Pub Date : 2010-03-21DOI: 10.1109/AMC.2010.5464069
J. Ishikawa
This article proposes a controller optimization for given external inputs, i.e., fluttering NRRO, RRO, sensor noise, and torque disturbance to be called “run-outs.” This run-out oriented controller design is based on a response surface method and provides an optimal controller that minimizes positioning error (PE) due to these run-outs. The proposed method is not only for controller tuning but also gives us a clue to seek a direction about which disturbance we should prioritize to be reduced from a viewpoint of system integration.
{"title":"Run-out oriented controller design for nanoscale servo systems of hard disk drives","authors":"J. Ishikawa","doi":"10.1109/AMC.2010.5464069","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464069","url":null,"abstract":"This article proposes a controller optimization for given external inputs, i.e., fluttering NRRO, RRO, sensor noise, and torque disturbance to be called “run-outs.” This run-out oriented controller design is based on a response surface method and provides an optimal controller that minimizes positioning error (PE) due to these run-outs. The proposed method is not only for controller tuning but also gives us a clue to seek a direction about which disturbance we should prioritize to be reduced from a viewpoint of system integration.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"3 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":"134121868","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.2010.5464102
Y. Kamigaki, K. Ohishi, Yuta Nabata, T. Miyazaki, D. Koide, Y. Takano, H. Tokumaru
Recently, on the view point of capacity of memory, the media of optical disk recording system is increasing. Moreover, its disk rotation speed will be increasing according to its large memory capacity, such as more than 10000[rpm]. The optical disk system has a radial run-out originate from the disk eccentricity. For this reason, the optical disk system has the periodic disturbance which is synchronized to its disk rotation speed. In order to suppress this periodic disturbance, we have proposed the robust feedforword tracking controller based on Zero Phase Error Tracking (ZPET) control. The optical disk system has the periodic harmonics disturbance. However, it is difficult for the conventional robust feedforword tracking controller to suppress the periodic high order harmonics disturbance. In order to overcome this problem, this paper proposes a new ZPET control system with multi harmonics disturbance suppression loop. The experimental results point out that the proposed tracking control system has a precise tracking response against both periodic primary harmonics disturbance and periodic high order harmonics disturbance.
{"title":"Zero phase error tracking control system with multi harmonics disturbance suppression loop","authors":"Y. Kamigaki, K. Ohishi, Yuta Nabata, T. Miyazaki, D. Koide, Y. Takano, H. Tokumaru","doi":"10.1109/AMC.2010.5464102","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464102","url":null,"abstract":"Recently, on the view point of capacity of memory, the media of optical disk recording system is increasing. Moreover, its disk rotation speed will be increasing according to its large memory capacity, such as more than 10000[rpm]. The optical disk system has a radial run-out originate from the disk eccentricity. For this reason, the optical disk system has the periodic disturbance which is synchronized to its disk rotation speed. In order to suppress this periodic disturbance, we have proposed the robust feedforword tracking controller based on Zero Phase Error Tracking (ZPET) control. The optical disk system has the periodic harmonics disturbance. However, it is difficult for the conventional robust feedforword tracking controller to suppress the periodic high order harmonics disturbance. In order to overcome this problem, this paper proposes a new ZPET control system with multi harmonics disturbance suppression loop. The experimental results point out that the proposed tracking control system has a precise tracking response against both periodic primary harmonics disturbance and periodic high order harmonics disturbance.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"6 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":"133909481","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.2010.5464089
Y. Yokokura, S. Katsura
The paper proposes the motion index/search system based on real-world haptics. The motion index system indexes the human motion using the force and position stored by the motion saving system. The motion index system is able to create the motion dictionary, which includes the desired indexed motions. Meanwhile, the motion search system searches the motion of human operator by using moving covariance according to the indexed motions The motion search system proposed in this paper is utilized to recognize the human motion. By the experimental results, the validity and the possibility of the motion index/search system are confirmed.
{"title":"Motion index/search system based on real-world haptics","authors":"Y. Yokokura, S. Katsura","doi":"10.1109/AMC.2010.5464089","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464089","url":null,"abstract":"The paper proposes the motion index/search system based on real-world haptics. The motion index system indexes the human motion using the force and position stored by the motion saving system. The motion index system is able to create the motion dictionary, which includes the desired indexed motions. Meanwhile, the motion search system searches the motion of human operator by using moving covariance according to the indexed motions The motion search system proposed in this paper is utilized to recognize the human motion. By the experimental results, the validity and the possibility of the motion index/search system are confirmed.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"29 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":"131656979","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.2010.5464064
G. Takeo, T. Takubo, K. Ohara, Y. Mae, T. Arai
Rotation is one of efficient transportation methods for big or heavy object. For implementing the rolling operation to the small and light weight robot, it is necessary to consider the movable range of the robot, balance, actuator power and friction control. In this paper, we propose a new method of forward and backward rolling manipulation by using whole body motion for multi-legged robot. To control the balance, the weight shift control considering the Imaginary Zero Moment Point (IZMP) of the object is implemented. When the IZMP is beside the support polygon of the object, the object has rotational force. The rotational force is controlled by the force from the robot, and it can be manipulated by controlling the robot's CoM position and the internal force generated by joint actuators. The internal force can adjust the rotational force but it should be generated considering the friction forces between the object and the floor etc. We analyze available internal force with friction by kinematic solution, and it is implemented to the small multi-legged robot by using position and torque control. The effectiveness is confirmed through experiments.
{"title":"Rotation control of polygonal prism by multi-legged robot","authors":"G. Takeo, T. Takubo, K. Ohara, Y. Mae, T. Arai","doi":"10.1109/AMC.2010.5464064","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464064","url":null,"abstract":"Rotation is one of efficient transportation methods for big or heavy object. For implementing the rolling operation to the small and light weight robot, it is necessary to consider the movable range of the robot, balance, actuator power and friction control. In this paper, we propose a new method of forward and backward rolling manipulation by using whole body motion for multi-legged robot. To control the balance, the weight shift control considering the Imaginary Zero Moment Point (IZMP) of the object is implemented. When the IZMP is beside the support polygon of the object, the object has rotational force. The rotational force is controlled by the force from the robot, and it can be manipulated by controlling the robot's CoM position and the internal force generated by joint actuators. The internal force can adjust the rotational force but it should be generated considering the friction forces between the object and the floor etc. We analyze available internal force with friction by kinematic solution, and it is implemented to the small multi-legged robot by using position and torque control. The effectiveness is confirmed through experiments.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"49 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":"131720207","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.2010.5464087
K. Kawashima, Y. Hori, T. Uchida, Sehoon Oh
In this paper, vehicle state variables and bank angle estimation for rolling stability control (RSC) is proposed using one accelerometer and two gyro sensors, instead of using inertial navigation system (INS) or global positioning system (GPS). We proposed a novel robust RSC for in-wheel motor electric vehicle (IMEV) using differential torque by right and left motors which are controlled independently. On bank road, reference lateral acceleration should be corrected properly because output of accelerometer contains a gravity term by the inclination of the sprung mass. Bank angle should be estimated for the high performance RSC too. In this paper, vehicle yaw and roll motion equations are described. Influence of road bank is assumed as disturbance input to the vehicle dynamics at first. Then bank angle is redefined as a state variable and estimated by Kalman filter. Adaptive identification method with respect to cornering stiffness is applied for robust estimation and minimum-order observer is applied to reduce the amount of calculation. In this process, it is shown that vehicle roll angle can be calculated using an accelerometer and a gyro sensor. Validity of proposed methods is verified by simulation results.
{"title":"Robust bank angle estimation for rolling stability control on electric vehicle","authors":"K. Kawashima, Y. Hori, T. Uchida, Sehoon Oh","doi":"10.1109/AMC.2010.5464087","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464087","url":null,"abstract":"In this paper, vehicle state variables and bank angle estimation for rolling stability control (RSC) is proposed using one accelerometer and two gyro sensors, instead of using inertial navigation system (INS) or global positioning system (GPS). We proposed a novel robust RSC for in-wheel motor electric vehicle (IMEV) using differential torque by right and left motors which are controlled independently. On bank road, reference lateral acceleration should be corrected properly because output of accelerometer contains a gravity term by the inclination of the sprung mass. Bank angle should be estimated for the high performance RSC too. In this paper, vehicle yaw and roll motion equations are described. Influence of road bank is assumed as disturbance input to the vehicle dynamics at first. Then bank angle is redefined as a state variable and estimated by Kalman filter. Adaptive identification method with respect to cornering stiffness is applied for robust estimation and minimum-order observer is applied to reduce the amount of calculation. In this process, it is shown that vehicle roll angle can be calculated using an accelerometer and a gyro sensor. Validity of proposed methods is verified by simulation results.","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":"131006307","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.2010.5464094
Kazuaki Ito, Wataru Maebashi, Masafumi Yamamoto, M. Iwasaki, N. Matsui
This paper presents a fast and precise positioning of table systems using a sequential adaptive methodology for disturbance. In this research, both nonlinear friction and a modeling error between mathematical model and actual plant system are handled as disturbances in mechanism. It is well-known that disturbance variations deteriorate positioning performance. Viscous friction and a motor thrust constant are taken up a problem as primary factors in disturbance variations, because those parameters are frequently varied for temperature change due to drive conditions, such as before/after warming up motion. In this research, feedforward compensation using a disturbance model is applied. Disturbance model parameters are genetically optimized by GA to simulate actual disturbance characteristics, where faithful disturbance characteristics are obtained using an iterative learning process. A sequential adaptive methodology is tuned the model parameters continuously to achieve robust positioning performance irrespective of temperature change. The proposed approach with the adaptive disturbance model-based feedforward compensation has been verified by experiments using a table system on a machine stand.
{"title":"Fast and precise positioning by sequential adaptive feedforward compensation for disturbance","authors":"Kazuaki Ito, Wataru Maebashi, Masafumi Yamamoto, M. Iwasaki, N. Matsui","doi":"10.1109/AMC.2010.5464094","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464094","url":null,"abstract":"This paper presents a fast and precise positioning of table systems using a sequential adaptive methodology for disturbance. In this research, both nonlinear friction and a modeling error between mathematical model and actual plant system are handled as disturbances in mechanism. It is well-known that disturbance variations deteriorate positioning performance. Viscous friction and a motor thrust constant are taken up a problem as primary factors in disturbance variations, because those parameters are frequently varied for temperature change due to drive conditions, such as before/after warming up motion. In this research, feedforward compensation using a disturbance model is applied. Disturbance model parameters are genetically optimized by GA to simulate actual disturbance characteristics, where faithful disturbance characteristics are obtained using an iterative learning process. A sequential adaptive methodology is tuned the model parameters continuously to achieve robust positioning performance irrespective of temperature change. The proposed approach with the adaptive disturbance model-based feedforward compensation has been verified by experiments using a table system on a machine stand.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"53 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":"133695223","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.2010.5464039
Masataka Sato, K. Ohnishi
Recently, Minimally Invasive Surgery(MIS) has come to the front. The research on surgical robot for operational support has been actively done. To use such robots in MIS, it is needed to estimate the environmental impedance as the numerical data and to preserve it as the standard reference value of the safety field of internal organs. In this paper, the environmental model considering nonlinear stiffness in real environment by bilateral control is proposed. The proposed method can estimate environmental model without depending on the initial position of a slave system and environmental surface. To verify the viability of the proposed method, experimental results are shown.
{"title":"Estimation of environmental model with nonlinear stiffness","authors":"Masataka Sato, K. Ohnishi","doi":"10.1109/AMC.2010.5464039","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464039","url":null,"abstract":"Recently, Minimally Invasive Surgery(MIS) has come to the front. The research on surgical robot for operational support has been actively done. To use such robots in MIS, it is needed to estimate the environmental impedance as the numerical data and to preserve it as the standard reference value of the safety field of internal organs. In this paper, the environmental model considering nonlinear stiffness in real environment by bilateral control is proposed. The proposed method can estimate environmental model without depending on the initial position of a slave system and environmental surface. To verify the viability of the proposed method, experimental results are shown.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"11 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":"132736036","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.2010.5464119
Yusuke Kasahara, K. Kitamura, K. Ohnishi, Y. Morikawa, N. Shimojima
This paper proposes a novel method which detects a rupture of organs based on environmental impedance estimation. The proposed method detects the rupture of the organs which is conducive to serious medical accident. The environmental impedance is estimated from position and force responses of a surgery robot by using recursive least-squares algorithm. The rupture behavior is analyzed, and thresholds are settled with respect to each organ to detect the rupture. In the experiment, a two-DOF haptic surgical forceps robot which implements the bilateral control based on robust acceleration control is used. The experimental results show the effectiveness of the proposed method.
{"title":"Rupture detection for exenteration of tissues using two-DOF haptic surgical forceps robot","authors":"Yusuke Kasahara, K. Kitamura, K. Ohnishi, Y. Morikawa, N. Shimojima","doi":"10.1109/AMC.2010.5464119","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464119","url":null,"abstract":"This paper proposes a novel method which detects a rupture of organs based on environmental impedance estimation. The proposed method detects the rupture of the organs which is conducive to serious medical accident. The environmental impedance is estimated from position and force responses of a surgery robot by using recursive least-squares algorithm. The rupture behavior is analyzed, and thresholds are settled with respect to each organ to detect the rupture. In the experiment, a two-DOF haptic surgical forceps robot which implements the bilateral control based on robust acceleration control is used. The experimental results show the effectiveness of the proposed method.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"118 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":"116347308","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.2010.5464080
G. Izuta
This work is concerned with the design of a controller for networked control system on the basis of the two disk mixed sensitivity problem. To accomplish it, the state feedback decoupling technique is used to reduce the design problem into the one of establishing filter parameters that yield a system satisfying the design specifications. The key point is that here we are concerned with both the stability and performance of the overall networked control system.
{"title":"Design of networked control systems on the basis of stability and performance specifications","authors":"G. Izuta","doi":"10.1109/AMC.2010.5464080","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464080","url":null,"abstract":"This work is concerned with the design of a controller for networked control system on the basis of the two disk mixed sensitivity problem. To accomplish it, the state feedback decoupling technique is used to reduce the design problem into the one of establishing filter parameters that yield a system satisfying the design specifications. The key point is that here we are concerned with both the stability and performance of the overall networked control system.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"212 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":"116365569","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.2010.5464103
Masafumi Yamamoto, M. Iwasaki, M. Kainuma, Yoshifumi Okitsu, K. Yuki, Kozo Sasaki, T. Yajima
This paper presents a modeling and compensation methodology for angular transmission errors in harmonic drive gearings. In this research, effects of synchronous component in the transmission error on the positioning performance are analytically examined. On the basis of the examinations, a transmission error model-based feedforward compensation is adopted to improve the positioning performance during both static and dynamic positioning motions. The proposed approach has been verified by experiments using a prototype with harmonic drive gearings.
{"title":"Compensation for synchronous component of angular transmission errors in harmonic drive gearings","authors":"Masafumi Yamamoto, M. Iwasaki, M. Kainuma, Yoshifumi Okitsu, K. Yuki, Kozo Sasaki, T. Yajima","doi":"10.1109/AMC.2010.5464103","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464103","url":null,"abstract":"This paper presents a modeling and compensation methodology for angular transmission errors in harmonic drive gearings. In this research, effects of synchronous component in the transmission error on the positioning performance are analytically examined. On the basis of the examinations, a transmission error model-based feedforward compensation is adopted to improve the positioning performance during both static and dynamic positioning motions. The proposed approach has been verified by experiments using a prototype with harmonic drive gearings.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"31 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":"124705946","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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