Pub Date : 2010-03-21DOI: 10.1109/AMC.2010.5464009
N. Oda, Masanori Ito
This paper describes a vision-based walking direction control method by using the torsional deflection at the supporting foot in biped robot system. Conventionally, the motion pattern of swing foot needs to be modified for changing the walking direction. In our approach, the flexible ankle joint is employed, and its torsional deflection around yaw axis is intentionally generated by the reaction torque of upper body motion. This means the modification of the swing foot motion is not required for changing the walking direction. In order to settle the desired direction, the reaction torque is proportionally modified by visual feedback regulator. The validity is evaluated by several experimental results.
{"title":"Visual walking direction control by regulating torsional deflection for biped robot","authors":"N. Oda, Masanori Ito","doi":"10.1109/AMC.2010.5464009","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464009","url":null,"abstract":"This paper describes a vision-based walking direction control method by using the torsional deflection at the supporting foot in biped robot system. Conventionally, the motion pattern of swing foot needs to be modified for changing the walking direction. In our approach, the flexible ankle joint is employed, and its torsional deflection around yaw axis is intentionally generated by the reaction torque of upper body motion. This means the modification of the swing foot motion is not required for changing the walking direction. In order to settle the desired direction, the reaction torque is proportionally modified by visual feedback regulator. The validity is evaluated by several experimental results.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"25 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":"134294199","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.2010.5464030
Hiroyuki Fukusho, T. Koseki, Takahiro Sugimoto
There are some difference between biological subjects and conventional humanoid robots from the point of its mechanisms, control method, and application of the biological characteristics to humanoid robots are now being popular. Motion control for 2-link robot arm on specific condition are mainly discussed in this paper. From the point of mechanism, biological subjects have two joints simultaneous drive. Though benefits and characteristics of the mechanism on static condition have already cleared from the measurement of previous research, it has been calculated and discussed mathematically in this paper. In addition, dynamic motion control of a specific condition has been also calculated and considered. Furthermore, designing of each actuator torque which is based on the Electromiogram result and its control for external force on the tip point is concretely described. Finally, those characteristics of static and dynamic motions with bi-articular simultaneous drive on specific condition are summarized.
{"title":"Control of a straight line motion for a two-link robot arm using coordinate transform of bi-articular simultaneous drive","authors":"Hiroyuki Fukusho, T. Koseki, Takahiro Sugimoto","doi":"10.1109/AMC.2010.5464030","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464030","url":null,"abstract":"There are some difference between biological subjects and conventional humanoid robots from the point of its mechanisms, control method, and application of the biological characteristics to humanoid robots are now being popular. Motion control for 2-link robot arm on specific condition are mainly discussed in this paper. From the point of mechanism, biological subjects have two joints simultaneous drive. Though benefits and characteristics of the mechanism on static condition have already cleared from the measurement of previous research, it has been calculated and discussed mathematically in this paper. In addition, dynamic motion control of a specific condition has been also calculated and considered. Furthermore, designing of each actuator torque which is based on the Electromiogram result and its control for external force on the tip point is concretely described. Finally, those characteristics of static and dynamic motions with bi-articular simultaneous drive on specific condition are summarized.","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":"133607372","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.2010.5464043
T. Shimono, A. Kawamura
This paper proposes a new bilateral motion control method with coordinate transformation for different degrees of freedom (DOF) systems. The proposed method is based on the Clarke transformation which is one of the most basic principles in power electronics. The Clarke transformation can achieve the information conversion between three-phase system and two-phase system. The proposed method based on this principle realizes the haptic communication between three DOF system and two DOF system. The validity of the proposed method is verified by simulation results.
{"title":"Realization of bilateral haptic communication between different DOF systems based on Clarke transformation","authors":"T. Shimono, A. Kawamura","doi":"10.1109/AMC.2010.5464043","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464043","url":null,"abstract":"This paper proposes a new bilateral motion control method with coordinate transformation for different degrees of freedom (DOF) systems. The proposed method is based on the Clarke transformation which is one of the most basic principles in power electronics. The Clarke transformation can achieve the information conversion between three-phase system and two-phase system. The proposed method based on this principle realizes the haptic communication between three DOF system and two DOF system. The validity of the proposed method is verified by simulation results.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"258 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":"132236249","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.2010.5464057
Dongjun Zhang, Zexiang Li, S. Cong, Hong Wu
Because of nonlinearities, uncertainties and inherent performance limitations of the mechatronic system, there is a trade-off between tracking error minimization and robust stabilization. This implies that the tracking error is unavoidable in practice. Fortunately, in the path following motion control system, it is the geometric error that measures the quality of the product. Since the tracking error gives an upper bound on the geometric error, by the principle of uncertainty, more preference can be given to the geometric error dynamics to improve the quality of the product. For generic parametric tool path, although the geometric error is hard to be computed numerically, it can be estimated by a projection operator on the tracking error vector. Then the tasks of contouring error compensation are twofold: to internally stabilize the feedback system, and to minimize the estimated contouring error. A novel multiple-loop structure is proposed in this paper. By using this structure, the internal stability of the feedback system is guaranteed, if the norm of the compensator is less than a function value on the infinity norm of the tracking error dynamics. Experiments were done on milling machines to verify the feasibility of the proposed structure. Low order compensators were designed and compared with each other. In the experiments, the estimated contouring error was reduced by more than 20%, while the tracking error did not change too much.
{"title":"Advanced contouring error compensation in high performance motion control systems","authors":"Dongjun Zhang, Zexiang Li, S. Cong, Hong Wu","doi":"10.1109/AMC.2010.5464057","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464057","url":null,"abstract":"Because of nonlinearities, uncertainties and inherent performance limitations of the mechatronic system, there is a trade-off between tracking error minimization and robust stabilization. This implies that the tracking error is unavoidable in practice. Fortunately, in the path following motion control system, it is the geometric error that measures the quality of the product. Since the tracking error gives an upper bound on the geometric error, by the principle of uncertainty, more preference can be given to the geometric error dynamics to improve the quality of the product. For generic parametric tool path, although the geometric error is hard to be computed numerically, it can be estimated by a projection operator on the tracking error vector. Then the tasks of contouring error compensation are twofold: to internally stabilize the feedback system, and to minimize the estimated contouring error. A novel multiple-loop structure is proposed in this paper. By using this structure, the internal stability of the feedback system is guaranteed, if the norm of the compensator is less than a function value on the infinity norm of the tracking error dynamics. Experiments were done on milling machines to verify the feasibility of the proposed structure. Low order compensators were designed and compared with each other. In the experiments, the estimated contouring error was reduced by more than 20%, while the tracking error did not change too much.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"40 3","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114007226","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.2010.5464077
K. Natori, K. Ohnishi
In this paper, we propose a simplified control structure for robustness enhancement of time-delay systems. We have developed a time-delay compensation method based on network disturbance (ND) concept and communication disturbance observer (CDOB). The method effectively compensates time-delay effect and stabilizes time-delay systems. It has been validated that the effectiveness of the time-delay compensation is equivalent to Smith predictor. However, a defect in robustness on model errors has been revealed. Steady-state errors depending on model errors arise in responses. In order to handle the problem, various approaches have been proposed so far. However, sufficient robustness enhancement without degradation of stability and control performance has not been achieved yet. Therefore, this paper proposes a simplified control structure of time-delay systems without CDOB. The proposed structure accomplishes robustness enhancement on model errors without significant degradation of performance. The stability and the transient characteristics are analyzed and the validity is clarified. Then, the effectiveness of the proposed structure is validated by simulation results.
{"title":"A simplified structure for robustness enhancement of time-delay systems","authors":"K. Natori, K. Ohnishi","doi":"10.1109/AMC.2010.5464077","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464077","url":null,"abstract":"In this paper, we propose a simplified control structure for robustness enhancement of time-delay systems. We have developed a time-delay compensation method based on network disturbance (ND) concept and communication disturbance observer (CDOB). The method effectively compensates time-delay effect and stabilizes time-delay systems. It has been validated that the effectiveness of the time-delay compensation is equivalent to Smith predictor. However, a defect in robustness on model errors has been revealed. Steady-state errors depending on model errors arise in responses. In order to handle the problem, various approaches have been proposed so far. However, sufficient robustness enhancement without degradation of stability and control performance has not been achieved yet. Therefore, this paper proposes a simplified control structure of time-delay systems without CDOB. The proposed structure accomplishes robustness enhancement on model errors without significant degradation of performance. The stability and the transient characteristics are analyzed and the validity is clarified. Then, the effectiveness of the proposed structure is validated by simulation results.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"4 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":"114302885","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.2010.5464025
J. Swevers, G. Pipeleers, M. Diehl, J. Schutter
Recent advances in numerical optimization provide new opportunities to improve the performance of motion systems and to push them to their limits. This requires however a unique combination of expertise in optimization and motion control design and implementation, a combination which is present at our Optimization in Engineering Center OPTEC. This paper presents three of OPTEC's realizations in the field of motion control, where this unique combination of expertise has led to the formulation of control design problems as convex programs that can be solved efficiently to a global optimum, allowing to trade-off conflicting design objectives in a systematic way.
{"title":"Pushing motion control systems to their limits using convex optimization techniques","authors":"J. Swevers, G. Pipeleers, M. Diehl, J. Schutter","doi":"10.1109/AMC.2010.5464025","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464025","url":null,"abstract":"Recent advances in numerical optimization provide new opportunities to improve the performance of motion systems and to push them to their limits. This requires however a unique combination of expertise in optimization and motion control design and implementation, a combination which is present at our Optimization in Engineering Center OPTEC. This paper presents three of OPTEC's realizations in the field of motion control, where this unique combination of expertise has led to the formulation of control design problems as convex programs that can be solved efficiently to a global optimum, allowing to trade-off conflicting design objectives in a systematic way.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"64 2 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":"133114846","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.2010.5464001
H. Machida, M. Kambara, Kouta Tanaka, F. Kobayashi
PLL speed control systems can completely reject speed error and steady-state phase error for constant-speed inputs. Though it does not usually handle inputs including acceleration, the dual-loop scheme improves, as a feed-forward control system, rising time and phase error for acceleration input. However, since it is fundamentally a third-order PLL, it cannot avoid over/undershoots when gain is set high for fast responses. Nonetheless, the first loop has no over/undershoot, since it is an ideal second-order PLL system. In this article, to solve the problem, we show a hybrid system of the dual-loop PLL and feed-forward. It has no overshoot thanks to the rising up characteristics of the first PLL, which cannot be achieved in traditional PLL systems.
{"title":"A motor speed control system using a hybrid of dual-loop PLL and feed-forward","authors":"H. Machida, M. Kambara, Kouta Tanaka, F. Kobayashi","doi":"10.1109/AMC.2010.5464001","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464001","url":null,"abstract":"PLL speed control systems can completely reject speed error and steady-state phase error for constant-speed inputs. Though it does not usually handle inputs including acceleration, the dual-loop scheme improves, as a feed-forward control system, rising time and phase error for acceleration input. However, since it is fundamentally a third-order PLL, it cannot avoid over/undershoots when gain is set high for fast responses. Nonetheless, the first loop has no over/undershoot, since it is an ideal second-order PLL system. In this article, to solve the problem, we show a hybrid system of the dual-loop PLL and feed-forward. It has no overshoot thanks to the rising up characteristics of the first PLL, which cannot be achieved in traditional PLL systems.","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":"121768174","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.2010.5464023
Y. Kobayashi, Tetsuya Kimura, H. Fujioka
A design experience of sampled-data systems with non-uniform sampling intervals is reported. A robust control approach is proposed for mean square stability analysis of sampled-data systems with controller dynamics by modeling the sampling jitter as a perturbation. The proposed method is applied to a servo motor control and its validity is verified.
{"title":"A servo motor control with sampling jitters","authors":"Y. Kobayashi, Tetsuya Kimura, H. Fujioka","doi":"10.1109/AMC.2010.5464023","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464023","url":null,"abstract":"A design experience of sampled-data systems with non-uniform sampling intervals is reported. A robust control approach is proposed for mean square stability analysis of sampled-data systems with controller dynamics by modeling the sampling jitter as a perturbation. The proposed method is applied to a servo motor control and its validity is verified.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"585 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":"123416999","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.2010.5463990
Hajime Kato, H. Saito, Sin-ichiro Sakai
Fiber Optical Gyroscopes (FOGs) have been used as satellite attitude sensor because of low power and small body. To keep FOG bias rate stable, temperature control is needed. However it is repoted that thermal input of temperature control causes Shupe effect. Due to Shupe effect, bias stability of FOG is deteriorated. In this paper, Shupe effect compensation method of FOG with temperature control is proposed. Experimental results show proposed method is efficient to compensate Shupe effect. And as a result of Shupe effect compensation, FOG performance of all time range is improved.
{"title":"Shupe effect compensation of temperature controlled Fiber Optical Gyroscope","authors":"Hajime Kato, H. Saito, Sin-ichiro Sakai","doi":"10.1109/AMC.2010.5463990","DOIUrl":"https://doi.org/10.1109/AMC.2010.5463990","url":null,"abstract":"Fiber Optical Gyroscopes (FOGs) have been used as satellite attitude sensor because of low power and small body. To keep FOG bias rate stable, temperature control is needed. However it is repoted that thermal input of temperature control causes Shupe effect. Due to Shupe effect, bias stability of FOG is deteriorated. In this paper, Shupe effect compensation method of FOG with temperature control is proposed. Experimental results show proposed method is efficient to compensate Shupe effect. And as a result of Shupe effect compensation, FOG performance of all time range is improved.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"17 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":"122342270","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.2010.5464117
A. Adam, K. Gulez, Ibrahim Aliskan, Y. Altun, R. Guclu, Muzaffer Metin
This work focuses on providing sensorless DTC for IPMSM with minimum torque ripple and at the same time with a simple algorithm to be implemented with hardware. The developed algorithm method follows the principle of steering that corrects the direction of vehicle from deviation. The algorithm uses the output of two hysteresis controllers used in the traditional HDTC to determine two adjacent active vectors. It also uses the magnitude of the torque error and stator flux linkage position to select the switching time required for the two selected vectors. The selection of the switching time for the selected vector consider the system inertia and control time delay utilizes a new suggested table structure, which reduces the complexity of calculation. The simulation and experimental results of this proposed algorithm show adequate dynamic torque performance and considerable torque ripples reduction as well as lower harmonic current as compared to traditional HDTC.
{"title":"Steering DTC algorithm for IPMSM used in electrical vehicle (EV)- with fast response and minimum torque ripple","authors":"A. Adam, K. Gulez, Ibrahim Aliskan, Y. Altun, R. Guclu, Muzaffer Metin","doi":"10.1109/AMC.2010.5464117","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464117","url":null,"abstract":"This work focuses on providing sensorless DTC for IPMSM with minimum torque ripple and at the same time with a simple algorithm to be implemented with hardware. The developed algorithm method follows the principle of steering that corrects the direction of vehicle from deviation. The algorithm uses the output of two hysteresis controllers used in the traditional HDTC to determine two adjacent active vectors. It also uses the magnitude of the torque error and stator flux linkage position to select the switching time required for the two selected vectors. The selection of the switching time for the selected vector consider the system inertia and control time delay utilizes a new suggested table structure, which reduces the complexity of calculation. The simulation and experimental results of this proposed algorithm show adequate dynamic torque performance and considerable torque ripples reduction as well as lower harmonic current as compared to traditional HDTC.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"92 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":"124648090","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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