Pub Date : 2010-03-21DOI: 10.1109/AMC.2010.5464068
I. Khalil, A. Sabanoviç
This paper demonstrates the feasibility of using the Action-Reaction principle in order to identify and observe dynamical system parameter and states respectively by considering the instantaneous system's reaction to an imposed action as a natural feedback from the system. System parameters, dynamics and environmental interaction forces or torques are coupled in this incident natural feedback signal. Therefore, success to determine such natural feedback along with decoupling each of the previous information makes it possible to keep dynamical system free from any attached sensors that in turn implies the possibility of performing motion, vibration and force control assignments through measurement taken from the interface point of the actuator with the dynamical system. Both lumped and distributed flexible system are investigated then experiments are performed on a flexible system with two flexible modes then the possibility of extending the work to systems with infinite modes is discussed.
{"title":"Action-Reaction based motion and vibration control of multi-degree-of freedom flexible systems","authors":"I. Khalil, A. Sabanoviç","doi":"10.1109/AMC.2010.5464068","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464068","url":null,"abstract":"This paper demonstrates the feasibility of using the Action-Reaction principle in order to identify and observe dynamical system parameter and states respectively by considering the instantaneous system's reaction to an imposed action as a natural feedback from the system. System parameters, dynamics and environmental interaction forces or torques are coupled in this incident natural feedback signal. Therefore, success to determine such natural feedback along with decoupling each of the previous information makes it possible to keep dynamical system free from any attached sensors that in turn implies the possibility of performing motion, vibration and force control assignments through measurement taken from the interface point of the actuator with the dynamical system. Both lumped and distributed flexible system are investigated then experiments are performed on a flexible system with two flexible modes then the possibility of extending the work to systems with infinite modes is discussed.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125211237","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 : 2010-03-21DOI: 10.1109/AMC.2010.5464045
Ryosuke Hanyu, T. Tsuji, S. Abe
The present paper proposes a whole-body haptic sensing system with multiple supporting points for a body and sensor mechanism. Using this mechanism, the position of a single contact point on the robot is calculated without any sensor array. The mechanism is composed of a cylindrical end-effector surrounding the body and multiple force sensor devices. An external force is transmitted to the sensor device through the end-effector and is measured by the sensor devices. The present paper describes a calculation method for the proposed system. First, the basic concept of the mechanism is introduced using a simple model. Next, some problems and solutions for a multiple supporting haptic mechanism are discussed.
{"title":"A simplified whole-body haptic sensing system with multiple supporting points","authors":"Ryosuke Hanyu, T. Tsuji, S. Abe","doi":"10.1109/AMC.2010.5464045","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464045","url":null,"abstract":"The present paper proposes a whole-body haptic sensing system with multiple supporting points for a body and sensor mechanism. Using this mechanism, the position of a single contact point on the robot is calculated without any sensor array. The mechanism is composed of a cylindrical end-effector surrounding the body and multiple force sensor devices. An external force is transmitted to the sensor device through the end-effector and is measured by the sensor devices. The present paper describes a calculation method for the proposed system. First, the basic concept of the mechanism is introduced using a simple model. Next, some problems and solutions for a multiple supporting haptic mechanism are discussed.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"120 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121949543","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 : 2010-03-21DOI: 10.1109/AMC.2010.5464063
K. Mikami, K. Ohnishi
This paper describes adapting motion of a biped robot. In some cases that biped robots walk in human environment, the robots encounter non-flat surfaces. To adapt to such environment, it is necessary to get environmental information by sensors. In this paper, the environmental information is transformed into useful structure, defined as “environmental modes”. The environmental modes consist of four modes; heaving, rolling, pitching, and twisting. By controlling biped robots, based on the environmental modes, they can adapt to non-flat surfaces. However, the environment with depressions is not considered in the conventional studies on controlling the environmental modes. Therefore, this research focuses on adapting motion to the depressed environment. A tip of the swing leg reached the bottom of depressions according to the heaving mode. The conventional study on controlling the environmental modes is introduced and extended in the proposed method. The experimental results showed the validity of the proposed method.
{"title":"A method of adapting motion to depressed environment for biped robot","authors":"K. Mikami, K. Ohnishi","doi":"10.1109/AMC.2010.5464063","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464063","url":null,"abstract":"This paper describes adapting motion of a biped robot. In some cases that biped robots walk in human environment, the robots encounter non-flat surfaces. To adapt to such environment, it is necessary to get environmental information by sensors. In this paper, the environmental information is transformed into useful structure, defined as “environmental modes”. The environmental modes consist of four modes; heaving, rolling, pitching, and twisting. By controlling biped robots, based on the environmental modes, they can adapt to non-flat surfaces. However, the environment with depressions is not considered in the conventional studies on controlling the environmental modes. Therefore, this research focuses on adapting motion to the depressed environment. A tip of the swing leg reached the bottom of depressions according to the heaving mode. The conventional study on controlling the environmental modes is introduced and extended in the proposed method. The experimental results showed the validity of the proposed method.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126848281","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 : 2010-03-21DOI: 10.1109/AMC.2010.5464014
Naoki Waki, Kazuki Matsumoto, A. Kawamura
In this paper, Lateral Sway Motion Generation for biped robots using characteristic of LIPM with VSP that a supporting point can be flexibly moved is presented. The supporting point is set outside of biped robot y axis and under the ground, and COM is set inside of biped robot. We can regard LIPM with VSP as LIPM is slanted virtually. Therefore accelerate of LIPM with this way is larger than accelerate of LIPM only supporting point set under the ground, and this LIPM is able to be regarded as long leg pendulum. In addtion the supporting point move only Y axis. So X trajectory is affected by depth of suppoting point in ground say in other words length of pendulum leg, we can plan XY torajectory of COM, next we adjust Y trajectory using this method for same depth of supporting point. In addition we simulated and experimented two pattern only suporting point is set directly below and proposed method.
{"title":"Lateral Sway Motion Generation for biped robots using virtual supporting point","authors":"Naoki Waki, Kazuki Matsumoto, A. Kawamura","doi":"10.1109/AMC.2010.5464014","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464014","url":null,"abstract":"In this paper, Lateral Sway Motion Generation for biped robots using characteristic of LIPM with VSP that a supporting point can be flexibly moved is presented. The supporting point is set outside of biped robot y axis and under the ground, and COM is set inside of biped robot. We can regard LIPM with VSP as LIPM is slanted virtually. Therefore accelerate of LIPM with this way is larger than accelerate of LIPM only supporting point set under the ground, and this LIPM is able to be regarded as long leg pendulum. In addtion the supporting point move only Y axis. So X trajectory is affected by depth of suppoting point in ground say in other words length of pendulum leg, we can plan XY torajectory of COM, next we adjust Y trajectory using this method for same depth of supporting point. In addition we simulated and experimented two pattern only suporting point is set directly below and proposed method.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116599722","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 : 2010-03-21DOI: 10.1109/AMC.2010.5464112
Hiroki Komiyama, Y. Uchimura
This paper describes a study of the speed control and sensorless force control with non-contact magnetic transmission system (the magnetic gear). The magnetic gear has various features. For example, this device is characterized by negligibly small friction because of transmitting torque without contact. However, the magnetic gear introduces a cogging torque and a spring characteristic because it transmits torque via magnetism. Therefore, we applied various control method to reject the disturbances such as cogging torque in speed control. Additionally, using the magnetic gear for force control is primary candidate. If the magnetic gear is applied to a robot manipulator, force control can be performed without using a force sensor because of non-contact. We conducted experiments to examine the sensorless force control using an experimental magnetic geared device, and we verified the promising possibility for the sensorless feedback.
{"title":"Speed control and sensorless force control with magnetic gear","authors":"Hiroki Komiyama, Y. Uchimura","doi":"10.1109/AMC.2010.5464112","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464112","url":null,"abstract":"This paper describes a study of the speed control and sensorless force control with non-contact magnetic transmission system (the magnetic gear). The magnetic gear has various features. For example, this device is characterized by negligibly small friction because of transmitting torque without contact. However, the magnetic gear introduces a cogging torque and a spring characteristic because it transmits torque via magnetism. Therefore, we applied various control method to reject the disturbances such as cogging torque in speed control. Additionally, using the magnetic gear for force control is primary candidate. If the magnetic gear is applied to a robot manipulator, force control can be performed without using a force sensor because of non-contact. We conducted experiments to examine the sensorless force control using an experimental magnetic geared device, and we verified the promising possibility for the sensorless feedback.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130673654","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 : 2010-03-21DOI: 10.1109/AMC.2010.5464073
M. Hirata, F. Ueno
We have proposed a design method of the final-state control based on a polynomial input. However, for a long span motion, since the step number of feedforward inputs tends to be higher, the method may not produce a correct solution because of numerical conditions. In this paper, we propose a new design method of the final-state control based on time symmetry of input. The effectiveness is shown by simulations.
{"title":"Final-state control using a time symmetrical polynomial input","authors":"M. Hirata, F. Ueno","doi":"10.1109/AMC.2010.5464073","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464073","url":null,"abstract":"We have proposed a design method of the final-state control based on a polynomial input. However, for a long span motion, since the step number of feedforward inputs tends to be higher, the method may not produce a correct solution because of numerical conditions. In this paper, we propose a new design method of the final-state control based on time symmetry of input. The effectiveness is shown by simulations.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130878837","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 : 2010-03-21DOI: 10.1109/AMC.2010.5464071
M. Kawafuku, J. Takamori, M. Iwasaki, H. Hirai
HDDs are necessary as an information storage equipment of the information technology devices. In recent years, the household electric goods that were mounted 3.5 inch HDDs are put on sale. Since the application of HDDs expands by adjusting the digitization, the requirement for miniaturization and capacity enlargement of HDDs heighten.
{"title":"Comparison of the control performance for the following control system in HDDs","authors":"M. Kawafuku, J. Takamori, M. Iwasaki, H. Hirai","doi":"10.1109/AMC.2010.5464071","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464071","url":null,"abstract":"HDDs are necessary as an information storage equipment of the information technology devices. In recent years, the household electric goods that were mounted 3.5 inch HDDs are put on sale. Since the application of HDDs expands by adjusting the digitization, the requirement for miniaturization and capacity enlargement of HDDs heighten.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122562409","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 : 2010-03-21DOI: 10.1109/AMC.2010.5464062
D. Ishak, N. Manap, M. S. Ahmad, M. Arshad
This paper is to present the design, development and prototyping of an electrically actuated thruster as a direct drive propulsion system based on a 3-phase permanent magnet brushless machine for an autonomous underwater vehicle. The non-linear design and analysis of the permanent magnet brushless motor are entirely performed in 2-d finite element method. The motor is then coupled directly to a 6-inch mechanical propeller, thus providing a peak thrust of 25N for the AUV's manoeuvre. Critical key performances are accounted for in the analysis such as maximum speed capability, maximum output torque and efficiency at 48Vdc battery supply. Other electromagnetic considerations such as cogging torque, slot numbers and pole numbers are also addressed. Hall-effect sensors are embedded inside the motor structure in order for the motor to successfully operate in bldc mode. The optimized motor design has been prototyped and tested to work as direct drive propulsion system. The results obtained from the experiment conducted in laboratory in an open water testbed show satisfactory performance with a rated 15N continual bollard thrust at 1200rpm motor speed.
{"title":"Electrically actuated thrusters for autonomous underwater vehicle","authors":"D. Ishak, N. Manap, M. S. Ahmad, M. Arshad","doi":"10.1109/AMC.2010.5464062","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464062","url":null,"abstract":"This paper is to present the design, development and prototyping of an electrically actuated thruster as a direct drive propulsion system based on a 3-phase permanent magnet brushless machine for an autonomous underwater vehicle. The non-linear design and analysis of the permanent magnet brushless motor are entirely performed in 2-d finite element method. The motor is then coupled directly to a 6-inch mechanical propeller, thus providing a peak thrust of 25N for the AUV's manoeuvre. Critical key performances are accounted for in the analysis such as maximum speed capability, maximum output torque and efficiency at 48Vdc battery supply. Other electromagnetic considerations such as cogging torque, slot numbers and pole numbers are also addressed. Hall-effect sensors are embedded inside the motor structure in order for the motor to successfully operate in bldc mode. The optimized motor design has been prototyped and tested to work as direct drive propulsion system. The results obtained from the experiment conducted in laboratory in an open water testbed show satisfactory performance with a rated 15N continual bollard thrust at 1200rpm motor speed.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124625026","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 : 2010-03-21DOI: 10.1109/AMC.2010.5464096
Shuhei Shimmyo, Tomoya Sato, K. Ohnishi
This paper describes a biped walking pattern generation by using preview control with virtual plane method. It is important for biped robots to generate desired walking patterns which satisfy given Zero-Moment-Point (ZMP) trajectories. Solving ZMP equation is one of the key issues in the biped walking research field. Many kinds of the solutions have ever been proposed. One of the most efficient solutions is using preview control to generate the walking patterns. However, conventional biped walking pattern generation by preview control cannot be applied to up-down motions of Center of Gravity (COG). Therefore, in this research, we propose a method that realizes walking pattern generation for moving the COG in vertical direction. The proposed method expands the versatility of walking pattern generation by using preview control. The effectiveness of the proposed method is confirmed by experimental results.
{"title":"Biped walking pattern generation by using preview control with virtual plane method","authors":"Shuhei Shimmyo, Tomoya Sato, K. Ohnishi","doi":"10.1109/AMC.2010.5464096","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464096","url":null,"abstract":"This paper describes a biped walking pattern generation by using preview control with virtual plane method. It is important for biped robots to generate desired walking patterns which satisfy given Zero-Moment-Point (ZMP) trajectories. Solving ZMP equation is one of the key issues in the biped walking research field. Many kinds of the solutions have ever been proposed. One of the most efficient solutions is using preview control to generate the walking patterns. However, conventional biped walking pattern generation by preview control cannot be applied to up-down motions of Center of Gravity (COG). Therefore, in this research, we propose a method that realizes walking pattern generation for moving the COG in vertical direction. The proposed method expands the versatility of walking pattern generation by using preview control. The effectiveness of the proposed method is confirmed by experimental results.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132734400","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 : 2010-03-21DOI: 10.1109/AMC.2010.5464041
Chao-Yun Chen, M. Cheng, Jen-Che Wu, Ke-Han Su
In this paper, a passivity-based control scheme for contour following applications is developed. However, the original passive velocity field control requires an accurate dynamic model. To cope with this problem, in the proposed approach an alternative control law design based on the Lyapunov function is employed to speed up the convergence rate of velocity error. Moreover, in order to deal with the modeling uncertainty problem, this paper develops a virtual plant disturbance compensator to estimate the uncertainties due to inaccurate modeling and external disturbance. Several experiments have been conducted to compare the proposed approach with the conventional coupling approach. Experimental results verify the effectiveness of the proposed approach.
{"title":"Passivity-based contour following control design with virtual plant disturbance compensation","authors":"Chao-Yun Chen, M. Cheng, Jen-Che Wu, Ke-Han Su","doi":"10.1109/AMC.2010.5464041","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464041","url":null,"abstract":"In this paper, a passivity-based control scheme for contour following applications is developed. However, the original passive velocity field control requires an accurate dynamic model. To cope with this problem, in the proposed approach an alternative control law design based on the Lyapunov function is employed to speed up the convergence rate of velocity error. Moreover, in order to deal with the modeling uncertainty problem, this paper develops a virtual plant disturbance compensator to estimate the uncertainties due to inaccurate modeling and external disturbance. Several experiments have been conducted to compare the proposed approach with the conventional coupling approach. Experimental results verify the effectiveness of the proposed approach.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"103 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132127860","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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