Pub Date : 2016-04-22DOI: 10.1109/AMC.2016.7496413
E. Sariyildiz, Haoyong Yu, T. Nozaki, T. Murakami
In this paper, a novel robust position controller is proposed for two-mass resonant systems. It is designed by using Differential Flatness (DF) and Disturbance Observer (DOb) in state space. Firstly, DF-based trajectory tracking controller is designed by neglecting plant uncertainties and external disturbances. Since a two-mass resonant system is controllable, state and control input references are generated in terms of differentially flat output. However, the trajectory tracking controller is sensitive so the stability and performance may significantly change due to the robustness issues in practice. Secondly, the robustness is achieved by treating estimated disturbances, which are obtained via DOb, in the design of the controller. A two-mass resonant system includes matched and mismatched disturbances; therefore, the robustness cannot be achieved by directly feeding-back their estimations. The states of the system are re-constructed by using estimated disturbances so that the mismatched disturbance is automatically cancelled via state feed-back control. The matched disturbance is simply cancelled by feeding-back its estimation. Hence, the robust trajectory tracking controller is designed for two-mass resonant systems. The validity of the proposal is verified by giving simulation results.
{"title":"Robust vibration control of two-mass resonant systems in state space","authors":"E. Sariyildiz, Haoyong Yu, T. Nozaki, T. Murakami","doi":"10.1109/AMC.2016.7496413","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496413","url":null,"abstract":"In this paper, a novel robust position controller is proposed for two-mass resonant systems. It is designed by using Differential Flatness (DF) and Disturbance Observer (DOb) in state space. Firstly, DF-based trajectory tracking controller is designed by neglecting plant uncertainties and external disturbances. Since a two-mass resonant system is controllable, state and control input references are generated in terms of differentially flat output. However, the trajectory tracking controller is sensitive so the stability and performance may significantly change due to the robustness issues in practice. Secondly, the robustness is achieved by treating estimated disturbances, which are obtained via DOb, in the design of the controller. A two-mass resonant system includes matched and mismatched disturbances; therefore, the robustness cannot be achieved by directly feeding-back their estimations. The states of the system are re-constructed by using estimated disturbances so that the mismatched disturbance is automatically cancelled via state feed-back control. The matched disturbance is simply cancelled by feeding-back its estimation. Hence, the robust trajectory tracking controller is designed for two-mass resonant systems. The validity of the proposal is verified by giving simulation results.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123664823","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 : 2016-04-22DOI: 10.1109/AMC.2016.7496329
Bin Yang, Yuqing He, Jianda Han, Guangjun Liu
Rotor flying manipulator (RFM), a new kind of mobile robot system being composed of a rotor flying robot (RFR) and a (several) manipulator(s), has absorbed great attentions in recent years because it enables a RFR to complete active tasks such as mastering and transporting objects. However, steady control of the RFM during both maneuvering and operating is of great difficulty due to the heavy force/moment coupling between the RFR and the manipulator, which introduce high nonlinearity and complexity to the system model. In this paper, a new control scheme of the RFM is proposed to ensure the steady flight. Firstly, the nonlinear mathematical model is derived, which is followed by the coupling analysis to show how the movement of the manipulator influences the whole system's behavior. Subsequently, based on these analyses, a new control scheme is designed with obtainable coupling force/moment. The basic idea of the controller is to take the coupling as a disturbance and separately control the RFR and the manipulator, and the stability is ensured to properly design the controller parameters. Finally, simulations are conducted and the results show the feasibility and validity of the proposed controller.
{"title":"Separated adaptive control scheme of a rotor-flying manipulator","authors":"Bin Yang, Yuqing He, Jianda Han, Guangjun Liu","doi":"10.1109/AMC.2016.7496329","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496329","url":null,"abstract":"Rotor flying manipulator (RFM), a new kind of mobile robot system being composed of a rotor flying robot (RFR) and a (several) manipulator(s), has absorbed great attentions in recent years because it enables a RFR to complete active tasks such as mastering and transporting objects. However, steady control of the RFM during both maneuvering and operating is of great difficulty due to the heavy force/moment coupling between the RFR and the manipulator, which introduce high nonlinearity and complexity to the system model. In this paper, a new control scheme of the RFM is proposed to ensure the steady flight. Firstly, the nonlinear mathematical model is derived, which is followed by the coupling analysis to show how the movement of the manipulator influences the whole system's behavior. Subsequently, based on these analyses, a new control scheme is designed with obtainable coupling force/moment. The basic idea of the controller is to take the coupling as a disturbance and separately control the RFR and the manipulator, and the stability is ensured to properly design the controller parameters. Finally, simulations are conducted and the results show the feasibility and validity of the proposed controller.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"62 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131540504","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 : 2016-04-22DOI: 10.1109/AMC.2016.7496374
Quang Nguyen Van, Moonyoung Yoon, W. Che, DukSun Yun, Heungseob Kim, KwangSuck Boo
Vehicle detection in real-time from rear-side of a host vehicle is one of important problems in Lane Change Assistance. In this paper, we propose a vision system for real-time vehicle and lane detection and tracking using two cameras, which are equipped under the wing mirror both left and right side. From the input images, EDLines algorithm is used for line segment detection in real-time. According to the achieved data, lane detection is developed by analyzing angles of the line segments, and area between two lanes on the same side of vehicle is defined. In the vehicle detection, based on the brightness and darkness between vehicle and road, vehicle is detected in real-time using the simple algorithm. Finally, kalman filter is used in vehicle tracking for vehicle information such as distance or speed.
{"title":"A study on real time integrated lane detection and vehicle tracking method with side-mirror cameras","authors":"Quang Nguyen Van, Moonyoung Yoon, W. Che, DukSun Yun, Heungseob Kim, KwangSuck Boo","doi":"10.1109/AMC.2016.7496374","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496374","url":null,"abstract":"Vehicle detection in real-time from rear-side of a host vehicle is one of important problems in Lane Change Assistance. In this paper, we propose a vision system for real-time vehicle and lane detection and tracking using two cameras, which are equipped under the wing mirror both left and right side. From the input images, EDLines algorithm is used for line segment detection in real-time. According to the achieved data, lane detection is developed by analyzing angles of the line segments, and area between two lanes on the same side of vehicle is defined. In the vehicle detection, based on the brightness and darkness between vehicle and road, vehicle is detected in real-time using the simple algorithm. Finally, kalman filter is used in vehicle tracking for vehicle information such as distance or speed.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125557797","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 : 2016-04-22DOI: 10.1109/AMC.2016.7496407
Yanming Pei, L. Kleeman
Accurate localisation of an indoor robot critically depends on the odometry calibration which varies with different types of floor surfaces. Motion control accuracy of robots can be improved by independently calibrating odometry parameters for each floor surface. This paper presents a new robot floor classification system based on motor current measurements with compensation for variations in the floor inclination angles. The motor current is proportional to the rolling resistance on a flat floor when the robot travels at a constant velocity. We show that commonly occurring small deviations of less than one degree in the inclination of indoor floors significantly affects motor current measurements. The paper compensates for floor inclination variations with a low cost accelerometer. Floors are classified using a Support Vector Machine (SVM) with an accuracy of 95% for a 0.2 m travelling distance and 4 indoor surfaces that include similar carpets. Experimental results show that our proposed method significantly improves a previous floor classification system based on a colour sensor. Our previous work has shown that correct floor classification can improve robot motion control through more accurate odometry calibration, localisation, mapping and path planning.
{"title":"Mobile robot floor classification using motor current and accelerometer measurements","authors":"Yanming Pei, L. Kleeman","doi":"10.1109/AMC.2016.7496407","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496407","url":null,"abstract":"Accurate localisation of an indoor robot critically depends on the odometry calibration which varies with different types of floor surfaces. Motion control accuracy of robots can be improved by independently calibrating odometry parameters for each floor surface. This paper presents a new robot floor classification system based on motor current measurements with compensation for variations in the floor inclination angles. The motor current is proportional to the rolling resistance on a flat floor when the robot travels at a constant velocity. We show that commonly occurring small deviations of less than one degree in the inclination of indoor floors significantly affects motor current measurements. The paper compensates for floor inclination variations with a low cost accelerometer. Floors are classified using a Support Vector Machine (SVM) with an accuracy of 95% for a 0.2 m travelling distance and 4 indoor surfaces that include similar carpets. Experimental results show that our proposed method significantly improves a previous floor classification system based on a colour sensor. Our previous work has shown that correct floor classification can improve robot motion control through more accurate odometry calibration, localisation, mapping and path planning.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130575250","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 : 2016-04-22DOI: 10.1109/AMC.2016.7496412
Matthias Keinert, A. Lechler, A. Verl
Computerized numerical controls are more and more executed on off-the-shelf system platforms and can thus benefit from the developments in the area of processor technology. Multi-core processors provide sufficient processing power for these controls but require a specific system design that allows exploiting the parallel processing unit. This paper presents an approach on how computerized numerical controls may be partitioned on a task and a functional level using task and data parallelism for the efficient execution on multi-core system platforms.
{"title":"Concept of a computerized numerical control kernel for execution on multi-core processors","authors":"Matthias Keinert, A. Lechler, A. Verl","doi":"10.1109/AMC.2016.7496412","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496412","url":null,"abstract":"Computerized numerical controls are more and more executed on off-the-shelf system platforms and can thus benefit from the developments in the area of processor technology. Multi-core processors provide sufficient processing power for these controls but require a specific system design that allows exploiting the parallel processing unit. This paper presents an approach on how computerized numerical controls may be partitioned on a task and a functional level using task and data parallelism for the efficient execution on multi-core system platforms.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127634506","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 : 2016-04-22DOI: 10.1109/AMC.2016.7496390
A. Suzumura, Y. Fujimoto
This paper analyzes three-degree-of-freedom (Three-DoF) control based multiple disturbance observers (TDoF-DOB). Three-DoF control has multiple DOBs equivalently; therefore, its explicit implementation is verified in this paper for the force estimation problem. As the comparative study, differences between TDoF-DOB and position and acceleration integrated disturbance observer (PAIDO) are analyzed. TDoF-DOB has one advantage in terms of a noise sensitivity performance in the case of being applied for two-inertia systems. Finally, the analysis is verified by simulations and fundamental experiments for one and two-inertia systems.
{"title":"On explicit implementation of multiple disturbance observers derived from three-degree-of-freedom control","authors":"A. Suzumura, Y. Fujimoto","doi":"10.1109/AMC.2016.7496390","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496390","url":null,"abstract":"This paper analyzes three-degree-of-freedom (Three-DoF) control based multiple disturbance observers (TDoF-DOB). Three-DoF control has multiple DOBs equivalently; therefore, its explicit implementation is verified in this paper for the force estimation problem. As the comparative study, differences between TDoF-DOB and position and acceleration integrated disturbance observer (PAIDO) are analyzed. TDoF-DOB has one advantage in terms of a noise sensitivity performance in the case of being applied for two-inertia systems. Finally, the analysis is verified by simulations and fundamental experiments for one and two-inertia systems.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132810177","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 : 2016-04-22DOI: 10.1109/AMC.2016.7496405
Masato Kanematsu, H. Fujimoto
Interior Permanent Magnet Synchronous Motors (IPMSMs) are widely used for industrial applications. IPMSMs has a lot of advantages, such as high efficiency, high torque density and so on. In such a drive system, harmonic current appears inevitably and harmonic current control technique is used for the compensation. Repetitive control is known as a useful harmonic current compensation method and realized by adding a specific number of a sampling period according to the frequency of repetitive disturbance. Such a discrete delay must be an integer of sampling period. However, it has fractional term in a specific frequency region of the disturbance. This paper proposes a novel fractional order repetititve control using Generalized Repetititve Control (GRC),which is based on Generalized KYP lemma proposed by S. Hara. GRC is compared with Lagrange interpolation method, which is used for fractional order repetitive control conventionally. The effectiveness of the proposed designing method is verified through simulations and the experiments.
{"title":"Fundamental study for a fractional order repetitive control using Generalized Repetitive Control for high precision motor control","authors":"Masato Kanematsu, H. Fujimoto","doi":"10.1109/AMC.2016.7496405","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496405","url":null,"abstract":"Interior Permanent Magnet Synchronous Motors (IPMSMs) are widely used for industrial applications. IPMSMs has a lot of advantages, such as high efficiency, high torque density and so on. In such a drive system, harmonic current appears inevitably and harmonic current control technique is used for the compensation. Repetitive control is known as a useful harmonic current compensation method and realized by adding a specific number of a sampling period according to the frequency of repetitive disturbance. Such a discrete delay must be an integer of sampling period. However, it has fractional term in a specific frequency region of the disturbance. This paper proposes a novel fractional order repetititve control using Generalized Repetititve Control (GRC),which is based on Generalized KYP lemma proposed by S. Hara. GRC is compared with Lagrange interpolation method, which is used for fractional order repetitive control conventionally. The effectiveness of the proposed designing method is verified through simulations and the experiments.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"80 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132846705","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 : 2016-04-22DOI: 10.1109/AMC.2016.7496400
N. Oda, Mina Yamazaki
This paper presents an approach to balance and posture estimation based on image feature points from camera image for biped walking robot. In this paper, the image feature tracker is employed in order to conduct the balanced motion mainly from visual information. In the proposed approach, the point cloud of tracking features is evaluated through the image moment calculations to obtain the inclined angle and the reaction force from ground, and they are used for real-time motion control of biped robot. The validity of the proposed method is evaluated by several experimental results.
{"title":"An approach to balance and posture estimation using image feature points for biped walking robot","authors":"N. Oda, Mina Yamazaki","doi":"10.1109/AMC.2016.7496400","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496400","url":null,"abstract":"This paper presents an approach to balance and posture estimation based on image feature points from camera image for biped walking robot. In this paper, the image feature tracker is employed in order to conduct the balanced motion mainly from visual information. In the proposed approach, the point cloud of tracking features is evaluated through the image moment calculations to obtain the inclined angle and the reaction force from ground, and they are used for real-time motion control of biped robot. The validity of the proposed method is evaluated by several experimental results.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"73 2","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132498393","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 : 2016-04-22DOI: 10.1109/AMC.2016.7496376
Ryman Hashem, B. Smith, David Browne, Weiliang Xu, M. Stommel
A demand for a soft body robotic h a s become widely apparent especially in industrial sectors to accomplish the rotation of a variety of organic matter. The inaccuracy of the classical robots in the handling of many organic objects such as fruits or eggs in production lines has triggered the necessity for soft body robotics. In this paper, we introduce a hybrid robotic prototype (X-Y soft-bodied peristaltic table) combining soft and hard robotics techniques with cutting-edge design in its physical stature, so as to control its 25 motors and to be autonomous. These 25 motors are capable of generating peristaltic motion in the soft layers of the table surface, thus providing a physical force that transports delicate objects. Two control systems have been developed to validate the industrial potential of a peristaltic XY table. The first system is a dynamic real-time path planning program that has been written to determine the shortest path from an object on the table's surface to a target position selected by the user; the second system is an artificial neural network (ANN) that has been developed to estimate the relationship between the table's actuation pattern and the corresponding surface deformation.
{"title":"Control of a soft-bodied XY peristaltic table for delicate sorting","authors":"Ryman Hashem, B. Smith, David Browne, Weiliang Xu, M. Stommel","doi":"10.1109/AMC.2016.7496376","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496376","url":null,"abstract":"A demand for a soft body robotic h a s become widely apparent especially in industrial sectors to accomplish the rotation of a variety of organic matter. The inaccuracy of the classical robots in the handling of many organic objects such as fruits or eggs in production lines has triggered the necessity for soft body robotics. In this paper, we introduce a hybrid robotic prototype (X-Y soft-bodied peristaltic table) combining soft and hard robotics techniques with cutting-edge design in its physical stature, so as to control its 25 motors and to be autonomous. These 25 motors are capable of generating peristaltic motion in the soft layers of the table surface, thus providing a physical force that transports delicate objects. Two control systems have been developed to validate the industrial potential of a peristaltic XY table. The first system is a dynamic real-time path planning program that has been written to determine the shortest path from an object on the table's surface to a target position selected by the user; the second system is an artificial neural network (ANN) that has been developed to estimate the relationship between the table's actuation pattern and the corresponding surface deformation.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"308 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116276317","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 : 2016-04-22DOI: 10.1109/AMC.2016.7496322
Chan Lee, Wiha Choi, Sehoon Oh
Nowadays, compliance is required in various research. Series Elastic Actuator (SEA) has been emerged as one of the promising actuator system, since it provides various benefits such as safety, force sensing, energy storing with its inherent compliance. While the SEA contributes not only to the human interacting robot but also to wide robotics area, there is still limitation in performance that is caused by non-linearity and discontinuous power transfer. The cause of these influence is arisen from the electric devices (e.g., sensor, motor) and mechanical characteristics (e.g., friction, gear backlash), since SEA consists of a motor, a spring and a gear reducer to amplify the output torque. We focus on improvement of maximum force control performance (i.e., control bandwidth) taking into consideration saturation characteristic of the motor drive. Especially velocity limitation which interrupts spring deformation tracking performance is concentrated in this research; the spring in SEA transforms displacement to output force and its performance depends on the position control performance of the SEA. A novel index called Maximum Torque Transmissibility (MTT) is defined to assess the ability to fully utilize maximum continuous motor torque input which is saturated by velocity output limitation condition. Novel and practical frequency bandwidth can be found based on the proposed MTT.
{"title":"Maximum torque generation of SEA under velocity control","authors":"Chan Lee, Wiha Choi, Sehoon Oh","doi":"10.1109/AMC.2016.7496322","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496322","url":null,"abstract":"Nowadays, compliance is required in various research. Series Elastic Actuator (SEA) has been emerged as one of the promising actuator system, since it provides various benefits such as safety, force sensing, energy storing with its inherent compliance. While the SEA contributes not only to the human interacting robot but also to wide robotics area, there is still limitation in performance that is caused by non-linearity and discontinuous power transfer. The cause of these influence is arisen from the electric devices (e.g., sensor, motor) and mechanical characteristics (e.g., friction, gear backlash), since SEA consists of a motor, a spring and a gear reducer to amplify the output torque. We focus on improvement of maximum force control performance (i.e., control bandwidth) taking into consideration saturation characteristic of the motor drive. Especially velocity limitation which interrupts spring deformation tracking performance is concentrated in this research; the spring in SEA transforms displacement to output force and its performance depends on the position control performance of the SEA. A novel index called Maximum Torque Transmissibility (MTT) is defined to assess the ability to fully utilize maximum continuous motor torque input which is saturated by velocity output limitation condition. Novel and practical frequency bandwidth can be found based on the proposed MTT.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126018530","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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