagorean Hodograph) curves for sharp corner angle contouring tasks. The main idea of the proposed method is to force the actual toolpath trajectory closer to the original command path by exploiting a modified command trajectory (a C2 PH spline curve) at the sharp corner in advance, so that the corner contouring accuracy can be further improved. Finally, several different sharp corner contour-following experiments were conducted on dual servo motors to evaluate the effectiveness of the proposed approach. Experimental results indicate that the proposed approach can indeed reduce contour error in sharp corner-angle contour-following applications.
{"title":"Planning and implementation of motion trajectory based on C2 PH spline","authors":"I-Han Liu, M. Tsai, M. Cheng, Ke-Han Su","doi":"10.1109/IECON.2011.6119319","DOIUrl":"https://doi.org/10.1109/IECON.2011.6119319","url":null,"abstract":"Generally, poor machining performance may occur due to the abrupt change of acceleration at the portion of a curve with large curvature. In order to deal with this problem, this paper presents a modified trajectory planning scheme based on PH (Pythagorean Hodograph) curves for sharp corner angle contouring tasks. The main idea of the proposed method is to force the actual toolpath trajectory closer to the original command path by exploiting a modified command trajectory (a C2 PH spline curve) at the sharp corner in advance, so that the corner contouring accuracy can be further improved. Finally, several different sharp corner contour-following experiments were conducted on dual servo motors to evaluate the effectiveness of the proposed approach. Experimental results indicate that the proposed approach can indeed reduce contour error in sharp corner-angle contour-following applications.","PeriodicalId":105539,"journal":{"name":"IECON 2011 - 37th Annual Conference of the IEEE Industrial Electronics Society","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114787089","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}
Pub Date : 2011-12-01DOI: 10.1109/IECON.2011.6120000
Hidetaka Morimitsu, E. Saito, S. Katsura
Peltier device has recently been attracting attention as a suitable device to produce thermal sensation. For the information obtainment of the heat exchanged between the device and external environment, heat flux sensor is generally utilized. However, heat flux sensor has drawbacks from the viewpoints of thermal capacitance and cost compared with temperature sensor. In order to address the problems, heat flux sensor-less estimation method of the heat flow should be developed. This research focuses on the distributed parameter system of Peltier device, and constructs a heat inflow observer based on the system. The derived model has the infinite number of poles and zeros, and the observer is approximated with the consideration on the poles and zeros for the simplicity in implementation. As shown in the experiments, the proposed observer shows its capacity of estimating heat inflow without using a heat flux sensor.
{"title":"An approach for heat flux sensor-less heat inflow estimation based on distributed parameter system of Peltier device","authors":"Hidetaka Morimitsu, E. Saito, S. Katsura","doi":"10.1109/IECON.2011.6120000","DOIUrl":"https://doi.org/10.1109/IECON.2011.6120000","url":null,"abstract":"Peltier device has recently been attracting attention as a suitable device to produce thermal sensation. For the information obtainment of the heat exchanged between the device and external environment, heat flux sensor is generally utilized. However, heat flux sensor has drawbacks from the viewpoints of thermal capacitance and cost compared with temperature sensor. In order to address the problems, heat flux sensor-less estimation method of the heat flow should be developed. This research focuses on the distributed parameter system of Peltier device, and constructs a heat inflow observer based on the system. The derived model has the infinite number of poles and zeros, and the observer is approximated with the consideration on the poles and zeros for the simplicity in implementation. As shown in the experiments, the proposed observer shows its capacity of estimating heat inflow without using a heat flux sensor.","PeriodicalId":105539,"journal":{"name":"IECON 2011 - 37th Annual Conference of the IEEE Industrial Electronics Society","volume":"192 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116880985","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}
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