Pub Date : 2010-03-21DOI: 10.1109/AMC.2010.5464122
Toru Suzuki, H. Fujimoto
In slip ratio control systems, it is necessary to detect vehicle velocity in order to detect the slip ratio. However, it is very difficult to measure the vehicle velocity directly. Then, we have proposed an estimation method and control method of slip ratio without detecting both the vehicle velocity and the acceleration. In this paper, we carry out simulations and experiments of the estimation method and the control method in turning motion with an electric vehicle. The vehicle motion is stable with the slip ratio control. We verify practical effectiveness of the proposed algorithm.
{"title":"Slip ratio estimation and regenerative brake control without detection of vehicle velocity and acceleration for electric vehicle at urgent brake-turning","authors":"Toru Suzuki, H. Fujimoto","doi":"10.1109/AMC.2010.5464122","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464122","url":null,"abstract":"In slip ratio control systems, it is necessary to detect vehicle velocity in order to detect the slip ratio. However, it is very difficult to measure the vehicle velocity directly. Then, we have proposed an estimation method and control method of slip ratio without detecting both the vehicle velocity and the acceleration. In this paper, we carry out simulations and experiments of the estimation method and the control method in turning motion with an electric vehicle. The vehicle motion is stable with the slip ratio control. We verify practical effectiveness of the proposed algorithm.","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":"131389846","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.2010.5464110
I. Godler, K. Hashiguchi, T. Sonoda
Without an external load or without a special effort to overcome the coupling, human fingers move in such a way that DIP and PIP joints of each finger except of a thumb move simultaneously in a coupled fashion. Similar motion of robotic fingers can be achieved by independent control of each joint, but to reduce number of needed actuators, a mechanical coupling of respective joints is frequently used. In this paper we derive an algebraic solution of inverse kinematics for robotic finger with linearly coupled PIP and DIP joints. The calculation involves solving a polynomial. A prototype of robotic finger with coupled joints that uses newly proposed mechanism called "Twist Drive" is presented. The principle of proposed joints actuation mechanism and its main characteristics are explained. A prototype of robotic finger and basic experimental results of joint positioning control are presented.
{"title":"Robotic finger with coupled joints: A prototype and its inverse kinematics","authors":"I. Godler, K. Hashiguchi, T. Sonoda","doi":"10.1109/AMC.2010.5464110","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464110","url":null,"abstract":"Without an external load or without a special effort to overcome the coupling, human fingers move in such a way that DIP and PIP joints of each finger except of a thumb move simultaneously in a coupled fashion. Similar motion of robotic fingers can be achieved by independent control of each joint, but to reduce number of needed actuators, a mechanical coupling of respective joints is frequently used. In this paper we derive an algebraic solution of inverse kinematics for robotic finger with linearly coupled PIP and DIP joints. The calculation involves solving a polynomial. A prototype of robotic finger with coupled joints that uses newly proposed mechanism called \"Twist Drive\" is presented. The principle of proposed joints actuation mechanism and its main characteristics are explained. A prototype of robotic finger and basic experimental results of joint positioning control are presented.","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":"131872376","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.2010.5466300
F. Ali, B. Ugurlu, A. Kawamura
Nowadays, humanoid researches are progressing widely in many applications. Some of the applications are walking in human environments such as on stairs and inclined floor. In order to solve this, there are researchers who implemented ankle torque control approach. However, by implementing this approach, it may saturate the ankle joints and if too much force is applied, it may damage the ankle joints. Therefore, the authors¿ group proposed an approach to distribute the angles caused by the inclined surfaces via distribution among the robot joints. The orientations of CoM or pelvis of the robot can be embedded into the inverse kinematics in order to achieve successful walking on inclined surfaces. A 3-D dynamic simulator which is known as ROCOS and developed in our laboratory is used for simulation in order to validate our proposed method.
{"title":"Center of mass based inverse kinematics algorithm for bipedal robot motion on inclined surfaces","authors":"F. Ali, B. Ugurlu, A. Kawamura","doi":"10.1109/AMC.2010.5466300","DOIUrl":"https://doi.org/10.1109/AMC.2010.5466300","url":null,"abstract":"Nowadays, humanoid researches are progressing widely in many applications. Some of the applications are walking in human environments such as on stairs and inclined floor. In order to solve this, there are researchers who implemented ankle torque control approach. However, by implementing this approach, it may saturate the ankle joints and if too much force is applied, it may damage the ankle joints. Therefore, the authors¿ group proposed an approach to distribute the angles caused by the inclined surfaces via distribution among the robot joints. The orientations of CoM or pelvis of the robot can be embedded into the inverse kinematics in order to achieve successful walking on inclined surfaces. A 3-D dynamic simulator which is known as ROCOS and developed in our laboratory is used for simulation in order to validate our proposed method.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"153 5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123568838","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.2010.5464104
K. Sakata, H. Fujimoto, Atsushi Hara, Takeshi Ohtomo, K. Saiki
Motion control techniques are employed on nanoscale positioning in precision mechanical equipment, for example, NC machine tools, exposure systems, and so on. In our past paper, we designed and fabricated an experimental 1-DOF precision stage. Then, we achieved a high-speed nanoscale positioning and a master-slave synchronous position control with another 1-DOF stage. However, the stages in actual industrial equipment often have several degrees of freedom. The degrees of freedom have to be controlled simultaneously. In this paper, a new experimental 4-DOF high-precision stage is designed and fabricated. The 4-DOF stage can move to not only one translation but also the height, the pitching, and the rolling directions. Then, a control system for the 4-DOF stage is proposed. Finally, experiments are performed to show the advantages of the proposed method.
{"title":"Design fabrication and control of 4-DOF high-precision stage","authors":"K. Sakata, H. Fujimoto, Atsushi Hara, Takeshi Ohtomo, K. Saiki","doi":"10.1109/AMC.2010.5464104","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464104","url":null,"abstract":"Motion control techniques are employed on nanoscale positioning in precision mechanical equipment, for example, NC machine tools, exposure systems, and so on. In our past paper, we designed and fabricated an experimental 1-DOF precision stage. Then, we achieved a high-speed nanoscale positioning and a master-slave synchronous position control with another 1-DOF stage. However, the stages in actual industrial equipment often have several degrees of freedom. The degrees of freedom have to be controlled simultaneously. In this paper, a new experimental 4-DOF high-precision stage is designed and fabricated. The 4-DOF stage can move to not only one translation but also the height, the pitching, and the rolling directions. Then, a control system for the 4-DOF stage is proposed. Finally, experiments are performed to show the advantages of the proposed 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":"131066993","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.2010.5464038
M. Yoshimura, H. Fujimoto
The switching loss of the inverter depends on the inverter carrier frequency. Therefore, the high carrier frequency is unfavorable for electric vehicles. However, the low carrier frequency decreases the slip ratio control performance. To achieve the high-speed current response with the low carrier frequency, it is required to consider the inverter dynamics. Then in this paper, we propose a slip ratio control method with single-rate PWM considering driving force with low carrier frequency. Using this method, we can achieve the high responsive slip ratio control. Simulations and experiments are carried out to demonstrate the effectiveness with EVs.
{"title":"Slip ratio control of electric vehicle with single-rate PWM considering driving force","authors":"M. Yoshimura, H. Fujimoto","doi":"10.1109/AMC.2010.5464038","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464038","url":null,"abstract":"The switching loss of the inverter depends on the inverter carrier frequency. Therefore, the high carrier frequency is unfavorable for electric vehicles. However, the low carrier frequency decreases the slip ratio control performance. To achieve the high-speed current response with the low carrier frequency, it is required to consider the inverter dynamics. Then in this paper, we propose a slip ratio control method with single-rate PWM considering driving force with low carrier frequency. Using this method, we can achieve the high responsive slip ratio control. Simulations and experiments are carried out to demonstrate the effectiveness with EVs.","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":"131099437","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.2010.5464011
Tomoya Sato, S. Sakaino, K. Ohnishi
In this paper, a trajectory planning and a control for biped robots with toe and heel joints are shown. We added toe and heel joints to a basic biped robot. A trajectory planning is extended for the walking with the toe and heel joints. Using this mechanism and this trajectory planning, the stride can be increased more. Additionally, a control planning is presented for division of walking stabilization and environmental adaptation. A time-based switching impedance controller with the toe and heel joints is proposed for adaptation to uneven terrain. Using this control planning and the proposed method, the stable walking on the rough terrain is realized. The validity is confirmed by experimental results.
{"title":"Trajectory planning and control for biped robot with toe and heel joints","authors":"Tomoya Sato, S. Sakaino, K. Ohnishi","doi":"10.1109/AMC.2010.5464011","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464011","url":null,"abstract":"In this paper, a trajectory planning and a control for biped robots with toe and heel joints are shown. We added toe and heel joints to a basic biped robot. A trajectory planning is extended for the walking with the toe and heel joints. Using this mechanism and this trajectory planning, the stride can be increased more. Additionally, a control planning is presented for division of walking stabilization and environmental adaptation. A time-based switching impedance controller with the toe and heel joints is proposed for adaptation to uneven terrain. Using this control planning and the proposed method, the stable walking on the rough terrain is realized. The validity is confirmed by experimental results.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"8 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":"114575519","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.2010.5464084
Yusuke Suzuki, Hiroaki Kuwahara, Hiroyuki Tanaka, K. Ohnishi
In the future, robots will be important device widely in our daily lives to achieve complicated tasks. To achieve the tasks, there are some demands for the robots. In this paper, two strong demands of them are taken attention. First one is multiple-degrees of freedom (DOF), and the second one is miniaturization of the robots. Although rotary actuators is necessary to get multiple-DOF, miniaturization is difficult with rotary motors which are usually utilized for multiple-DOF robots. Here, tendon-driven rotary actuator is a candidate to solve the problems of the rotary actuators. The authors proposed a type of tendon-driven rotary actuator using thrust wires. However, big mechanical loss and frictional loss occurred because of the complicated structure of connection points. As the solution for the problems, this paper proposes a tendon-driven rotary actuator for haptics with thrust wires and polyethylene (PE) line. In the proposed rotary actuator, a PE line is used in order to connect the tip points of thrust wires and the end effector. The validity of the proposed rotary actuator is evaluated by experiments.
{"title":"Development and verification of tendon-driven rotary actuator for haptics with flexible actuators and a PE line","authors":"Yusuke Suzuki, Hiroaki Kuwahara, Hiroyuki Tanaka, K. Ohnishi","doi":"10.1109/AMC.2010.5464084","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464084","url":null,"abstract":"In the future, robots will be important device widely in our daily lives to achieve complicated tasks. To achieve the tasks, there are some demands for the robots. In this paper, two strong demands of them are taken attention. First one is multiple-degrees of freedom (DOF), and the second one is miniaturization of the robots. Although rotary actuators is necessary to get multiple-DOF, miniaturization is difficult with rotary motors which are usually utilized for multiple-DOF robots. Here, tendon-driven rotary actuator is a candidate to solve the problems of the rotary actuators. The authors proposed a type of tendon-driven rotary actuator using thrust wires. However, big mechanical loss and frictional loss occurred because of the complicated structure of connection points. As the solution for the problems, this paper proposes a tendon-driven rotary actuator for haptics with thrust wires and polyethylene (PE) line. In the proposed rotary actuator, a PE line is used in order to connect the tip points of thrust wires and the end effector. The validity of the proposed rotary actuator is evaluated by experiments.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"19 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":"126666583","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.2010.5464081
A. Umemura, Yukio Saito, T. Haneyoshi
This paper describes the motor drive system which is applied a planetary to the power distribution mechanism. This motor drive system can realize the function of Bi-articular muscles peculiar to an animal. The relation between the motor drive and force is considered. The rigidity of the arm tip with bi-articlar muscles is shown.
{"title":"The rigidity of the bi-articular robotic arm with a planetary gear","authors":"A. Umemura, Yukio Saito, T. Haneyoshi","doi":"10.1109/AMC.2010.5464081","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464081","url":null,"abstract":"This paper describes the motor drive system which is applied a planetary to the power distribution mechanism. This motor drive system can realize the function of Bi-articular muscles peculiar to an animal. The relation between the motor drive and force is considered. The rigidity of the arm tip with bi-articlar muscles is shown.","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":"115794934","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.2010.5463998
N. Oda, Shouhei Mabuchi, Naoki Aizawa
This paper describes a novel approach to interactive power assisting control cooperating with visual information for robotic wheelchair. In the proposed approach, both encoder-based and vision-based reaction force observer are designed for obtaining the virtual force due to the environmental change in the field of view. The vision-based observer using the optical flow field of visual scene can estimate the external force including the inertial force due to the moving obstacle. The virtual force is defined as the difference between both reaction force observer outputs, and it is useful for assisting the avoiding operation against obstacle while power assisting control. The validity of our approach is evaluated by several experimental results.
{"title":"Interactive control against obstacle for power assisted wheelchair by vision-based reaction force observer","authors":"N. Oda, Shouhei Mabuchi, Naoki Aizawa","doi":"10.1109/AMC.2010.5463998","DOIUrl":"https://doi.org/10.1109/AMC.2010.5463998","url":null,"abstract":"This paper describes a novel approach to interactive power assisting control cooperating with visual information for robotic wheelchair. In the proposed approach, both encoder-based and vision-based reaction force observer are designed for obtaining the virtual force due to the environmental change in the field of view. The vision-based observer using the optical flow field of visual scene can estimate the external force including the inertial force due to the moving obstacle. The virtual force is defined as the difference between both reaction force observer outputs, and it is useful for assisting the avoiding operation against obstacle while power assisting control. The validity of our approach is evaluated by several experimental results.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"66 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":"133006445","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.2010.5464046
N. Motoi, R. Kubo, T. Shimono, K. Ohnishi
A bilateral control robot is one of the master-slave teleoperation robots. Consider two robots, a master robot is manipulated by human operators and a slave robot contacts remote environment. Decoupling of a force control and a position control in bilateral control is realized using the mode transformation i.e. a force controller in the common mode and a position controller in the differential mode. In conventional method, high transparency in a bilateral control is obtained when the inertia of the master and slave robots are equal. However, high transparency is not achieved when the inertia of the master and slave robots is different. Additionally, transparency goes down in the case of the bilateral control with scaling. Since the common mode and the differential mode interfere when the inertia and scaling of the master robot slave robots are different. In this paper, modal space disturbance observer (MSDOB) is proposed to solve these interferential problems. MSDOB is disturbance observer in the modal space and is implemented in each mode. MSDOB eliminates these interferences and modeling error in the modal space. In the results, decoupling of the force control and the position control is realized. Therefore, high transparency is achieved even if the inertia and the scaling of the master and slave robots are different. From the simulation and experimental results, the validity of the proposed method was confirmed.
{"title":"Bilateral control with different inertia based on modal decomposition","authors":"N. Motoi, R. Kubo, T. Shimono, K. Ohnishi","doi":"10.1109/AMC.2010.5464046","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464046","url":null,"abstract":"A bilateral control robot is one of the master-slave teleoperation robots. Consider two robots, a master robot is manipulated by human operators and a slave robot contacts remote environment. Decoupling of a force control and a position control in bilateral control is realized using the mode transformation i.e. a force controller in the common mode and a position controller in the differential mode. In conventional method, high transparency in a bilateral control is obtained when the inertia of the master and slave robots are equal. However, high transparency is not achieved when the inertia of the master and slave robots is different. Additionally, transparency goes down in the case of the bilateral control with scaling. Since the common mode and the differential mode interfere when the inertia and scaling of the master robot slave robots are different. In this paper, modal space disturbance observer (MSDOB) is proposed to solve these interferential problems. MSDOB is disturbance observer in the modal space and is implemented in each mode. MSDOB eliminates these interferences and modeling error in the modal space. In the results, decoupling of the force control and the position control is realized. Therefore, high transparency is achieved even if the inertia and the scaling of the master and slave robots are different. From the simulation and experimental results, the validity of the proposed method was confirmed.","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":"133032989","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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