Pub Date : 2010-03-21DOI: 10.1109/AMC.2010.5464021
D. Yashiro, T. Yakoh, K. Ohnishi
This paper proposes a novel data transmission method for a haptic communication through LAN. In a practical sense, the terminals, that implement the bilateral control, are connected through a number of concentrators. These concentrators have communication-bandwidth limitation. This limitation make it impossible to achieve both of short packet-sending period tp and low delay T, because short tp often causes a network congestion. As a result, the enough large tp, which never causes the network congestion, is often selected taking the worst traffic condition into account. However, this approach deteriorates the transparency of the haptic communication. To solve this problem, this paper innovates a priority queue (PQ) at the switch to reduce the large delay in case of the network congestion. As a result, highly transparent bilateral control through LAN is achieved. The validity of the proposed method is confirmed by the experiment.
{"title":"Data transmission using priority queue for multi-DOF haptic communication","authors":"D. Yashiro, T. Yakoh, K. Ohnishi","doi":"10.1109/AMC.2010.5464021","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464021","url":null,"abstract":"This paper proposes a novel data transmission method for a haptic communication through LAN. In a practical sense, the terminals, that implement the bilateral control, are connected through a number of concentrators. These concentrators have communication-bandwidth limitation. This limitation make it impossible to achieve both of short packet-sending period tp and low delay T, because short tp often causes a network congestion. As a result, the enough large tp, which never causes the network congestion, is often selected taking the worst traffic condition into account. However, this approach deteriorates the transparency of the haptic communication. To solve this problem, this paper innovates a priority queue (PQ) at the switch to reduce the large delay in case of the network congestion. As a result, highly transparent bilateral control through LAN is achieved. The validity of the proposed method is confirmed by the experiment.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"79 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":"131887251","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.2010.5464042
C. Acar, T. Murakami
Two-wheeled mobile manipulator systems have many advantages compared to the statically stable systems. Due to the highly nonlinear underactuated structure (more degrees of freedom than the number of actuators), it is difficult to control the motion of wheels and stability of underactuated joint at the same time by wheels. In this paper, we deal with motion control of the wheels through CoG (Center of Gravity) manipulation of manipulator while keeping the stability of passive joint with backstepping method. In order to move wheels to desired position, inverted pendulum model is utilized to control the center of gravity position of manipulator. The trajectory of CoG is obtained by using the optimal linear quadratic method, which provides smooth CoG pattern motion. The preview control structure is utilized to improve the transient response and compensate the delay between input reference and output of wheels. The validity of proposed method is verified by simulation results.
{"title":"Motion control of dynamically balanced two-wheeled mobile manipulator through CoG manipulation","authors":"C. Acar, T. Murakami","doi":"10.1109/AMC.2010.5464042","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464042","url":null,"abstract":"Two-wheeled mobile manipulator systems have many advantages compared to the statically stable systems. Due to the highly nonlinear underactuated structure (more degrees of freedom than the number of actuators), it is difficult to control the motion of wheels and stability of underactuated joint at the same time by wheels. In this paper, we deal with motion control of the wheels through CoG (Center of Gravity) manipulation of manipulator while keeping the stability of passive joint with backstepping method. In order to move wheels to desired position, inverted pendulum model is utilized to control the center of gravity position of manipulator. The trajectory of CoG is obtained by using the optimal linear quadratic method, which provides smooth CoG pattern motion. The preview control structure is utilized to improve the transient response and compensate the delay between input reference and output of wheels. The validity of proposed method is verified by simulation results.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"13 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":"127711608","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.2010.5463989
D. Nagahara, Satoru Takahashi
In this paper, we propose a mobile robot control method which based on distance information obtained by scanning laser range finder. First, the mobile robot gets distance information. This distance information is between the mobile robot and objects. The scanning laser range sensor is put on the front of the mobile robot. The mobile robot decides whether the obstacles are present based on distance information of each angles. At this time, the angle where the distance information below the threshold was detected is judged as an obstacle. The mobile robot calculates sub-goals to the angle where the obstacles do not exist. The reference point for obstacles avoidance is calculated by composing calculated sub-goals. We make the robot track the reference point which is calculated and reach the goal point without colliding obstacles. Finally, we experiment in a real environment, and verify the utility of the propose method.
{"title":"Mobile robot control based on information of the scanning laser range sensor","authors":"D. Nagahara, Satoru Takahashi","doi":"10.1109/AMC.2010.5463989","DOIUrl":"https://doi.org/10.1109/AMC.2010.5463989","url":null,"abstract":"In this paper, we propose a mobile robot control method which based on distance information obtained by scanning laser range finder. First, the mobile robot gets distance information. This distance information is between the mobile robot and objects. The scanning laser range sensor is put on the front of the mobile robot. The mobile robot decides whether the obstacles are present based on distance information of each angles. At this time, the angle where the distance information below the threshold was detected is judged as an obstacle. The mobile robot calculates sub-goals to the angle where the obstacles do not exist. The reference point for obstacles avoidance is calculated by composing calculated sub-goals. We make the robot track the reference point which is calculated and reach the goal point without colliding obstacles. Finally, we experiment in a real environment, and verify the utility of the propose method.","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":"129404586","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.2010.5464053
Naoki Shimada, K. Ohishi, S. Kumagai, T. Miyazaki
This paper proposes a new smooth touch control to unknown environments for industrial robot. The touch control is one of the useful methods for the smooth force control. Many applications of the manipulator should have a high stiffness position control method. However, the controller has no flexibility to the environments. Therefore, a method of high performance force control is an important factor for many applications. For this purpose, this paper proposes a new force control structure based on I-PD force controller and disturbance observer. The experimental results in this paper confirm that the proposed method has fine validity of smooth touch control to unknown environments such as concrete, foamed styrol and cardboard box by using the tested 3-DOF industrial manipulator.
{"title":"Smooth touch and force control to unknown environment without force sensor for industrial robot","authors":"Naoki Shimada, K. Ohishi, S. Kumagai, T. Miyazaki","doi":"10.1109/AMC.2010.5464053","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464053","url":null,"abstract":"This paper proposes a new smooth touch control to unknown environments for industrial robot. The touch control is one of the useful methods for the smooth force control. Many applications of the manipulator should have a high stiffness position control method. However, the controller has no flexibility to the environments. Therefore, a method of high performance force control is an important factor for many applications. For this purpose, this paper proposes a new force control structure based on I-PD force controller and disturbance observer. The experimental results in this paper confirm that the proposed method has fine validity of smooth touch control to unknown environments such as concrete, foamed styrol and cardboard box by using the tested 3-DOF industrial manipulator.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"9 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":"114171828","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.2010.5464000
M. Tomita, M. Hasegawa, K. Matsui
A full-order extended electromotive force (eemf) observer for sensorless control of IPMSM and a design method of one have been proposed. This paper proposes a new design method of the full-order eemf observer by taking a new look at the error system of one. The simulation results show that a new design method of the full-order eemf observer is very useful.
{"title":"A design method of full-order extended electromotive force observer for sensorless control of IPMSM","authors":"M. Tomita, M. Hasegawa, K. Matsui","doi":"10.1109/AMC.2010.5464000","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464000","url":null,"abstract":"A full-order extended electromotive force (eemf) observer for sensorless control of IPMSM and a design method of one have been proposed. This paper proposes a new design method of the full-order eemf observer by taking a new look at the error system of one. The simulation results show that a new design method of the full-order eemf observer is very useful.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"37 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":"127115929","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.2010.5464066
Tatsuhito Watanabe, S. Katsura
This paper proposes a method to assess human motion. This method supposes a skill acquisition support for trainee. By using the proposed method, trainee enables to evaluate how coincident own motions are with the motions of trainer. This evaluation is represented as trainee's point. Moreover, this method enables to define a number of motions as evaluation figure. These motions are conducted by a specific trainer. For this method, graph theory and correlation are employed. Concretely speaking, a value of each component in eigen matrix of the adjacency matrix is dealt as the score of appropriate motion. The adjacency matrix is derived from graph. Nodes of the graph are constructed by the motion trainer conducts and the score is defined as trainer's point. At that time, connection between two nodes of the graph is weighting by coefficient of correlation. Trainee's motion is assessed based on the trainer's point. The viability of the proposed method is confirmed by experiments.
{"title":"A support method for haptic skill acquisition using graph theory","authors":"Tatsuhito Watanabe, S. Katsura","doi":"10.1109/AMC.2010.5464066","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464066","url":null,"abstract":"This paper proposes a method to assess human motion. This method supposes a skill acquisition support for trainee. By using the proposed method, trainee enables to evaluate how coincident own motions are with the motions of trainer. This evaluation is represented as trainee's point. Moreover, this method enables to define a number of motions as evaluation figure. These motions are conducted by a specific trainer. For this method, graph theory and correlation are employed. Concretely speaking, a value of each component in eigen matrix of the adjacency matrix is dealt as the score of appropriate motion. The adjacency matrix is derived from graph. Nodes of the graph are constructed by the motion trainer conducts and the score is defined as trainer's point. At that time, connection between two nodes of the graph is weighting by coefficient of correlation. Trainee's motion is assessed based on the trainer's point. The viability of the proposed method is confirmed by experiments.","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":"125331240","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.2010.5464065
A. Lasnier, T. Murakami
Bilateral teleoperation is expected to be a key technology for the next generation of robots. Recently, four channel bilateral structures based on acceleration control have been introduced to realize both position and force tracking. Additionally, torque observers have been implemented to enable force feedback without sensors. However, when extended to the case of redundant manipulators, such joint space based control schemes show some limitations due to the use of the inverse jacobian matrix. In order to address this issue, a workspace based bilateral control structure is proposed. In other words, the joint torque reference is synthesized by using the equivalent mass matrix without computing the inverse kinematics. The originality of the proposed approach lies in the design of a workspace force observer that equivalently estimates the reaction force in Cartesian space. Experimental results are provided to show the efficiency of the proposed workspace based bilateral control.
{"title":"Workspace based force sensorless bilateral control with multi-degree-of-freedom motion systems","authors":"A. Lasnier, T. Murakami","doi":"10.1109/AMC.2010.5464065","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464065","url":null,"abstract":"Bilateral teleoperation is expected to be a key technology for the next generation of robots. Recently, four channel bilateral structures based on acceleration control have been introduced to realize both position and force tracking. Additionally, torque observers have been implemented to enable force feedback without sensors. However, when extended to the case of redundant manipulators, such joint space based control schemes show some limitations due to the use of the inverse jacobian matrix. In order to address this issue, a workspace based bilateral control structure is proposed. In other words, the joint torque reference is synthesized by using the equivalent mass matrix without computing the inverse kinematics. The originality of the proposed approach lies in the design of a workspace force observer that equivalently estimates the reaction force in Cartesian space. Experimental results are provided to show the efficiency of the proposed workspace based bilateral control.","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":"131371417","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.2010.5464116
Hiroaki Kuwahara, Hiroyuki Tanaka, Yusuke Suzuki, K. Ohnishi
This paper proposes a reproduction system of human motion for haptic skill education. In this system, a robot guides a trainee to follow an expert's motion and show the expert's action force to the trainee. In the proposed method, haptic information of the expert is recorded at first. To record the haptic information, master-slave robots on which bilateral control is implemented are utilized. The proposed system is composed of a timelike reproduction system and a spacelike reproduction system. The timelike reproduction system is designed for the trainee to learn when and how to apply the action force to the robot. The spacelike reproduction system is designed for the trainee to learn how to operate the robot in the correspondent trajectory as the expert operates the robot. The validity of the proposed method is confirmed by experiments.
{"title":"A reproduction method of human motion based on integrated information for haptic skill education","authors":"Hiroaki Kuwahara, Hiroyuki Tanaka, Yusuke Suzuki, K. Ohnishi","doi":"10.1109/AMC.2010.5464116","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464116","url":null,"abstract":"This paper proposes a reproduction system of human motion for haptic skill education. In this system, a robot guides a trainee to follow an expert's motion and show the expert's action force to the trainee. In the proposed method, haptic information of the expert is recorded at first. To record the haptic information, master-slave robots on which bilateral control is implemented are utilized. The proposed system is composed of a timelike reproduction system and a spacelike reproduction system. The timelike reproduction system is designed for the trainee to learn when and how to apply the action force to the robot. The spacelike reproduction system is designed for the trainee to learn how to operate the robot in the correspondent trajectory as the expert operates the robot. The validity of the proposed method is confirmed by experiments.","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":"131042951","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.2010.5464017
B. Depraetere, G. Pinte, J. Swevers
This paper considers the control of wet clutches, and presents a two-level control strategy to learn and adapt the control signals during normal machine operation. With this approach it is possible to avoid the current practise of experimental calibrations, where regular recalibrations are needed to compensate for time-varying dynamics, e.g. due to wear and changes in oil temperature. On a low level, the developed controller determines the actuator signal by solving an optimal control problem before each engagement of the clutch. The models and constraints for this optimization problem are iteratively updated by a high-level controller, which consists of a recursive identification algorithm to model the system dynamics, and of an ILC-type algorithm to learn appropriate values for the constraints. The performance and robustness of this control scheme are validated on an experimental test setup.
{"title":"Iterative optimization of the filling phase of wet clutches","authors":"B. Depraetere, G. Pinte, J. Swevers","doi":"10.1109/AMC.2010.5464017","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464017","url":null,"abstract":"This paper considers the control of wet clutches, and presents a two-level control strategy to learn and adapt the control signals during normal machine operation. With this approach it is possible to avoid the current practise of experimental calibrations, where regular recalibrations are needed to compensate for time-varying dynamics, e.g. due to wear and changes in oil temperature. On a low level, the developed controller determines the actuator signal by solving an optimal control problem before each engagement of the clutch. The models and constraints for this optimization problem are iteratively updated by a high-level controller, which consists of a recursive identification algorithm to model the system dynamics, and of an ILC-type algorithm to learn appropriate values for the constraints. The performance and robustness of this control scheme are validated on an experimental test setup.","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":"134465522","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.2010.5464093
Xiang Luo, Yanyun Chen, F. Jia, Chi Zhu
One of the main challenges in the control of biped walking is to translate the understanding from human walking to robot walking. In this paper, firstly, some key principles of biomimetic walking are investigated. A novel two-point gait is proposed according to the structure of human feet and the characteristics of human walking. And the influence of length variation of stance leg on walking efficiency is studied. Secondly, the control method of biomimetic biped called passive/active hybrid control is presented. The robot locomotes in a passive state since there is just one contact point between the stance foot and the ground in every moment. In contrast, the motion of the swing leg subjects to a active control, which is referred by the prescribed trajectory. Furthermore, a finite state based control architecture is developed to implement the coordination of walking. To verify the proposed theory, a 2D simulation system with an 8 DOF planar biped robot is developed. The simulation exhibits an efficient walking style.
{"title":"Principle analysis and simulation for biomimetic biped walking","authors":"Xiang Luo, Yanyun Chen, F. Jia, Chi Zhu","doi":"10.1109/AMC.2010.5464093","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464093","url":null,"abstract":"One of the main challenges in the control of biped walking is to translate the understanding from human walking to robot walking. In this paper, firstly, some key principles of biomimetic walking are investigated. A novel two-point gait is proposed according to the structure of human feet and the characteristics of human walking. And the influence of length variation of stance leg on walking efficiency is studied. Secondly, the control method of biomimetic biped called passive/active hybrid control is presented. The robot locomotes in a passive state since there is just one contact point between the stance foot and the ground in every moment. In contrast, the motion of the swing leg subjects to a active control, which is referred by the prescribed trajectory. Furthermore, a finite state based control architecture is developed to implement the coordination of walking. To verify the proposed theory, a 2D simulation system with an 8 DOF planar biped robot is developed. The simulation exhibits an efficient walking style.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"152 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":"133995701","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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