Pub Date : 2012-03-25DOI: 10.1109/AMC.2012.6197139
Dariusz Janiszewski
This paper describes a study and experimental verification of sensorless control of Permanent Magnet Synchronous Motor in mechatronics application. There are proposed novel estimation strategy based on the Unscented Kalman Filter, using only the measurement of the motor current for on-line estimation of speed, rotor position and disturbance - load torque. Information about the load is important for complex drive control systems like robot arm. It is seldom obtained by estimation way especially in sensorless systems. Used Kalman filter is an optimal state estimator and is usually applied to a dynamic system that involves a random noise environment. Control structure with unscented algorithm, in real time requires a very efficient signal processor. Experimental results have been carried out to verify the effectiveness and applicability of the novel proposed estimation technique.
{"title":"Disturbance estimation for sensorless PMSM drive with Unscented Kalman Filter","authors":"Dariusz Janiszewski","doi":"10.1109/AMC.2012.6197139","DOIUrl":"https://doi.org/10.1109/AMC.2012.6197139","url":null,"abstract":"This paper describes a study and experimental verification of sensorless control of Permanent Magnet Synchronous Motor in mechatronics application. There are proposed novel estimation strategy based on the Unscented Kalman Filter, using only the measurement of the motor current for on-line estimation of speed, rotor position and disturbance - load torque. Information about the load is important for complex drive control systems like robot arm. It is seldom obtained by estimation way especially in sensorless systems. Used Kalman filter is an optimal state estimator and is usually applied to a dynamic system that involves a random noise environment. Control structure with unscented algorithm, in real time requires a very efficient signal processor. Experimental results have been carried out to verify the effectiveness and applicability of the novel proposed estimation technique.","PeriodicalId":6439,"journal":{"name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"30 1","pages":"1-7"},"PeriodicalIF":0.0,"publicationDate":"2012-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87006999","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.2012.6197017
Holger Mönnich, H. Wörn, D. Stein
OP:Sense is a research platform developed for applications in roboter assisted surgery. The system can be used for automatic positioning tasks, like CO2 laser cutting or conventional bone cutting techniques or highly accurate positioning, like needle placement in biopsie. Due to the flexibility of the used lightweight robots the system can also be used for minimal invasive surgery. Also new combinations of MIRS techniques and automatic positioning becomes possible, a semi-autonomous usage of the surgical robotic system. In this paper the focus is to describe the control system developed for OP:sense that enables to use the system in a wide area of surgical applications.
{"title":"OP sense — A robotic research platform for telemanipulated and automatic computer assisted surgery","authors":"Holger Mönnich, H. Wörn, D. Stein","doi":"10.1109/AMC.2012.6197017","DOIUrl":"https://doi.org/10.1109/AMC.2012.6197017","url":null,"abstract":"OP:Sense is a research platform developed for applications in roboter assisted surgery. The system can be used for automatic positioning tasks, like CO2 laser cutting or conventional bone cutting techniques or highly accurate positioning, like needle placement in biopsie. Due to the flexibility of the used lightweight robots the system can also be used for minimal invasive surgery. Also new combinations of MIRS techniques and automatic positioning becomes possible, a semi-autonomous usage of the surgical robotic system. In this paper the focus is to describe the control system developed for OP:sense that enables to use the system in a wide area of surgical applications.","PeriodicalId":6439,"journal":{"name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"38 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":"82269471","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.2012.6197049
Takahiko Sato, H. Ono, K. Ohnishi
Many researchers proposed methods to adapt uneven terrain for biped robots. Environmental mode compliance control is one of those methods. Another feature of this control is that it makes a walking stability. However, the environmental mode compliance controller cannot maintain the body horizontally, and cannot be applied if the body is inclined. In this paper, gyroscope integrated environmental mode compliance control is proposed. This method can compensate the ZMP error due to the inclination of the body. Thus, this method can be applied even if the body is inclined. The validity of the proposed method is confirmed by experimental results.
{"title":"Gyroscope integrated environmental mode compliance control for biped robot","authors":"Takahiko Sato, H. Ono, K. Ohnishi","doi":"10.1109/AMC.2012.6197049","DOIUrl":"https://doi.org/10.1109/AMC.2012.6197049","url":null,"abstract":"Many researchers proposed methods to adapt uneven terrain for biped robots. Environmental mode compliance control is one of those methods. Another feature of this control is that it makes a walking stability. However, the environmental mode compliance controller cannot maintain the body horizontally, and cannot be applied if the body is inclined. In this paper, gyroscope integrated environmental mode compliance control is proposed. This method can compensate the ZMP error due to the inclination of the body. Thus, this method can be applied even if the body is inclined. The validity of the proposed method is confirmed by experimental results.","PeriodicalId":6439,"journal":{"name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"6 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":"76917864","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.2012.6197018
R. Furusawa, K. Ohishi, K. Kageyama, Masaru Takatsu, S. Urushihara
Currently, most plastic products are manufactured using injection molding machines. The quality of products produced this way depends largely on the injection force. In the force control system of a typical injection molding machine, force information from the machine's environment is obtained by a force sensor. However, these sensors have several disadvantages, which include signal noise, sensor cost, and a narrow bandwidth. Thus, sensorless force detection methods are desirable. The use of a reaction force observer, based on the two-inertia resonant model, has been proposed. However, this method is inaccurate due to the influence of nonlinear friction phenomenon. We have previously proposed a new injection force estimation method based on a high-order reaction force observer (HORFO), which is not significantly influenced by the nonlinear friction phenomenon. In this paper, an automatic parameter-switching HORFO (APS-RFO) is proposed to improve the estimation accuracy of HORFO. Moreover, this paper evaluates the possibility of a sensorless force control system using the proposed APS-RFO.
{"title":"Force sensorless pressure control considering nonliner friction phenomenon for electric injection molding machine","authors":"R. Furusawa, K. Ohishi, K. Kageyama, Masaru Takatsu, S. Urushihara","doi":"10.1109/AMC.2012.6197018","DOIUrl":"https://doi.org/10.1109/AMC.2012.6197018","url":null,"abstract":"Currently, most plastic products are manufactured using injection molding machines. The quality of products produced this way depends largely on the injection force. In the force control system of a typical injection molding machine, force information from the machine's environment is obtained by a force sensor. However, these sensors have several disadvantages, which include signal noise, sensor cost, and a narrow bandwidth. Thus, sensorless force detection methods are desirable. The use of a reaction force observer, based on the two-inertia resonant model, has been proposed. However, this method is inaccurate due to the influence of nonlinear friction phenomenon. We have previously proposed a new injection force estimation method based on a high-order reaction force observer (HORFO), which is not significantly influenced by the nonlinear friction phenomenon. In this paper, an automatic parameter-switching HORFO (APS-RFO) is proposed to improve the estimation accuracy of HORFO. Moreover, this paper evaluates the possibility of a sensorless force control system using the proposed APS-RFO.","PeriodicalId":6439,"journal":{"name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"14 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":"79654359","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.2012.6197055
Nobuyuki Togashi, T. Shimono, N. Motoi
This paper proposes a manipulability servoing control method in null space for redundant bilateral control system with different degrees of freedom (DOF). In the redundant bilateral system, the error of manipulability in work space is arised by different DOF between master and slave systems. As a result, it is difficult to achieve the precise motion control. In order to solve this problem, a bilateral control method based on null space with the manipulability measure is proposed. This paper verifies the effectiveness of the proposed method by simulation and experimental results.
{"title":"Manipulability servoing control in null space for redundant bilateral control system with different degrees of freedom","authors":"Nobuyuki Togashi, T. Shimono, N. Motoi","doi":"10.1109/AMC.2012.6197055","DOIUrl":"https://doi.org/10.1109/AMC.2012.6197055","url":null,"abstract":"This paper proposes a manipulability servoing control method in null space for redundant bilateral control system with different degrees of freedom (DOF). In the redundant bilateral system, the error of manipulability in work space is arised by different DOF between master and slave systems. As a result, it is difficult to achieve the precise motion control. In order to solve this problem, a bilateral control method based on null space with the manipulability measure is proposed. This paper verifies the effectiveness of the proposed method by simulation and experimental results.","PeriodicalId":6439,"journal":{"name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"1 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":"90452220","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.2012.6197091
E. Saito, S. Katsura
Recently, teleoperated robots have been researched for working in ultimate environment actively. Developing performance of teleoperated robots, it will be possible for human to work in such a ultimate environment with safety. However, in the actual case, as gears are used for amplifying output, stiffness of connection part reduces and vibration occurs. Moreover, communication delay causes vibration, too. In addition, in the worst case, the system becomes unstable. Therefore, in this paper, for suppression of the vibration, vibration control using wave compensator is proposed. In the proposal, there are two important control structures. Firstly, reflected wave in the resonant system is eliminated by reflected wave rejection. Transfer function of wave equation without reflected wave is composed of a time delay. Therefore, resonant system can be regarded as time delay system. Next, vibrations from flexible mechanism and communication delay are simultaneously suppressed by wave compensator. Finally, the validity of the proposal is verified by experimental results.
{"title":"Vibration control of flexible system with communication delay using wave compensator","authors":"E. Saito, S. Katsura","doi":"10.1109/AMC.2012.6197091","DOIUrl":"https://doi.org/10.1109/AMC.2012.6197091","url":null,"abstract":"Recently, teleoperated robots have been researched for working in ultimate environment actively. Developing performance of teleoperated robots, it will be possible for human to work in such a ultimate environment with safety. However, in the actual case, as gears are used for amplifying output, stiffness of connection part reduces and vibration occurs. Moreover, communication delay causes vibration, too. In addition, in the worst case, the system becomes unstable. Therefore, in this paper, for suppression of the vibration, vibration control using wave compensator is proposed. In the proposal, there are two important control structures. Firstly, reflected wave in the resonant system is eliminated by reflected wave rejection. Transfer function of wave equation without reflected wave is composed of a time delay. Therefore, resonant system can be regarded as time delay system. Next, vibrations from flexible mechanism and communication delay are simultaneously suppressed by wave compensator. Finally, the validity of the proposal is verified by experimental results.","PeriodicalId":6439,"journal":{"name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"1 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":"75159329","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.2012.6197113
V. Salvucci, Sehoon Oh, Y. Hori
Bi-articular actuators - actuators that span two joints - are rising interest in robot application because they increase stability, optimize force production, and reduce the nonlinearity of the end effector force as a function of force direction. In this paper, we propose an approach to resolve actuator redundancy for bi-articularly actuated robot arms in which the three actuators produce maximum joint actuator torques that differs among each other. A closed form solution based on the infinity norm is derived. The proposed infinity norm based approach is compared with the conventional 1-norm and 2-norm based methods. Under the same actuator limitations, the maximum end effector force produced with the proposed method is significantly greater than the one produced by the conventional methods. The proposed closed form solution is suitable for redundant systems with three inputs and two outputs, bringing the advantage of an higher maximum output without the need for iterative algorithms.
{"title":"Analysis of actuator redundancy resolution methods for bi-articularly actuated robot arms","authors":"V. Salvucci, Sehoon Oh, Y. Hori","doi":"10.1109/AMC.2012.6197113","DOIUrl":"https://doi.org/10.1109/AMC.2012.6197113","url":null,"abstract":"Bi-articular actuators - actuators that span two joints - are rising interest in robot application because they increase stability, optimize force production, and reduce the nonlinearity of the end effector force as a function of force direction. In this paper, we propose an approach to resolve actuator redundancy for bi-articularly actuated robot arms in which the three actuators produce maximum joint actuator torques that differs among each other. A closed form solution based on the infinity norm is derived. The proposed infinity norm based approach is compared with the conventional 1-norm and 2-norm based methods. Under the same actuator limitations, the maximum end effector force produced with the proposed method is significantly greater than the one produced by the conventional methods. The proposed closed form solution is suitable for redundant systems with three inputs and two outputs, bringing the advantage of an higher maximum output without the need for iterative algorithms.","PeriodicalId":6439,"journal":{"name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"153 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":"77026264","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.2012.6197136
Kouki Abe, Takahiro Suga, Y. Fujimoto
This paper proposes the novel force control method based on higher-order derivative for high-backdrivable actuation of the robot employing elastomer-based series elastic actuators (SEAs). Control of SEAs is generally difficult because they consist of an underactuated 2-inertia system. Previously, we control it with a position control method. Lately, we employ a torque control method to overcome several problems. The new one enable robot to be controlled more easily, safely and efficiently. To evaluate this method, the experiments of previous position control method, conventional force control method, and proposed force control method are performed.
{"title":"Control of a biped robot driven by elastomer-based series elastic actuator","authors":"Kouki Abe, Takahiro Suga, Y. Fujimoto","doi":"10.1109/AMC.2012.6197136","DOIUrl":"https://doi.org/10.1109/AMC.2012.6197136","url":null,"abstract":"This paper proposes the novel force control method based on higher-order derivative for high-backdrivable actuation of the robot employing elastomer-based series elastic actuators (SEAs). Control of SEAs is generally difficult because they consist of an underactuated 2-inertia system. Previously, we control it with a position control method. Lately, we employ a torque control method to overcome several problems. The new one enable robot to be controlled more easily, safely and efficiently. To evaluate this method, the experiments of previous position control method, conventional force control method, and proposed force control method are performed.","PeriodicalId":6439,"journal":{"name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"60 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":"75629562","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.2012.6197106
D. Chugo, Y. Morita, S. Yokota, Y. Sakaida, K. Takase
This paper proposes a standing assistance control for our robotic walker system. Our developing assistance system is based on a walker which is a popular assistance device for an aged person in normal daily life and realizes a standing motion using its support pad which is actuated by novel assistance manipulator mechanisms with four parallel linkages. Our system assists a standing motion using a remaining physical strength of a patient maximally in order not to decrease a force generating capacity of the patient. For realizing this function, this paper proposes the following two topics. The first topic is an estimation scheme of a patient's load. During standing assistance, our system measures the body motion and the applied force of a patient, and our system estimates the load of pelvis, knee and ankle joint using a linkage model which approximates the human body. The second topic is a combination of force and position control. According to the estimated load of a patient during standing motion, our control system selects more appropriate control method from them and realizes the standing assistance using the physical strength of the patient. The performance of our system is verified by experiments using our prototype.
{"title":"A robotic walker for standing assistance with realtime estimation of a patient's load","authors":"D. Chugo, Y. Morita, S. Yokota, Y. Sakaida, K. Takase","doi":"10.1109/AMC.2012.6197106","DOIUrl":"https://doi.org/10.1109/AMC.2012.6197106","url":null,"abstract":"This paper proposes a standing assistance control for our robotic walker system. Our developing assistance system is based on a walker which is a popular assistance device for an aged person in normal daily life and realizes a standing motion using its support pad which is actuated by novel assistance manipulator mechanisms with four parallel linkages. Our system assists a standing motion using a remaining physical strength of a patient maximally in order not to decrease a force generating capacity of the patient. For realizing this function, this paper proposes the following two topics. The first topic is an estimation scheme of a patient's load. During standing assistance, our system measures the body motion and the applied force of a patient, and our system estimates the load of pelvis, knee and ankle joint using a linkage model which approximates the human body. The second topic is a combination of force and position control. According to the estimated load of a patient during standing motion, our control system selects more appropriate control method from them and realizes the standing assistance using the physical strength of the patient. The performance of our system is verified by experiments using our prototype.","PeriodicalId":6439,"journal":{"name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"113 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":"73306507","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.2012.6197128
V. Lešić, M. Vašak, N. Peric, G. Joksimović, T. Wolbank
Faults of wind turbine generator electromechanical parts are common and very expensive. This paper introduces a fault-tolerant control scheme for variable-speed variable-pitch wind turbines that can be applied to any type of generator. We focus on generator stator isolation inter-turn fault that can be characterized before triggering the safety device. A simple extension of the conventional control structure is proposed that prevents the fault propagation while power delivery under fault is deteriorated as less as possible compared to healthy machine conditions. Presented fault-tolerant control strategy is developed taking into account its modular implementation and installation in available control systems of existing wind turbines to extend their life cycle and energy production. Simulation results for the case of a 700 kW wind turbine are presented.
{"title":"Fault-tolerant control of a wind turbine with a squirrel-cage induction generator and stator inter-turn faults","authors":"V. Lešić, M. Vašak, N. Peric, G. Joksimović, T. Wolbank","doi":"10.1109/AMC.2012.6197128","DOIUrl":"https://doi.org/10.1109/AMC.2012.6197128","url":null,"abstract":"Faults of wind turbine generator electromechanical parts are common and very expensive. This paper introduces a fault-tolerant control scheme for variable-speed variable-pitch wind turbines that can be applied to any type of generator. We focus on generator stator isolation inter-turn fault that can be characterized before triggering the safety device. A simple extension of the conventional control structure is proposed that prevents the fault propagation while power delivery under fault is deteriorated as less as possible compared to healthy machine conditions. Presented fault-tolerant control strategy is developed taking into account its modular implementation and installation in available control systems of existing wind turbines to extend their life cycle and energy production. Simulation results for the case of a 700 kW wind turbine are presented.","PeriodicalId":6439,"journal":{"name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"64 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":"80327180","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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