Pub Date : 2016-01-01DOI: 10.1109/AMC.2016.7496384
Qinghua Su, S. Bi
{"title":"Application of optimal algorithm in vacuum path planning of robot","authors":"Qinghua Su, S. Bi","doi":"10.1109/AMC.2016.7496384","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496384","url":null,"abstract":"","PeriodicalId":6439,"journal":{"name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"76 1","pages":"406-410"},"PeriodicalIF":0.0,"publicationDate":"2016-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"72985238","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 : 2014-03-14DOI: 10.1109/AMC.2014.6823321
Tengyu Zhang, Lifeng Li, Heping Yan
In order to solve the issue of the paraplegias and upper limb disabilities to operate electronic devices, a barrier-free human-computer interaction (HCI) method based on electromyography (EMG) and gyroscopes was researched in this paper. After the analysis and test, the EMG signals of temporal muscle were selected as the control source. To bite as a trigger action, depending on different tooth movements, temporal muscles produce different characteristics of EMG signals, so that to control equipment for different functions. Using the output signal of gyro on the head, the information for head rotation can be obtained, and the equipment can be controlled to achieve the appropriate spatial displacement and positioning. Experiments show that, using this method, the user can easily achieve human-computer interaction by bite and slight head movements. It has good application prospects.
{"title":"The HCI method for upper limb disabilities based on EMG and gyros","authors":"Tengyu Zhang, Lifeng Li, Heping Yan","doi":"10.1109/AMC.2014.6823321","DOIUrl":"https://doi.org/10.1109/AMC.2014.6823321","url":null,"abstract":"In order to solve the issue of the paraplegias and upper limb disabilities to operate electronic devices, a barrier-free human-computer interaction (HCI) method based on electromyography (EMG) and gyroscopes was researched in this paper. After the analysis and test, the EMG signals of temporal muscle were selected as the control source. To bite as a trigger action, depending on different tooth movements, temporal muscles produce different characteristics of EMG signals, so that to control equipment for different functions. Using the output signal of gyro on the head, the information for head rotation can be obtained, and the equipment can be controlled to achieve the appropriate spatial displacement and positioning. Experiments show that, using this method, the user can easily achieve human-computer interaction by bite and slight head movements. It has good application prospects.","PeriodicalId":6439,"journal":{"name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"1 1","pages":"434-439"},"PeriodicalIF":0.0,"publicationDate":"2014-03-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"72823886","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 : 2012-03-25DOI: 10.1109/AMC.2012.6197147
Zeynep Ekicioglu Kuzeci, V. Ömürlü, H. Alp, I. Özkol
Stewart Platform Mechanism (SPM) is a type of parallel mechanism (PM) which has 6 degrees of freedom. Due to features like precise positioning and high load carrying capacity, PMs have been used in many areas in recent years. But relatively small workspace of the mechanism is the major disadvantage. This paper aims to improve the method for PM workspace analysis. The structure of Artificial Neural Network (ANN) which was used to analyze 6×3 SPM's workspace, is determined by Genetic Algorithms (GA). This structure of ANNs, i.e., weights, biases are very effective on catching highly accurate results of the ANNs. Therefore, calculation of these values and appropriate structure, i.e., number of neurons in hidden layers, by trial and error approach, results in spending too much time. To prevent the loss time and to determine the problem most fitted structure of hidden layers, a GA is developed and tested in simulation environment, i.e., software developed data. It is noted that by using software-calculated-parameters instead of using trial-error-approach parameters gives the user as accurate as trial-error-approach in short time span.
{"title":"Workspace analysis of parallel mechanisms through neural networks and genetic algorithms","authors":"Zeynep Ekicioglu Kuzeci, V. Ömürlü, H. Alp, I. Özkol","doi":"10.1109/AMC.2012.6197147","DOIUrl":"https://doi.org/10.1109/AMC.2012.6197147","url":null,"abstract":"Stewart Platform Mechanism (SPM) is a type of parallel mechanism (PM) which has 6 degrees of freedom. Due to features like precise positioning and high load carrying capacity, PMs have been used in many areas in recent years. But relatively small workspace of the mechanism is the major disadvantage. This paper aims to improve the method for PM workspace analysis. The structure of Artificial Neural Network (ANN) which was used to analyze 6×3 SPM's workspace, is determined by Genetic Algorithms (GA). This structure of ANNs, i.e., weights, biases are very effective on catching highly accurate results of the ANNs. Therefore, calculation of these values and appropriate structure, i.e., number of neurons in hidden layers, by trial and error approach, results in spending too much time. To prevent the loss time and to determine the problem most fitted structure of hidden layers, a GA is developed and tested in simulation environment, i.e., software developed data. It is noted that by using software-calculated-parameters instead of using trial-error-approach parameters gives the user as accurate as trial-error-approach in short time span.","PeriodicalId":6439,"journal":{"name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"203 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2012-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73642371","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 : 2012-03-25DOI: 10.1109/AMC.2012.6197151
V. Prasanth, P. Bauer, Psenakova Ildiko
Virtual laboratories that animate scientific phenomena are becoming an increasingly popular method to teach students. Electrical engineering is considered difficult to understand as it demands a high level of imagination. This difficulty can be dealt with to a large extent by developing visual aids in the form of animations. Animations can help students to grasp the idea quickly and therefore can serve as an effective aid for the learning process. This paper deals with the development of such a teaching aid to tackle a particular problem in Electrical Drives and Power Electronics (ED&PE). The problem is that of the electrical drive train of a hybrid electric vehicle (HEV) that can regenerate power during braking or whenever required (Plug-in HEV, PHEV). This paper attempts to give a step-by-step insight into the various design choices, the operation of the converters and their controls, the learning objectives and finally the development of the graphic multimedia for this drive train.
{"title":"Drivetrain of electric car: Development of virtual laboratory for E-learning","authors":"V. Prasanth, P. Bauer, Psenakova Ildiko","doi":"10.1109/AMC.2012.6197151","DOIUrl":"https://doi.org/10.1109/AMC.2012.6197151","url":null,"abstract":"Virtual laboratories that animate scientific phenomena are becoming an increasingly popular method to teach students. Electrical engineering is considered difficult to understand as it demands a high level of imagination. This difficulty can be dealt with to a large extent by developing visual aids in the form of animations. Animations can help students to grasp the idea quickly and therefore can serve as an effective aid for the learning process. This paper deals with the development of such a teaching aid to tackle a particular problem in Electrical Drives and Power Electronics (ED&PE). The problem is that of the electrical drive train of a hybrid electric vehicle (HEV) that can regenerate power during braking or whenever required (Plug-in HEV, PHEV). This paper attempts to give a step-by-step insight into the various design choices, the operation of the converters and their controls, the learning objectives and finally the development of the graphic multimedia for this drive train.","PeriodicalId":6439,"journal":{"name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"31 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2012-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74100498","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 : 2012-03-25DOI: 10.1109/AMC.2012.6197052
N. Motoi, R. Kubo, T. Shimono, A. Kawamura
This paper proposes the force-based variable compliance control method for a bilateral system which consists of master and slave robots with different degree of freedom (DOF). In order to control the bilateral system with this assumption, “bilateral control between master and slave robots for task realization” and “automation control for adaptation to environment in contact with a slave robot” are necessary. In this paper, “automation control for adaptation to environment in contact with a slave robot” is focused on. Considering the automatic control of slave system, the control method should be switched according to the contact condition. In the case of non-contact motion, the position of the slave system is not decided by using the conventional force controller. Therefore, unexpected contact between the slave system and the object may occur. In order to avoid this unexpected contact motion, the position of slave system should be controlled in the case of non-contact motion. When the slave system contacts the object, the force control should be implemented to achieve the stable contact. In this paper, the force-based variable compliance control method is proposed to achieve 2 desired motion. The validity of the proposed method is confirmed by the experimental results.
{"title":"Force-based variable compliance control method for bilateral system with different degrees of freedom","authors":"N. Motoi, R. Kubo, T. Shimono, A. Kawamura","doi":"10.1109/AMC.2012.6197052","DOIUrl":"https://doi.org/10.1109/AMC.2012.6197052","url":null,"abstract":"This paper proposes the force-based variable compliance control method for a bilateral system which consists of master and slave robots with different degree of freedom (DOF). In order to control the bilateral system with this assumption, “bilateral control between master and slave robots for task realization” and “automation control for adaptation to environment in contact with a slave robot” are necessary. In this paper, “automation control for adaptation to environment in contact with a slave robot” is focused on. Considering the automatic control of slave system, the control method should be switched according to the contact condition. In the case of non-contact motion, the position of the slave system is not decided by using the conventional force controller. Therefore, unexpected contact between the slave system and the object may occur. In order to avoid this unexpected contact motion, the position of slave system should be controlled in the case of non-contact motion. When the slave system contacts the object, the force control should be implemented to achieve the stable contact. In this paper, the force-based variable compliance control method is proposed to achieve 2 desired motion. The validity of the proposed method is confirmed by the experimental results.","PeriodicalId":6439,"journal":{"name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"13 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2012-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77349379","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 : 2012-03-25DOI: 10.1109/AMC.2012.6197134
Kazuki Tanida, T. Mizoguchi, Fumiya Mitome, K. Ohnishi
2-DOF haptic surgical multi drive robot is driven by multi drive linear motors, and does not separate hand function (manipulating mode) and arm function (grasping mode) of the human motion mechanically. Conventional method has one problem. When the operator want to grasp an object, he have to drive forceps open. This make operator difficult to use forceps finely and powerfully. A proposed method separates two function of position in control. Conventional of grasping/manipulating control uses modal transformation matrix for master or slave robots to achive bilateral control between different structural. The proposed method use modal transformation matrix both master and slave robots between same structure. Moreover, the proposed method enables us to operate like actual forceps than conventional method. The validity of the proposed method is varified by experiments.
{"title":"Function separation for 2-DOF haptic surgical forceps robots driven by multi drive linear motors","authors":"Kazuki Tanida, T. Mizoguchi, Fumiya Mitome, K. Ohnishi","doi":"10.1109/AMC.2012.6197134","DOIUrl":"https://doi.org/10.1109/AMC.2012.6197134","url":null,"abstract":"2-DOF haptic surgical multi drive robot is driven by multi drive linear motors, and does not separate hand function (manipulating mode) and arm function (grasping mode) of the human motion mechanically. Conventional method has one problem. When the operator want to grasp an object, he have to drive forceps open. This make operator difficult to use forceps finely and powerfully. A proposed method separates two function of position in control. Conventional of grasping/manipulating control uses modal transformation matrix for master or slave robots to achive bilateral control between different structural. The proposed method use modal transformation matrix both master and slave robots between same structure. Moreover, the proposed method enables us to operate like actual forceps than conventional method. The validity of the proposed method is varified by experiments.","PeriodicalId":6439,"journal":{"name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"720 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2012-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76914732","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 : 2012-03-25DOI: 10.1109/AMC.2012.6197126
W. Yamanouchi, S. Katsura
Recent advances in control technology have contributed to the development of robot systems for communication. Robot systems recognize their environment on the basis of audio-visual information. Recognition methods based on audio-visual feedback have been developed by many researchers. Apart from auditory and visual information, haptic information has recently attracted attention as the third type of multimedia information. The sense of touch is useful for remote manipulation. Feedback of haptic information is realized by bilateral control. Most systems are constructed using a master-slave system in which the master-slave systems have the same mechanical structure. However, we proposed force feedback systems with different mechanical structures. Previous research proposed novel transformation matrix for different mechanical structures including Laplace operator. In this research, effect of integro-differential scaling for proposed modal transformation is verified to experiment.
{"title":"Multilateral force feedback control using dynamical modal transformation","authors":"W. Yamanouchi, S. Katsura","doi":"10.1109/AMC.2012.6197126","DOIUrl":"https://doi.org/10.1109/AMC.2012.6197126","url":null,"abstract":"Recent advances in control technology have contributed to the development of robot systems for communication. Robot systems recognize their environment on the basis of audio-visual information. Recognition methods based on audio-visual feedback have been developed by many researchers. Apart from auditory and visual information, haptic information has recently attracted attention as the third type of multimedia information. The sense of touch is useful for remote manipulation. Feedback of haptic information is realized by bilateral control. Most systems are constructed using a master-slave system in which the master-slave systems have the same mechanical structure. However, we proposed force feedback systems with different mechanical structures. Previous research proposed novel transformation matrix for different mechanical structures including Laplace operator. In this research, effect of integro-differential scaling for proposed modal transformation is verified to experiment.","PeriodicalId":6439,"journal":{"name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"145 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2012-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80991336","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 : 2012-03-25DOI: 10.1109/AMC.2012.6197089
Wataru Kubota, M. Kawafuku, M. Iwasaki, Hirotaka Tokoro
This paper proposes a novel modeling methodology of vehicle dynamics to reproduce the actual three-dimensional rotating motion. In the proposed approach, a rigid body of vehicle is physically modeled with constraint force, where Euler's equation of motion is applied to numerically calculate rotating behaviors around the center of gravity of the rigid body, under a modeling framework of motion of multibody system. In the numerical processing, the three-dimensional rotating angular velocity around the center of gravity can be calculated by a summation of angular momentum generated by external moment and an inertia moment tensor of the rigid body. Effectiveness of the proposed approach has been verified by comparative numerical simulations with experimental waveforms using a test passenger vehicle.
{"title":"High accurate modeling of vehicle dynamics considering three-dimensional rotating motion","authors":"Wataru Kubota, M. Kawafuku, M. Iwasaki, Hirotaka Tokoro","doi":"10.1109/AMC.2012.6197089","DOIUrl":"https://doi.org/10.1109/AMC.2012.6197089","url":null,"abstract":"This paper proposes a novel modeling methodology of vehicle dynamics to reproduce the actual three-dimensional rotating motion. In the proposed approach, a rigid body of vehicle is physically modeled with constraint force, where Euler's equation of motion is applied to numerically calculate rotating behaviors around the center of gravity of the rigid body, under a modeling framework of motion of multibody system. In the numerical processing, the three-dimensional rotating angular velocity around the center of gravity can be calculated by a summation of angular momentum generated by external moment and an inertia moment tensor of the rigid body. Effectiveness of the proposed approach has been verified by comparative numerical simulations with experimental waveforms using a test passenger vehicle.","PeriodicalId":6439,"journal":{"name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"2011 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2012-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78676970","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 : 2012-03-25DOI: 10.1109/AMC.2012.6197037
Edin Golubovic, I. Khalil, A. O. Nergiz, Eray A. Baran, A. Sabanoviç
The production process of miniature devices and microsystems requires the utilization of non-conventional micromachining techniques. In the past few decades laser micromachining has became micro-manufacturing technique of choice for many industrial and research applications. This paper discusses the design of motion control system for a laser micromachining workstation with particulars about automatic focusing and control of work platform used in the workstation. The automatic focusing is solved in a sliding mode optimization framework and preview controller is used to control the motion platform. Experimental results of both motion control and actual laser micromachining are presented.
{"title":"Design and control of laser micromachining workstation","authors":"Edin Golubovic, I. Khalil, A. O. Nergiz, Eray A. Baran, A. Sabanoviç","doi":"10.1109/AMC.2012.6197037","DOIUrl":"https://doi.org/10.1109/AMC.2012.6197037","url":null,"abstract":"The production process of miniature devices and microsystems requires the utilization of non-conventional micromachining techniques. In the past few decades laser micromachining has became micro-manufacturing technique of choice for many industrial and research applications. This paper discusses the design of motion control system for a laser micromachining workstation with particulars about automatic focusing and control of work platform used in the workstation. The automatic focusing is solved in a sliding mode optimization framework and preview controller is used to control the motion platform. Experimental results of both motion control and actual laser micromachining are presented.","PeriodicalId":6439,"journal":{"name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"460 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2012-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"86688107","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 : 2012-03-25DOI: 10.1109/AMC.2012.6197016
Thao Tran Phuong, C. Mitsantisuk, K. Ohishi
In this paper, a new force sensing technique is proposed to achieve a friction free and wideband force control of a ball screw system. A periodic signal is inserted into the control system for friction reduction. A combination of a high-order disturbance observer and a Kalman-filter is constructed to perform the force sensing operation. The high-order disturbance observer is designed to obtain force estimation with the cancellation of oscillatory disturbance caused by additional periodic signal. The force sensing bandwidth is improved owing to the effective noise suppression in the estimated force by Kalman-filter. Additionally, all of the control algorithms are implemented in a Field Programmable Gate Array (FPGA) with a fast sampling rate that also enables the ability to widen the bandwidth of the force control system. The effectiveness of the proposed method is verified by experimental results.
{"title":"Wideband force control system based on friction free and noise free observation","authors":"Thao Tran Phuong, C. Mitsantisuk, K. Ohishi","doi":"10.1109/AMC.2012.6197016","DOIUrl":"https://doi.org/10.1109/AMC.2012.6197016","url":null,"abstract":"In this paper, a new force sensing technique is proposed to achieve a friction free and wideband force control of a ball screw system. A periodic signal is inserted into the control system for friction reduction. A combination of a high-order disturbance observer and a Kalman-filter is constructed to perform the force sensing operation. The high-order disturbance observer is designed to obtain force estimation with the cancellation of oscillatory disturbance caused by additional periodic signal. The force sensing bandwidth is improved owing to the effective noise suppression in the estimated force by Kalman-filter. Additionally, all of the control algorithms are implemented in a Field Programmable Gate Array (FPGA) with a fast sampling rate that also enables the ability to widen the bandwidth of the force control system. The effectiveness of the proposed method is verified by experimental results.","PeriodicalId":6439,"journal":{"name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"50 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2012-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90618542","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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