Pub Date : 2017-12-15DOI: 10.1109/IECON.2017.8216913
Julian Rojas, H. Renaudineau, S. Kouro, S. Rivera
This paper proposes an interleaved partial power converter (PPC) for the DC-DC conversion stage of electric vehicles (EVs) fast charging stations. The proposed converter topology is based on the H-bridge DC-DC converter. PPC allows the converter to process only a fraction of the total power, the rest being bypassed and directly supplied to the load. This increases the converter efficiency, as only a portion of the power goes through the converter, thus increasing its efficiency. The principle of operation of the proposed PPC is theoretically analyzed. Simulations of the behavior of the proposed PPC are provided for the charging of an EV battery. Results show the good behavior of the proposed system. It is in particular verified that the proposed converter only process a fraction of the power around 36% for the entire output power range. Comparison with a classical full power converter is provided showing that the proposed topology leads to a significant improvement in terms of conversion efficiency, from 95.1% to 98.3%.
{"title":"Partial power DC-DC converter for electric vehicle fast charging stations","authors":"Julian Rojas, H. Renaudineau, S. Kouro, S. Rivera","doi":"10.1109/IECON.2017.8216913","DOIUrl":"https://doi.org/10.1109/IECON.2017.8216913","url":null,"abstract":"This paper proposes an interleaved partial power converter (PPC) for the DC-DC conversion stage of electric vehicles (EVs) fast charging stations. The proposed converter topology is based on the H-bridge DC-DC converter. PPC allows the converter to process only a fraction of the total power, the rest being bypassed and directly supplied to the load. This increases the converter efficiency, as only a portion of the power goes through the converter, thus increasing its efficiency. The principle of operation of the proposed PPC is theoretically analyzed. Simulations of the behavior of the proposed PPC are provided for the charging of an EV battery. Results show the good behavior of the proposed system. It is in particular verified that the proposed converter only process a fraction of the power around 36% for the entire output power range. Comparison with a classical full power converter is provided showing that the proposed topology leads to a significant improvement in terms of conversion efficiency, from 95.1% to 98.3%.","PeriodicalId":13098,"journal":{"name":"IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society","volume":"36 1","pages":"5274-5279"},"PeriodicalIF":0.0,"publicationDate":"2017-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88060453","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 : 2017-12-15DOI: 10.1109/IECON.2017.8217187
D. Mildt, R. Kubo
Due to the presence of power electronics interfaced generation, voltage stability is a key design goal for converter control systems, such as in Medium-Voltage DC in naval vessels. In the presence of power electronic converter interfaced loads that can display high-bandwidth constant power load (CPL) behavior, the nonlinearity of the negative incremental resistance can induce instability. This paper employs a local and switched affine model for buck converters interfacing the generation units. Load behavior and system interaction are modelled via a virtual disturbance approach and included as an additional state in an augmented local Kalman filter (ALKF). Stored energy in inductor and capacitor are used to derive a Lyapunov function defining stability regions for the switching states and subsequently a switching rule ensuring quadratic stability is chosen. The simulation of an exemplary system shows how voltage stability is achieved. The controller is then further extended to avoid steady-state errors and limit the converters switching frequency.
{"title":"Decentralized hybrid switching control of multiconverter MVDC shipboard power systems","authors":"D. Mildt, R. Kubo","doi":"10.1109/IECON.2017.8217187","DOIUrl":"https://doi.org/10.1109/IECON.2017.8217187","url":null,"abstract":"Due to the presence of power electronics interfaced generation, voltage stability is a key design goal for converter control systems, such as in Medium-Voltage DC in naval vessels. In the presence of power electronic converter interfaced loads that can display high-bandwidth constant power load (CPL) behavior, the nonlinearity of the negative incremental resistance can induce instability. This paper employs a local and switched affine model for buck converters interfacing the generation units. Load behavior and system interaction are modelled via a virtual disturbance approach and included as an additional state in an augmented local Kalman filter (ALKF). Stored energy in inductor and capacitor are used to derive a Lyapunov function defining stability regions for the switching states and subsequently a switching rule ensuring quadratic stability is chosen. The simulation of an exemplary system shows how voltage stability is achieved. The controller is then further extended to avoid steady-state errors and limit the converters switching frequency.","PeriodicalId":13098,"journal":{"name":"IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society","volume":"19 1","pages":"6795-6800"},"PeriodicalIF":0.0,"publicationDate":"2017-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"72948901","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 : 2017-12-15DOI: 10.1109/IECON.2017.8216538
Akihiro Sugiyama, Yuki Yamada, Shuntaro Yamato, Y. Kakinuma
This paper proposes a sensorless chatter detection method for a ball screw drive system used in milling, by introducing the mechanical energy factor (MEF). The MEF is an indicator for detecting self-excited chatter, based on the power factor theory used in electric systems, and monitors the phase difference between dynamic cutting force and displacement. By monitoring the MEF, the self-excited chatter can be detected in real time with low computational load and a unique threshold, independent of the vibration amplitude. Furthermore, the MEF can be monitored without any additional sensors by applying a sensorless cutting-force estimation technique, based on the disturbance observer theory. In addition, we conducted mode decoupling to the two-inertia model of the ball screw driven stage, and derived its rigid body and vibration modes. Each mode is regarded as a one-inertia model and is independent of the other, and the MEF is monitored in the vibration mode. The validity of the proposed method was evaluated through several milling tests, and the results showed that the self-excited chatter could be detected.
{"title":"Development of sensorless chatter detection method in ball screw drive system applying mode decoupling","authors":"Akihiro Sugiyama, Yuki Yamada, Shuntaro Yamato, Y. Kakinuma","doi":"10.1109/IECON.2017.8216538","DOIUrl":"https://doi.org/10.1109/IECON.2017.8216538","url":null,"abstract":"This paper proposes a sensorless chatter detection method for a ball screw drive system used in milling, by introducing the mechanical energy factor (MEF). The MEF is an indicator for detecting self-excited chatter, based on the power factor theory used in electric systems, and monitors the phase difference between dynamic cutting force and displacement. By monitoring the MEF, the self-excited chatter can be detected in real time with low computational load and a unique threshold, independent of the vibration amplitude. Furthermore, the MEF can be monitored without any additional sensors by applying a sensorless cutting-force estimation technique, based on the disturbance observer theory. In addition, we conducted mode decoupling to the two-inertia model of the ball screw driven stage, and derived its rigid body and vibration modes. Each mode is regarded as a one-inertia model and is independent of the other, and the MEF is monitored in the vibration mode. The validity of the proposed method was evaluated through several milling tests, and the results showed that the self-excited chatter could be detected.","PeriodicalId":13098,"journal":{"name":"IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society","volume":"63 1","pages":"3185-3190"},"PeriodicalIF":0.0,"publicationDate":"2017-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74715648","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 : 2017-12-15DOI: 10.1109/IECON.2017.8216900
T. Okano, T. Ishikawa, T. Nozaki, K. Ohnishi
This paper aims to develop the method for identifying human and environmental impedances with information in the frequency domain by using bilateral control system. In the conventional method, a sinusoidal wave is added to the common mode of bilateral control system, however, this method cannot extract haptic information in frequency domain. Human impedances are assumed to change every moment, and the identification method of impedance is strongly desired to develop. In this paper, low-pass filtered M-sequence signal is added to the bilateral control system for identifying both human and environmental impedances with information in the frequency domain. Experiments were conducted for verifying the effectiveness of the proposed method.
{"title":"Identification of human and environmental impedances by using bilateral control system with low-pass filtered M-sequence signal","authors":"T. Okano, T. Ishikawa, T. Nozaki, K. Ohnishi","doi":"10.1109/IECON.2017.8216900","DOIUrl":"https://doi.org/10.1109/IECON.2017.8216900","url":null,"abstract":"This paper aims to develop the method for identifying human and environmental impedances with information in the frequency domain by using bilateral control system. In the conventional method, a sinusoidal wave is added to the common mode of bilateral control system, however, this method cannot extract haptic information in frequency domain. Human impedances are assumed to change every moment, and the identification method of impedance is strongly desired to develop. In this paper, low-pass filtered M-sequence signal is added to the bilateral control system for identifying both human and environmental impedances with information in the frequency domain. Experiments were conducted for verifying the effectiveness of the proposed method.","PeriodicalId":13098,"journal":{"name":"IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society","volume":"35 1","pages":"5203-5208"},"PeriodicalIF":0.0,"publicationDate":"2017-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"91174739","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 : 2017-12-15DOI: 10.1109/IECON.2017.8216384
Chang-Yi Cheng, Jia-Sheng Hu, M. Hsieh
This study presents an intelligent hybrid energy management system for electric scooters. The proposed power distribution approach is controlled by a bi-directional converter. The management system is designed according to the property of the battery, supercapacitor, and motion control requirements. The proposed approach keeps the battery working in an effective zone and hence extends the lifespan of the stack. The energy management controller monitors the states of the battery and uses the bi-directional converter to charge the system rapidly and safely and the cost of SC is cheaper than the normal hybrid energy storage system. For charging, the system can be charged by the boost and buck converter and achieves fast charging and voltage balance of the battery.
{"title":"Energy management system with Bi-directional converter on hybrid sources electric scooters","authors":"Chang-Yi Cheng, Jia-Sheng Hu, M. Hsieh","doi":"10.1109/IECON.2017.8216384","DOIUrl":"https://doi.org/10.1109/IECON.2017.8216384","url":null,"abstract":"This study presents an intelligent hybrid energy management system for electric scooters. The proposed power distribution approach is controlled by a bi-directional converter. The management system is designed according to the property of the battery, supercapacitor, and motion control requirements. The proposed approach keeps the battery working in an effective zone and hence extends the lifespan of the stack. The energy management controller monitors the states of the battery and uses the bi-directional converter to charge the system rapidly and safely and the cost of SC is cheaper than the normal hybrid energy storage system. For charging, the system can be charged by the boost and buck converter and achieves fast charging and voltage balance of the battery.","PeriodicalId":13098,"journal":{"name":"IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society","volume":"45 1","pages":"2281-2286"},"PeriodicalIF":0.0,"publicationDate":"2017-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80834968","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 : 2017-12-15DOI: 10.1109/IECON.2017.8216557
An-shui Yu, K. Hara, K. Inoue, K. Urahama
We propose a framework to extend corner feature detection in standard rectangular images with less distortion to distorted circular images captured with fisheye lenses. To solve two problems of nonuniformity of spatial resolution and spherical polar coordinates singularity, our approach makes use of a modification in the Yin-Yang grid, which is an overset grid consisting of two latitude/longitude coordinate systems. The main contribution is to keep the use of existing corner detection programs. Experimental results on synthetic and real images demonstrate the effectiveness of our method.
{"title":"Corner detection in fisheye images by modified Yin-Yang grid","authors":"An-shui Yu, K. Hara, K. Inoue, K. Urahama","doi":"10.1109/IECON.2017.8216557","DOIUrl":"https://doi.org/10.1109/IECON.2017.8216557","url":null,"abstract":"We propose a framework to extend corner feature detection in standard rectangular images with less distortion to distorted circular images captured with fisheye lenses. To solve two problems of nonuniformity of spatial resolution and spherical polar coordinates singularity, our approach makes use of a modification in the Yin-Yang grid, which is an overset grid consisting of two latitude/longitude coordinate systems. The main contribution is to keep the use of existing corner detection programs. Experimental results on synthetic and real images demonstrate the effectiveness of our method.","PeriodicalId":13098,"journal":{"name":"IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society","volume":"182 1","pages":"3292-3297"},"PeriodicalIF":0.0,"publicationDate":"2017-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73142704","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 : 2017-12-15DOI: 10.1109/IECON.2017.8217398
Erjie Qi, Mingxuan Qi, Dingjun Zeng, Haoran Wang, G. Zhu, Jing Zhang, Kan Zhong
Electrolytic Capacitor (E-cap) is one of the lifetime bottlenecks in power electronic converters. In the last two decades, various active power decoupling circuits have been proposed to improve the reliability of the DC link by eliminating the DC-link E-caps. However, additional active devices could change the stresses of the existing converters, whether the system reliability is improving or not is still an open question. This paper investigates the reliability of the single-phase H-bridge inverter with active power decoupling circuit. The parameter variations in IGBT lifetime model are considered. The Weibull distribution of the key components is obtained from Monte Carlo analysis, and the reliability of the whole system is estimated by the system Reliability Block Diagram (RBD) method. As a case study, 2 kW single-phase H-bridge inverter with passive E-caps and active power decoupling circuits are presented. It is shown that the active power decoupling method is applied to H bridge inverter, and the lifetime of decoupling capacitor can be improved significantly, but it has different effects on system reliability in different applications. In addition, the difference on system reliability of fixed parameter and parameter variations is shown in conclusions.
{"title":"System reliability evaluation considering parameter variations of a single-phase inverter with integrated active power decoupling","authors":"Erjie Qi, Mingxuan Qi, Dingjun Zeng, Haoran Wang, G. Zhu, Jing Zhang, Kan Zhong","doi":"10.1109/IECON.2017.8217398","DOIUrl":"https://doi.org/10.1109/IECON.2017.8217398","url":null,"abstract":"Electrolytic Capacitor (E-cap) is one of the lifetime bottlenecks in power electronic converters. In the last two decades, various active power decoupling circuits have been proposed to improve the reliability of the DC link by eliminating the DC-link E-caps. However, additional active devices could change the stresses of the existing converters, whether the system reliability is improving or not is still an open question. This paper investigates the reliability of the single-phase H-bridge inverter with active power decoupling circuit. The parameter variations in IGBT lifetime model are considered. The Weibull distribution of the key components is obtained from Monte Carlo analysis, and the reliability of the whole system is estimated by the system Reliability Block Diagram (RBD) method. As a case study, 2 kW single-phase H-bridge inverter with passive E-caps and active power decoupling circuits are presented. It is shown that the active power decoupling method is applied to H bridge inverter, and the lifetime of decoupling capacitor can be improved significantly, but it has different effects on system reliability in different applications. In addition, the difference on system reliability of fixed parameter and parameter variations is shown in conclusions.","PeriodicalId":13098,"journal":{"name":"IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society","volume":"28 1","pages":"7974-7979"},"PeriodicalIF":0.0,"publicationDate":"2017-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80964109","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 : 2017-12-15DOI: 10.1109/IECON.2017.8217331
R. Ruwanthika, S. Katsura
Precise force control and position control is essential for many robotic applications. During unilateral or bilateral object handling remote applications, human operators apply excess forces on the actuators with the intention of better grip and it is possible to damage the handled objects. This paper proposes position control and force control techniques when human applies excess force. The controllers consist of predefined force and equilibrium position which are correspond to remote environmental object safety. The operator applied excess force is modeled as a spring force through a virtual stiffness model. The paper introduces proportional derivative position control loop to conventional virtual stiffness controller. The force control loop and the position control loop references are combined in the common dimension of acceleration to produce current reference to the actuator. The sensorless sensing techniques of disturbance observer and reaction force observer are utilized to disturbance suppression and external force estimation. In the force controller, estimated reaction force is reduced to desired value by introducing virtual force loop between reaction force observer output and reaction force feedback input. The position control is achieved by introducing a scaling factor to reaction force feedback path. The switching between force control and position control is possible with scaling factor value. The performances of proposed methods are compared with conventional method and validity of the proposed methods is verified by simulations and experiments.
{"title":"Design of virtual stiffness for human operated robot considering external force in safety enhancement","authors":"R. Ruwanthika, S. Katsura","doi":"10.1109/IECON.2017.8217331","DOIUrl":"https://doi.org/10.1109/IECON.2017.8217331","url":null,"abstract":"Precise force control and position control is essential for many robotic applications. During unilateral or bilateral object handling remote applications, human operators apply excess forces on the actuators with the intention of better grip and it is possible to damage the handled objects. This paper proposes position control and force control techniques when human applies excess force. The controllers consist of predefined force and equilibrium position which are correspond to remote environmental object safety. The operator applied excess force is modeled as a spring force through a virtual stiffness model. The paper introduces proportional derivative position control loop to conventional virtual stiffness controller. The force control loop and the position control loop references are combined in the common dimension of acceleration to produce current reference to the actuator. The sensorless sensing techniques of disturbance observer and reaction force observer are utilized to disturbance suppression and external force estimation. In the force controller, estimated reaction force is reduced to desired value by introducing virtual force loop between reaction force observer output and reaction force feedback input. The position control is achieved by introducing a scaling factor to reaction force feedback path. The switching between force control and position control is possible with scaling factor value. The performances of proposed methods are compared with conventional method and validity of the proposed methods is verified by simulations and experiments.","PeriodicalId":13098,"journal":{"name":"IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society","volume":"30 1","pages":"7596-7601"},"PeriodicalIF":0.0,"publicationDate":"2017-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"72938110","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 : 2017-12-15DOI: 10.1109/IECON.2017.8217277
Kohei Torikai, S. Katsura
Advanced robotic systems have been developed to realize robot society, a mechanism and a control theory of these systems have been researched for a long time. Due to the advantages of low cost and safety, these systems with flexible mechanism are required in the future. However, the fast response of such a system which is regarded as a resonant system induces a vibration caused by mechanical resonances. Therefore, motion control theories for resonant systems have been extensively researched to improve motion response, most of these control theories are directed to the state of tip mass. This paper focuses on control theory for the position of arbitrary mass of multi-mass resonant model, proposes position control of 2-DOF resonant system. In this paper, a 2-DOF resonant system is modeled as a superposition of two-mass resonant models. The controller design is based on an assumptions; two actuators independently act on the state of middle mass, which is regarded as load. Therefore, the position control of middle mass of a 2-DOF resonant system is realized. Simulations and experiments verify the effectiveness of the proposed control theory.
{"title":"Position control of middle load point of 2-DOF resonant system","authors":"Kohei Torikai, S. Katsura","doi":"10.1109/IECON.2017.8217277","DOIUrl":"https://doi.org/10.1109/IECON.2017.8217277","url":null,"abstract":"Advanced robotic systems have been developed to realize robot society, a mechanism and a control theory of these systems have been researched for a long time. Due to the advantages of low cost and safety, these systems with flexible mechanism are required in the future. However, the fast response of such a system which is regarded as a resonant system induces a vibration caused by mechanical resonances. Therefore, motion control theories for resonant systems have been extensively researched to improve motion response, most of these control theories are directed to the state of tip mass. This paper focuses on control theory for the position of arbitrary mass of multi-mass resonant model, proposes position control of 2-DOF resonant system. In this paper, a 2-DOF resonant system is modeled as a superposition of two-mass resonant models. The controller design is based on an assumptions; two actuators independently act on the state of middle mass, which is regarded as load. Therefore, the position control of middle mass of a 2-DOF resonant system is realized. Simulations and experiments verify the effectiveness of the proposed control theory.","PeriodicalId":13098,"journal":{"name":"IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society","volume":"27 1","pages":"7294-7299"},"PeriodicalIF":0.0,"publicationDate":"2017-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83338685","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 : 2017-12-15DOI: 10.1109/IECON.2017.8216691
Hayato Maki, S. Katsura
In contrast to precise position control of the robot arms and manipulators, the force control has been studied recently. The robust position control does not allow the robots to share the same space with humans because the robots faithfully follow the position command, and it may lead to break the contacted environments. The impedance and compliance control could set impedances of robots so that the control laws have been utilized for interaction with environments or humans. By using these controls, the robots safety contact with the environments. However, following performance to the reaction force due to the collision generally depends on the setting impedance of the robots. When the robots contact with the hard objects or moving objects, the large force may occur. In order to cope with this, the information of the environment position implicitly is used, as the background that resent techniques of environmental recognition have been precise and high-speed. In the study, the method of impulsive force suppression considering contacted object position is proposed. The method does not use the switching of position control for approaching and force control after the contact. Moreover, the force control is accomplished in desired adding force direction without switching. Therefore, the method does not require especial orbit generation. The validity of the proposed method is confirmed through the simulations and experiments.
{"title":"Contact motion planning including force direction with relaxing impact","authors":"Hayato Maki, S. Katsura","doi":"10.1109/IECON.2017.8216691","DOIUrl":"https://doi.org/10.1109/IECON.2017.8216691","url":null,"abstract":"In contrast to precise position control of the robot arms and manipulators, the force control has been studied recently. The robust position control does not allow the robots to share the same space with humans because the robots faithfully follow the position command, and it may lead to break the contacted environments. The impedance and compliance control could set impedances of robots so that the control laws have been utilized for interaction with environments or humans. By using these controls, the robots safety contact with the environments. However, following performance to the reaction force due to the collision generally depends on the setting impedance of the robots. When the robots contact with the hard objects or moving objects, the large force may occur. In order to cope with this, the information of the environment position implicitly is used, as the background that resent techniques of environmental recognition have been precise and high-speed. In the study, the method of impulsive force suppression considering contacted object position is proposed. The method does not use the switching of position control for approaching and force control after the contact. Moreover, the force control is accomplished in desired adding force direction without switching. Therefore, the method does not require especial orbit generation. The validity of the proposed method is confirmed through the simulations and experiments.","PeriodicalId":13098,"journal":{"name":"IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society","volume":"21 1","pages":"4031-4036"},"PeriodicalIF":0.0,"publicationDate":"2017-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75345793","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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