Pub Date : 2010-03-21DOI: 10.1109/AMC.2010.5464052
Tsutomu Nakamura, N. Bando, Sin-ichiro Sakai, H. Saito
As a case of asymmetric satellite with flexible appendages, it is known that there exists coupled vibration between rotational motion and translational motion via flexible appendages which make satellite asymmetric. Hereby, when an asymmetric satellite rotates, elastic vibration excited by control input of rotational motion may, more or less, be transmitted to translational motion. Therefore, suppression of such an excited vibration of translational motion can, in turn, suppress the elastic vibration, and herewith attitude maneuver with little excitation of elastic modes can be expected. From the reason mentioned above, in this paper, we propose translational motion control system using proof-mass actuators and co-located accelerometers for asymmetric satellite. Then, translational motion control law with consideration of actuator saturation was studied. The proposed translational motion control system was verified through numerical simulations. Finally, feasibility of the proposed method was discussed.
{"title":"Vibration suppression effect of translational motion control for asymmetric flexible satellite","authors":"Tsutomu Nakamura, N. Bando, Sin-ichiro Sakai, H. Saito","doi":"10.1109/AMC.2010.5464052","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464052","url":null,"abstract":"As a case of asymmetric satellite with flexible appendages, it is known that there exists coupled vibration between rotational motion and translational motion via flexible appendages which make satellite asymmetric. Hereby, when an asymmetric satellite rotates, elastic vibration excited by control input of rotational motion may, more or less, be transmitted to translational motion. Therefore, suppression of such an excited vibration of translational motion can, in turn, suppress the elastic vibration, and herewith attitude maneuver with little excitation of elastic modes can be expected. From the reason mentioned above, in this paper, we propose translational motion control system using proof-mass actuators and co-located accelerometers for asymmetric satellite. Then, translational motion control law with consideration of actuator saturation was studied. The proposed translational motion control system was verified through numerical simulations. Finally, feasibility of the proposed method was discussed.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"190 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":"117343726","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.2010.5464085
T. Takei, Megumu Tsuruta, Junpei Okumura, T. Nakabayashi, T. Tsubouchi
We are interested in making and control a small sized two-wheels bike robot and we aim to balance the robot and to lead it to desired direction only with automatic steering control. Our research purpose is to make an original small sized bike robot and to move the robot for over 300 meters in indoor corridors under the automatic steering control only. We report the making of the original small bike robot and experiments. The dimension of the bike robot was designed as proportional to the real bicycle. Slalom motion and long distance motion were performed by steering control only.
{"title":"Stabilized motion of a small sized bike robot only by steering control","authors":"T. Takei, Megumu Tsuruta, Junpei Okumura, T. Nakabayashi, T. Tsubouchi","doi":"10.1109/AMC.2010.5464085","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464085","url":null,"abstract":"We are interested in making and control a small sized two-wheels bike robot and we aim to balance the robot and to lead it to desired direction only with automatic steering control. Our research purpose is to make an original small sized bike robot and to move the robot for over 300 meters in indoor corridors under the automatic steering control only. We report the making of the original small bike robot and experiments. The dimension of the bike robot was designed as proportional to the real bicycle. Slalom motion and long distance motion were performed by steering control only.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"47 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":"124275284","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.2010.5464049
K. Seki, M. Iwasaki, H. Hirai
This paper presents a practical control methodology of shaking tables for earthquake simulators. Reaction force generated by a specimen on the shaking table generally deteriorates the motion performance of the table, resulting in the lower control accuracy of seismic tests. Especially, in cases of excitation tests for structures (power facilities, large vehicles, etc.) including motors with periodic rotation, the reaction force as a disturbance is excited with a specific frequency during their actual operations. In addition, the variation of the rotational frequency in the motor causes the variation of frequency in the disturbance. In order to compensate for such variable disturbances, therefore, an adaptive feedback compensator should be a promissing approach to improve the disturbance suppression capability, by applying an adaptive notch filter to identify the frequency in on line manner. The proposed control approach has been verified by experiments using a prototype of shaking table system.
{"title":"Reaction force compensation with frequency identifier in shaking table systems","authors":"K. Seki, M. Iwasaki, H. Hirai","doi":"10.1109/AMC.2010.5464049","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464049","url":null,"abstract":"This paper presents a practical control methodology of shaking tables for earthquake simulators. Reaction force generated by a specimen on the shaking table generally deteriorates the motion performance of the table, resulting in the lower control accuracy of seismic tests. Especially, in cases of excitation tests for structures (power facilities, large vehicles, etc.) including motors with periodic rotation, the reaction force as a disturbance is excited with a specific frequency during their actual operations. In addition, the variation of the rotational frequency in the motor causes the variation of frequency in the disturbance. In order to compensate for such variable disturbances, therefore, an adaptive feedback compensator should be a promissing approach to improve the disturbance suppression capability, by applying an adaptive notch filter to identify the frequency in on line manner. The proposed control approach has been verified by experiments using a prototype of shaking table system.","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":"116879878","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.2010.5464031
W. Yamanouchi, S. Katsura
Recently, doctor and medical care persons are shortage by the aging of population. Thus, robot support systems are needed for medical care. The motion of the human support system is controlled by routine. Position control and velocity control is usual method. These controls are not considered the human motion. This paper proposes method of human support system using motion coping system. The motion coping system saves human motion information. The proposed method supports the human based on saved human motion information. Effectiveness of the proposed method is verified by experimental results.
{"title":"Human support system using haptic cell","authors":"W. Yamanouchi, S. Katsura","doi":"10.1109/AMC.2010.5464031","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464031","url":null,"abstract":"Recently, doctor and medical care persons are shortage by the aging of population. Thus, robot support systems are needed for medical care. The motion of the human support system is controlled by routine. Position control and velocity control is usual method. These controls are not considered the human motion. This paper proposes method of human support system using motion coping system. The motion coping system saves human motion information. The proposed method supports the human based on saved human motion information. Effectiveness of the proposed method is verified by experimental results.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"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":"128847064","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.2010.5464097
Y. Fujimoto, Y. Wakayama, H. Omori, I. Smadi
This paper reports on newly developed small-size prototypes of spiral motors for a musculoskeletal robot application. The prototype has smooth helical surface so that the mover can touch down the stator. The stator core is made from SMC (Soft Magnetic Composite) in order to reduce iron loss. Helical-shape permanent magnets are mounted on the surface of the mover. The motor realizes compact direct-drive motion systems. A concept and design sketch of a musculoskeletal robot in which the spiral motors are installed as artificial muscle is shown. Also modeling and control of the spiral motor are reported.
本文报道了新开发的用于肌肉骨骼机器人的小尺寸螺旋电机样机。该样机具有光滑的螺旋表面，因此电机可以接触到定子。定子铁心采用SMC (Soft Magnetic Composite，软磁复合材料)，以减少铁的损耗。电机表面装有螺旋形永磁体。该电机实现了紧凑的直接驱动运动系统。展示了一种将螺旋马达安装为人造肌肉的肌肉骨骼机器人的概念图和设计草图。并对螺旋电机的建模和控制进行了研究。
{"title":"On a high-backdrivable direct-drive actuator for musculoskeletal bipedal robots","authors":"Y. Fujimoto, Y. Wakayama, H. Omori, I. Smadi","doi":"10.1109/AMC.2010.5464097","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464097","url":null,"abstract":"This paper reports on newly developed small-size prototypes of spiral motors for a musculoskeletal robot application. The prototype has smooth helical surface so that the mover can touch down the stator. The stator core is made from SMC (Soft Magnetic Composite) in order to reduce iron loss. Helical-shape permanent magnets are mounted on the surface of the mover. The motor realizes compact direct-drive motion systems. A concept and design sketch of a musculoskeletal robot in which the spiral motors are installed as artificial muscle is shown. Also modeling and control of the spiral motor are reported.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"7 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":"128563131","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.2010.5464054
S. Yorozu, S. Katsura
Recently, the tele-operation of the robot is needed with getting force information. However, torsional vibration of two-mass resonant system is a serious problem to operate robots. This paper proposes bilateral force feedback control of haptic system with flexibility. In this paper, the system that is two-mass resonant system is considered. The resonance control is implemented to the system to reduce vibration. Also, the inverse system is implemented to reject load disturbance. A load disturbance is estimated by load disturbance observer. The proposed control based on conventional PD controller and resonance ratio control. The determination method of pole placement is discussed. The viability of the proposed method is confirmed by some experiments.
{"title":"Vibration suppression control of 2-mass resonant system for haptic tele-operation","authors":"S. Yorozu, S. Katsura","doi":"10.1109/AMC.2010.5464054","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464054","url":null,"abstract":"Recently, the tele-operation of the robot is needed with getting force information. However, torsional vibration of two-mass resonant system is a serious problem to operate robots. This paper proposes bilateral force feedback control of haptic system with flexibility. In this paper, the system that is two-mass resonant system is considered. The resonance control is implemented to the system to reduce vibration. Also, the inverse system is implemented to reject load disturbance. A load disturbance is estimated by load disturbance observer. The proposed control based on conventional PD controller and resonance ratio control. The determination method of pole placement is discussed. The viability of the proposed method is confirmed by some experiments.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"35 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":"130250372","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.2010.5464012
Kazuki Matsumoto, A. Kawamura
The turning (Direction Changing Walking) is necessary to move a robot all over the working place. However, the disturbance is the serious problem in the turning for example the slipping the feet on the ground or the swing by walking. In this paper, we proposed the robust direction control system that used gyro sensor feedback under environment with disturbance. We analyzed a steady-state characteristic by numerical simulation, proved that the direction control was effective by the walking simulation. We succeeded in stable turning by the walking experiments and decreased 45% of RMS of angle error than conventional method.
{"title":"The direction control of a biped robot using gyro sensor feedback","authors":"Kazuki Matsumoto, A. Kawamura","doi":"10.1109/AMC.2010.5464012","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464012","url":null,"abstract":"The turning (Direction Changing Walking) is necessary to move a robot all over the working place. However, the disturbance is the serious problem in the turning for example the slipping the feet on the ground or the swing by walking. In this paper, we proposed the robust direction control system that used gyro sensor feedback under environment with disturbance. We analyzed a steady-state characteristic by numerical simulation, proved that the direction control was effective by the walking simulation. We succeeded in stable turning by the walking experiments and decreased 45% of RMS of angle error than conventional method.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"428 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":"116569549","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.2010.5464106
L. V. D. Broeck, M. Diehl, J. Swevers
Model Predictive Control (MPC) is a control technique capable of accounting for constraints on inputs, outputs and states, and traditionally makes a trade-off between output error and input cost. Originally developed for slow processes, MPC is nowadays also applied to faster systems such as mechatronic systems, thanks to increased computer power and more advanced algorithms. For these systems however, time optimality is often of the utmost importance, a feature that is not present in traditional MPC. This paper therefore presents and validates a new type of MPC, time optimal MPC (TOMPC), which minimizes the settling time. An experimental validation of TOMPC on a linear drive system with a sampling time of 5ms is performed and comparison with traditional MPC and linear feedback systems is given.
{"title":"Experimental validation of time optimal MPC on a linear drive system","authors":"L. V. D. Broeck, M. Diehl, J. Swevers","doi":"10.1109/AMC.2010.5464106","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464106","url":null,"abstract":"Model Predictive Control (MPC) is a control technique capable of accounting for constraints on inputs, outputs and states, and traditionally makes a trade-off between output error and input cost. Originally developed for slow processes, MPC is nowadays also applied to faster systems such as mechatronic systems, thanks to increased computer power and more advanced algorithms. For these systems however, time optimality is often of the utmost importance, a feature that is not present in traditional MPC. This paper therefore presents and validates a new type of MPC, time optimal MPC (TOMPC), which minimizes the settling time. An experimental validation of TOMPC on a linear drive system with a sampling time of 5ms is performed and comparison with traditional MPC and linear feedback systems is given.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"39 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":"121506505","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.2010.5464079
Kengo Yoshida, Sehoon Oh, Y. Hori
This paper describes important role of muscular viscoelasticity at Feed-forward position control of robot arm based on animal musculoskeletal model. Feed-back controller of animals has big delay. Therefore, feed-forward (FF) controller contributes mainly in local motor control of animals. We focus control ability of animal muscle. Muscle has variable viscoelasticity according to muscular activation level. Proposed controller utilize this characteristic. The controller based on antagonistic muscular pair can be represented by equivalent block diagram containing PD controller. This representation enables its design and evaluation easily. Proposed controller is evaluated by our experimental robot arm which has a mechanism based on bi-articular muscle.
{"title":"Muscular viscoelasticity design and evaluation in feed-forward position control of robot arm based on animal musculoskeletal model","authors":"Kengo Yoshida, Sehoon Oh, Y. Hori","doi":"10.1109/AMC.2010.5464079","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464079","url":null,"abstract":"This paper describes important role of muscular viscoelasticity at Feed-forward position control of robot arm based on animal musculoskeletal model. Feed-back controller of animals has big delay. Therefore, feed-forward (FF) controller contributes mainly in local motor control of animals. We focus control ability of animal muscle. Muscle has variable viscoelasticity according to muscular activation level. Proposed controller utilize this characteristic. The controller based on antagonistic muscular pair can be represented by equivalent block diagram containing PD controller. This representation enables its design and evaluation easily. Proposed controller is evaluated by our experimental robot arm which has a mechanism based on bi-articular muscle.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"27 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":"121954096","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.2010.5463993
Yuta Shimizu, A. Shimada
This paper introduces a tilt control based movement control scheme for inverted pendulum mobile robots. It is based on direct tilt angle control (DTAC) with a disturbance observer using the Kalman filtering technique. The DTAC is expected to be an effective for high acceleration, and the presented observer achieves a better estimation even if tilt joint angle sensor is a poorly-resolved. Although we have presented it in the previous papers and conferences, a drawback remains and it is shown high-speed curve and fast turn motions. It seems that the tilt angle sensor attached in the pendulum body causes instable during curved and turning motions. Where the sensor consistes of a rotary encoder with two thin and light arms which touch the floor. To fix this problem, we have adopted a gyro scope and concurrently design an observer. The gyro scopes are well-known and the basic structure of the observer is the same as the one presented by S.Matsumoto, Y.Fujimoto, et.al. However, this paper describes a try combining it with our original DTAC scheme.
{"title":"Direct tilt angle control on inverted pendulum mobile robots","authors":"Yuta Shimizu, A. Shimada","doi":"10.1109/AMC.2010.5463993","DOIUrl":"https://doi.org/10.1109/AMC.2010.5463993","url":null,"abstract":"This paper introduces a tilt control based movement control scheme for inverted pendulum mobile robots. It is based on direct tilt angle control (DTAC) with a disturbance observer using the Kalman filtering technique. The DTAC is expected to be an effective for high acceleration, and the presented observer achieves a better estimation even if tilt joint angle sensor is a poorly-resolved. Although we have presented it in the previous papers and conferences, a drawback remains and it is shown high-speed curve and fast turn motions. It seems that the tilt angle sensor attached in the pendulum body causes instable during curved and turning motions. Where the sensor consistes of a rotary encoder with two thin and light arms which touch the floor. To fix this problem, we have adopted a gyro scope and concurrently design an observer. The gyro scopes are well-known and the basic structure of the observer is the same as the one presented by S.Matsumoto, Y.Fujimoto, et.al. However, this paper describes a try combining it with our original DTAC scheme.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"24 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":"131754824","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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