Pub Date : 2020-09-14DOI: 10.1109/amc44022.2020.9244323
{"title":"Robotics and Haptics","authors":"","doi":"10.1109/amc44022.2020.9244323","DOIUrl":"https://doi.org/10.1109/amc44022.2020.9244323","url":null,"abstract":"","PeriodicalId":427681,"journal":{"name":"2020 IEEE 16th International Workshop on Advanced Motion Control (AMC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129521166","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 : 2020-09-14DOI: 10.1109/AMC44022.2020.9244384
D. Ronzani, A. Steinhauser, J. Swevers
This paper presents an extension of iterative leanring control (ILC) towards multiple systems, the Multi-System Iterative Learning Control (MSILC) approach, by means of estimation of a common model correction and a system-specific model correction. The proposed method is theoretically analyzed and categorized in the field of linear ILC through the filter-based framework. A software implementation for generic nonlinear system is provided. To demonstrate and present the efficacy of the approach, a numerical study of a fleet of positioning stages, affected by iteration-varying disturbances and executing the same task, is performed. The results show the benefits of the presented algorithm that trade-off between a single-system and common norm-optimal update law.
{"title":"Multi-System Iterative Learning Control: an Extension of ILC for Interconnected Systems","authors":"D. Ronzani, A. Steinhauser, J. Swevers","doi":"10.1109/AMC44022.2020.9244384","DOIUrl":"https://doi.org/10.1109/AMC44022.2020.9244384","url":null,"abstract":"This paper presents an extension of iterative leanring control (ILC) towards multiple systems, the Multi-System Iterative Learning Control (MSILC) approach, by means of estimation of a common model correction and a system-specific model correction. The proposed method is theoretically analyzed and categorized in the field of linear ILC through the filter-based framework. A software implementation for generic nonlinear system is provided. To demonstrate and present the efficacy of the approach, a numerical study of a fleet of positioning stages, affected by iteration-varying disturbances and executing the same task, is performed. The results show the benefits of the presented algorithm that trade-off between a single-system and common norm-optimal update law.","PeriodicalId":427681,"journal":{"name":"2020 IEEE 16th International Workshop on Advanced Motion Control (AMC)","volume":"101 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132508925","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 : 2020-09-14DOI: 10.1109/amc44022.2020.9244414
M. Archibald
{"title":"Human Machine Interface","authors":"M. Archibald","doi":"10.1109/amc44022.2020.9244414","DOIUrl":"https://doi.org/10.1109/amc44022.2020.9244414","url":null,"abstract":"","PeriodicalId":427681,"journal":{"name":"2020 IEEE 16th International Workshop on Advanced Motion Control (AMC)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122213995","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 : 2020-09-14DOI: 10.1109/AMC44022.2020.9244359
A. Sarjaš, Martin Steinberger, D. Gleich, M. Horn
The paper presents experimental assessments of different event-triggered sliding mode control strategies. The main purpose of the event-triggered control approach is to reduce the system utilization and relax the scheduling of the tasks on real-time systems. Event triggering is a real-time implementation technique, where the execution of the controller is not fixed to a preselected sampling time. The stability and performance of the controlled system need to be preserved with regard to the sporadic nature of the controller update. Sliding mode controllers are employed in the context of event-triggering to achieve robustness with respect to matched perturbations. Three different sliding mode event-triggered strategies are evaluated on the real-time positioning system. All the obtained experimental results are compared to a time-triggered version. The results confirm that event-triggering sliding mode control is well suited and reduce the system use drastically.
{"title":"Event-Triggered Sliding Mode Control Strategies for Positioning Systems: An Experimental Assessment","authors":"A. Sarjaš, Martin Steinberger, D. Gleich, M. Horn","doi":"10.1109/AMC44022.2020.9244359","DOIUrl":"https://doi.org/10.1109/AMC44022.2020.9244359","url":null,"abstract":"The paper presents experimental assessments of different event-triggered sliding mode control strategies. The main purpose of the event-triggered control approach is to reduce the system utilization and relax the scheduling of the tasks on real-time systems. Event triggering is a real-time implementation technique, where the execution of the controller is not fixed to a preselected sampling time. The stability and performance of the controlled system need to be preserved with regard to the sporadic nature of the controller update. Sliding mode controllers are employed in the context of event-triggering to achieve robustness with respect to matched perturbations. Three different sliding mode event-triggered strategies are evaluated on the real-time positioning system. All the obtained experimental results are compared to a time-triggered version. The results confirm that event-triggering sliding mode control is well suited and reduce the system use drastically.","PeriodicalId":427681,"journal":{"name":"2020 IEEE 16th International Workshop on Advanced Motion Control (AMC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114428427","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 : 2020-09-14DOI: 10.1109/AMC44022.2020.9244371
Akari Takada, Akira Hirata, S. Katsura
Precise joint angle control for functional electrical stimulation (FES), which is used in a wide range of neurore-habilitation systems, has been a topic of interest for several decades. Many control methods focus on how to cope with highly nonlinear and time-varying properties of the musculoskeletal system. However, to achieve accurate joint control, redundancy of the musculoskeletal system must be taken into account. This paper proposes a coactivation method using the common and differential modes, which is defined by the sum and difference of the extensor and flexor activities. This method is based on the notion that the common mode is closely related to the apparent joint stiffness, while the differential mode is closely related to the joint angle. The differential mode proves to have a relatively linear relationship to the joint angle, which validates our method to control the differential mode. Experimental results show that the proposed coactivation method enables relatively high tracking performance even with a basic proportional-integral-derivative (PID) controller, suggesting that the proposed method implements natural coactivation similar to human motor control strateaies.
{"title":"Coactivation Method Based on Common and Differential Modes for Joint Angle Control for Functional Electrical Stimulation Control","authors":"Akari Takada, Akira Hirata, S. Katsura","doi":"10.1109/AMC44022.2020.9244371","DOIUrl":"https://doi.org/10.1109/AMC44022.2020.9244371","url":null,"abstract":"Precise joint angle control for functional electrical stimulation (FES), which is used in a wide range of neurore-habilitation systems, has been a topic of interest for several decades. Many control methods focus on how to cope with highly nonlinear and time-varying properties of the musculoskeletal system. However, to achieve accurate joint control, redundancy of the musculoskeletal system must be taken into account. This paper proposes a coactivation method using the common and differential modes, which is defined by the sum and difference of the extensor and flexor activities. This method is based on the notion that the common mode is closely related to the apparent joint stiffness, while the differential mode is closely related to the joint angle. The differential mode proves to have a relatively linear relationship to the joint angle, which validates our method to control the differential mode. Experimental results show that the proposed coactivation method enables relatively high tracking performance even with a basic proportional-integral-derivative (PID) controller, suggesting that the proposed method implements natural coactivation similar to human motor control strateaies.","PeriodicalId":427681,"journal":{"name":"2020 IEEE 16th International Workshop on Advanced Motion Control (AMC)","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115617901","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 : 2020-09-14DOI: 10.1109/AMC44022.2020.9244338
T. Ohhira, T. Murakami
This paper presents a force control system design by model predictive control scheme. Recently, a lot of research has been carried out on the robots that take the place of human labor. One of the challenges of such robots is deformable object manipulation to working on food processing, surgery, etc. For handling deformable objects by a rigid robot manipulator is required an advanced reaction force control methodology. Such force control methods have to consider suitable force application without excess and deficiency forces for preventing to drop and destroy in contact with unknown objects. To realize this, it is required to directly consider constraints on control input, rate of input, velocity, etc. Model predictive control is known as one of the key techniques in control fields, and it has a potential for stable force control implementation by considering constraints. This paper attempts to design a new force control system by utilizing model predictive velocity control based on an augmented state-space model with a disturbance term. Finally, the performances of the proposed method via numerical simulation are shown.
{"title":"An Approach to Force Control by Model Predictive Velocity Control with Constraints","authors":"T. Ohhira, T. Murakami","doi":"10.1109/AMC44022.2020.9244338","DOIUrl":"https://doi.org/10.1109/AMC44022.2020.9244338","url":null,"abstract":"This paper presents a force control system design by model predictive control scheme. Recently, a lot of research has been carried out on the robots that take the place of human labor. One of the challenges of such robots is deformable object manipulation to working on food processing, surgery, etc. For handling deformable objects by a rigid robot manipulator is required an advanced reaction force control methodology. Such force control methods have to consider suitable force application without excess and deficiency forces for preventing to drop and destroy in contact with unknown objects. To realize this, it is required to directly consider constraints on control input, rate of input, velocity, etc. Model predictive control is known as one of the key techniques in control fields, and it has a potential for stable force control implementation by considering constraints. This paper attempts to design a new force control system by utilizing model predictive velocity control based on an augmented state-space model with a disturbance term. Finally, the performances of the proposed method via numerical simulation are shown.","PeriodicalId":427681,"journal":{"name":"2020 IEEE 16th International Workshop on Advanced Motion Control (AMC)","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128100452","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 : 2020-09-14DOI: 10.1109/AMC44022.2020.9244390
Rintaro Nakano, K. Ohishi, Y. Yokokura
This paper proposes the replacement of the control implemented in the hydraulic boom cylinder of a hydraulic excavator with a ball screw actuator. The hydraulic system controls the flow rate and pressure of the hydraulic pump, so the extension and contraction speed of the cylinder is controlled by the set command flow rate of the pump. Therefore, in the case the boom cylinder is replaced with the ball screw, the hybrid control of speed and force is required. Additionally, because ball screws are vulnerable to impact forces, impact force relaxation control is required. Conventional impact force mitigation control stops operation after contact with the environment and but generates a large subsequent impact force. This issue is solved using, a controlled acceleration approach, which applies an acceleration command in the same direction as the impact force exerted due owing to the contact with the environment. Thus, this proposed method reduces the impact force. This paper explains the soft boom cylinder control using a disturbance-observer-based equivalent hydraulic system for an electric excavator. The validity of the proposed soft impact force control is verified from experimental results obtained using the actual electric excavator.
{"title":"Soft Boom Cylinder Control Using Disturbance-Observer-Based Equivalent Hydraulic System for Electric Excavator","authors":"Rintaro Nakano, K. Ohishi, Y. Yokokura","doi":"10.1109/AMC44022.2020.9244390","DOIUrl":"https://doi.org/10.1109/AMC44022.2020.9244390","url":null,"abstract":"This paper proposes the replacement of the control implemented in the hydraulic boom cylinder of a hydraulic excavator with a ball screw actuator. The hydraulic system controls the flow rate and pressure of the hydraulic pump, so the extension and contraction speed of the cylinder is controlled by the set command flow rate of the pump. Therefore, in the case the boom cylinder is replaced with the ball screw, the hybrid control of speed and force is required. Additionally, because ball screws are vulnerable to impact forces, impact force relaxation control is required. Conventional impact force mitigation control stops operation after contact with the environment and but generates a large subsequent impact force. This issue is solved using, a controlled acceleration approach, which applies an acceleration command in the same direction as the impact force exerted due owing to the contact with the environment. Thus, this proposed method reduces the impact force. This paper explains the soft boom cylinder control using a disturbance-observer-based equivalent hydraulic system for an electric excavator. The validity of the proposed soft impact force control is verified from experimental results obtained using the actual electric excavator.","PeriodicalId":427681,"journal":{"name":"2020 IEEE 16th International Workshop on Advanced Motion Control (AMC)","volume":"143 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126907468","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 : 2020-09-14DOI: 10.1109/AMC44022.2020.9244330
Evan Dunwoodie, R. Mutlu, B. Ugurlu, M. C. Yildirim, T. Uzunović, E. Sariyildiz
Compared to the traditional industrial robots that use rigid actuators, the advanced robotic systems are mobile and physically interact with unknown and dynamic environments. Therefore, they need intrinsically safe and compact actuators. In the last two decades, Series Elastic Actuators (SEAs) have been one of the most popular compliant actuators in advanced robotic applications due to their intrinsically safe and compact mechanical structures. The mobility and functionality of the advanced robotic systems are highly related to the torque-density of their actuators. For example, the amount of assistance an exoskeleton robot can provide is determined by the trade-off between the weight and output-torque, i.e., torque-density, of its actuators. As the torque outputs of the actuators are increased, the exoskeleton can expand its capacity yet it generally becomes heavier and bulkier. This has significant impact on the mobility of the advanced robotic systems. Therefore, it is essential to design light-weight actuators which can provide high-output torque. However, this still remains a big challenge in engineering. To this end, this paper proposes a high-torque density SEA for physical robot environment interaction (p-REI) applications. The continuous (peak) output-torque of the proposed compliant actuator is 147Nm (467 Nm) and its weight is less than 2.5kg. It is shown that the weight can be lessened to 1.74, but it comes at cost. The performance of the proposed compliant actuator is experimentally verified.
{"title":"A High-Torque Density Compliant Actuator Design for Physical Robot Environment Interaction","authors":"Evan Dunwoodie, R. Mutlu, B. Ugurlu, M. C. Yildirim, T. Uzunović, E. Sariyildiz","doi":"10.1109/AMC44022.2020.9244330","DOIUrl":"https://doi.org/10.1109/AMC44022.2020.9244330","url":null,"abstract":"Compared to the traditional industrial robots that use rigid actuators, the advanced robotic systems are mobile and physically interact with unknown and dynamic environments. Therefore, they need intrinsically safe and compact actuators. In the last two decades, Series Elastic Actuators (SEAs) have been one of the most popular compliant actuators in advanced robotic applications due to their intrinsically safe and compact mechanical structures. The mobility and functionality of the advanced robotic systems are highly related to the torque-density of their actuators. For example, the amount of assistance an exoskeleton robot can provide is determined by the trade-off between the weight and output-torque, i.e., torque-density, of its actuators. As the torque outputs of the actuators are increased, the exoskeleton can expand its capacity yet it generally becomes heavier and bulkier. This has significant impact on the mobility of the advanced robotic systems. Therefore, it is essential to design light-weight actuators which can provide high-output torque. However, this still remains a big challenge in engineering. To this end, this paper proposes a high-torque density SEA for physical robot environment interaction (p-REI) applications. The continuous (peak) output-torque of the proposed compliant actuator is 147Nm (467 Nm) and its weight is less than 2.5kg. It is shown that the weight can be lessened to 1.74, but it comes at cost. The performance of the proposed compliant actuator is experimentally verified.","PeriodicalId":427681,"journal":{"name":"2020 IEEE 16th International Workshop on Advanced Motion Control (AMC)","volume":"112 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132582978","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 : 2020-09-14DOI: 10.1109/AMC44022.2020.9244326
Maximilien Tsuji, T. Murakami
This paper aims to describe an approach to collaborative transport by mecanum mobile robots without using force sensors and regardless of the object's stiffness. Collaborative transport by mobile robots has been studied as an alternative to the conventional method for moving an object from one point to another using only one robot. This research's objective consists in developing a 3 DoF system in which the mecanum robots operate with an enhanced maneuverability. The proposed method uses Reaction Torque Observer (RTOB) which gives access to the contact force between the robots and the object. So far, simulation and experimentation results for simple movements validate the implemented control structure.
{"title":"Collaborative Transport by Mecanum Mobile Robots using Reaction Torque Observer","authors":"Maximilien Tsuji, T. Murakami","doi":"10.1109/AMC44022.2020.9244326","DOIUrl":"https://doi.org/10.1109/AMC44022.2020.9244326","url":null,"abstract":"This paper aims to describe an approach to collaborative transport by mecanum mobile robots without using force sensors and regardless of the object's stiffness. Collaborative transport by mobile robots has been studied as an alternative to the conventional method for moving an object from one point to another using only one robot. This research's objective consists in developing a 3 DoF system in which the mecanum robots operate with an enhanced maneuverability. The proposed method uses Reaction Torque Observer (RTOB) which gives access to the contact force between the robots and the object. So far, simulation and experimentation results for simple movements validate the implemented control structure.","PeriodicalId":427681,"journal":{"name":"2020 IEEE 16th International Workshop on Advanced Motion Control (AMC)","volume":"79 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130289355","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 : 2020-09-14DOI: 10.1109/AMC44022.2020.9244357
Ryuki Higuchi, Y. Fujimoto
It is an important task to detect the direction in which the autonomous robot can move. The robot can autonomously move to its destination following the information on how many times it detects the intersections and turns. In this paper, we use a convolutional neural network (CNN) to simultaneously recognize both the direction along the road and the intersection. The CNN detects the directions through the map image built using the scan data from a two-dimensional laser range finder (2D LRF). We show that the robot is able to make an autonomous movement along the road until it detects the intersection where it should turn.
{"title":"Road and Intersection Detection Using Convolutional Neural Network","authors":"Ryuki Higuchi, Y. Fujimoto","doi":"10.1109/AMC44022.2020.9244357","DOIUrl":"https://doi.org/10.1109/AMC44022.2020.9244357","url":null,"abstract":"It is an important task to detect the direction in which the autonomous robot can move. The robot can autonomously move to its destination following the information on how many times it detects the intersections and turns. In this paper, we use a convolutional neural network (CNN) to simultaneously recognize both the direction along the road and the intersection. The CNN detects the directions through the map image built using the scan data from a two-dimensional laser range finder (2D LRF). We show that the robot is able to make an autonomous movement along the road until it detects the intersection where it should turn.","PeriodicalId":427681,"journal":{"name":"2020 IEEE 16th International Workshop on Advanced Motion Control (AMC)","volume":"69 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114702193","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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