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Advanced Motion Control, 2006. 9th IEEE International Workshop on

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Displaying Results 1 - 25 of 137
  • Human adaptive mechatronics - interaction and intelligence

    Page(s): 1 - 8
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (5216 KB) |  | HTML iconHTML  

    Human adaptive mechatronics (HAM) is an intelligent mechanical system that adapts themselves to human skill under various environments, improves human skill, and assists the operation to achieve best performance of the human-machine system. In this new kind of human-machine system, human factor has to be taken into consideration for the motion-control design. In this paper, several topics of system theories that focus attention on the relation between human and machine are presented View full abstract»

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  • On the study of human-robot collaboration

    Page(s): 9 - 11
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (153 KB) |  | HTML iconHTML  

    Human-robot interaction (HRI) is being explored with the aim of creating rich, effective and satisfying interactions between humans and robots. Human-robot collaboration for learning, in which the measurable outcomes are information gain on the part of the humans in the system, is specifically focused upon. In the context of this focus on collaboration for learning, rich means a cognitively sophisticated interaction in which humans and robots communicate as peers; effective means that formal measures of human learning should yield significant outcomes; satisfying means that humans should find the interaction both useful and pleasurable. Two themes have dominated HRI research projects: how to field interactive robot systems to evaluate human-robot collaboration, and how to explicitly model human cognition and learning resulting from robot interaction. Models of interaction and evaluation methodology from human factors, HCI and cognitive psychology, have been joined and extended. Research in reasoning and social policy addresses the issue of decision-making and execution in the context of rich interaction and partial information. Research results and the evaluation methodology are validated, demonstrating significant improvement in interaction effectiveness from contributions as diverse as robot morphology design, diagnostic transparency, and affective behavior modeling. The current research thrust is a special case of collaboration: educational robotics, where robots collaborate with humans to promote learning. Statistical significance across learning themes is demonstrated using formal coding analyses. The present ambition in educational robotics is the principled design of a robotic platform and curriculum, based on an extension of coded learning themes, that can have significant impact on technology literacy and interest in science and engineering education at the middle school and high school levels View full abstract»

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  • A control system with high speed and real time communication links

    Page(s): 12 - 17
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (562 KB) |  | HTML iconHTML  

    Technological advances have enabled distributed control systems to be implemented via networks. This allows feedback control loops to be closed over a communication channel. This paper develops a control system with high speed and real time communication links. The two-degree-of-freedom control is utilized in this servo control system and delta-sigma modulation is employed to compress data and transmit the signal over the transmission channels between the controller and the servomotor. Simulations and experimental results show that it is possible to compensate the noise in signal transmission channels. In addition, FPGA is used in the control system and the communication system to realize high-speed control system with 0.6 mus sampling period and latency. The data is also compressed and transmitted with FPGA in the experiments View full abstract»

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  • LMI-based l/sub 2/ -l/spl infin/ stability analysis and control of networked control systems with randomly time-varying long delays

    Page(s): 18 - 22
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (238 KB) |  | HTML iconHTML  

    This note mainly studies stability and control of a class of networked control systems with randomly time-varying long delays. By choosing appropriate Lyapunov-Krasovskii functional and introducing the equivalent descriptor form of the system, LMI-based sufficient conditions for stability and control are derived. Finally the effectiveness of the proposed approach is illustrated by the numeric examples View full abstract»

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  • Passive teleoperation control with varying time delay

    Page(s): 23 - 28
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (266 KB) |  | HTML iconHTML  

    This paper is devoted to the passivity based control in force reflecting bilateral teleoperation for varying time communication delay. In order to improve the stability and task performance, master and slave in bilateral teleoperation must be coupled dynamically via the transmission network through which the force and velocity are communicated. However, time delay, caused by varies factors such as transmission distance, network congestion, and communication bandwidth, is a long standing impediment to bilateral control and can destabilize the system evidently. In this paper, we investigate how the varying time delay affects the advanced teleoperation stability and results in an out-of-control status. A new optimal adaptive approach based on passivity control has been bilaterally designed for both the master and slave sites, in which extra variables will be transmitted together with the wave variables in the scattering system. In the proposed scheme, we achieve not only a passive control but acceptable tracking performance and the tracking performance will verify this approach View full abstract»

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  • Design of gain-scheduling controller based on interpolation of loop shaping H/spl infin/ controller

    Page(s): 29 - 32
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (553 KB) |  | HTML iconHTML  

    In this paper, we propose a design method of gain-scheduling controller. We extend LSDP to gain-scheduling version. The controllers designed according to LSDP consist of a state observer and a regulator. The observer-gain and regulator-gain at each design point determine the control performance, and they are interpolated by polynomial. The gain-scheduling controller varies these gains according to the operating point. We apply the design method of gain-scheduling controller to a inverted pendulum and confirm the effectiveness of the proposed controller by some experiments View full abstract»

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  • Open architecture hierarchical predictive control for saturation avoidance

    Page(s): 33 - 38
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (315 KB) |  | HTML iconHTML  

    The paper presents a hierarchical predictive control structure developed for constraints avoidance within machining centres environment, approaching the constraints problem from a specific open architecture viewpoint combined with advanced control strategies. The saturation of the control signal is avoided by modifying the future setpoint through a "trajectory supervisor". Nevertheless, this modified setpoint might become unacceptable compared to the original one, in terms of profile accuracy. In this case, a "decisional module", based on the error between the modified reference avoiding the saturation and the initial one, starts a procedure for regenerating the remaining trajectory with adapted velocity parameters. The interest for this structure lays in its predictive and open architecture features. Tests performed within an open architecture virtual machining centre validate the effectiveness of this strategy View full abstract»

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  • Comparative analysis of two adaptive controls based on geometric principles of identification and the extension of the modified renormalization transformation

    Page(s): 39 - 43
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (289 KB)  

    In this paper two simple adaptive controllers are outlined that create only temporal and situation-dependent system models. They may be plausible alternatives of the more sophisticated soft computing approaches that aim at the identification of permanent and complete models. In both cases the temporal models can be built up and maintained step-by-step on the basis of slow elimination of fading information by the use of simple updating rules consisting of finite algebraic steps of lucid geometric interpretation, but in quite different manners. Both methods apply simple elimination of the casual algebraic singularities the occurrence of which cannot be evaded in the practice. The operation of the methods is illustrated by the control of a 2-degrees-of-freedom dynamic system as a typical paradigm via simulation View full abstract»

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  • Model predictive controller combined with LQG controller and velocity feedback to control the stewart platform

    Page(s): 44 - 49
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (311 KB) |  | HTML iconHTML  

    The main objective of this paper is to investigate the performance and applicability of two GPC (generalized predictive control) based control methods on a complete benchmark model of the Stewart platform made in MATLAB V6.5. The first method involves an LQG controller (linear quadratic Gaussian) and GPC and the second method use a combination of velocity feedback and GPC View full abstract»

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  • Position control of a stewart-gough platform using inverse dynamics method with full dynamics

    Page(s): 50 - 55
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (395 KB) |  | HTML iconHTML  

    The Stewart-Gough platform is a six DOF parallel robot manipulator with a force-to-weight ratio and positioning accuracy far exceeding those of a conventional serial-link arm. In this article, application of an inverse dynamics control scheme Stewart-Gough platform is proposed. Control of the parallel manipulator is an open field and the works reported are not rigorous. Kinematic equations of the robot are presented; full dynamic equations of the Stewart-Gough platform are derived using Lagrange's formulation approach. Simulation results illustrate the performance of the control algorithm View full abstract»

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  • New synthesis design of reliable robust tracking controllers using LMI

    Page(s): 56 - 61
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (245 KB) |  | HTML iconHTML  

    The synthesis and design problem for reliable tracking controller against actuator faults is studied in this paper. A more practical and general model of actuator faults for linear uncertain systems is presented. Sufficient conditions for the existence of a reliable tracking controller are derived. Then the design of a state feedback reliable controller design is accomplished by means of LMI based methodology. Comparison analysis is carried out of control system employing reliable tracking controller and the system without, which demonstrated the necessity of reliable tracking control concept. The example also illustrates the effectiveness of the proposed synthesis View full abstract»

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  • Takeoff and landing control using force sensor by electrically-powered helicopters

    Page(s): 62 - 65
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (464 KB) |  | HTML iconHTML  

    A takeoff and landing control of helicopters using a force sensor helicopter is introduced. The system consists of a small electrically-powered helicopter, a flight base under which the force sensor is set, and a helicopter control terminal which is connected to a system controller. When the helicopter stands on the base, the force sensor outputs data corresponding to the weight of the helicopter. As the operational voltage rises, the helicopter almost takes off from the base. Concurrently, the force sensor output closes to 0. It means that lift force related to force output becomes from 0 N to the value corresponding to the weight. This paper introduces the design process including system modeling and the experimental results View full abstract»

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  • An integrated environment for the modeling and simulation of mechatronics devices

    Page(s): 66 - 71
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (422 KB) |  | HTML iconHTML  

    One of the most common sources of performance limitation in the control of mechatronic systems is associated to the coupling dynamics of the different degrees of freedom, induced by the elasticity in some components. Indeed, in industrial environments, they must perform tasks with rapidity and accuracy in order to produce goods and services with minimal production time. These procedures require the use of flexible robots which can act in a large workspace, thus subject to important parameters variations. The design of the control system should guarantee a damped behavior of the load position, both in the set point response and in the rejection of the disturbances arising from the joints operation. This paper presents an application of generalized predictive control (GPC) to a robot trajectory control using an integrated virtual environment for the modeling and simulation of mechatronics devices View full abstract»

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  • Gravity estimation and compensation of grasped object for bilateral teleoperation

    Page(s): 72 - 77
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (619 KB)  

    This paper describes a design method of a master-slave system for grasping and manipulation. A human operator directly touches and manipulates the master manipulator while the slave manipulator grasps an object. A bilateral control method is applied for the system. 4ch controller with disturbance observer and workspace observer is adapted to the system. This controller realizes stable contact with the object and accurate transmission of reaction force from it. Human force and reaction force are estimated by reaction force observer without any force sensor. With this bilateral control method, a human operator feels grasping force, manipulating force and gravity of the grasped object. However, gravity interferes with his manipulation of the object when it is too large. Therefore, a method for gravity estimation and compensation of a grasped object is proposed. A human operator doesn't feel gravity of the object, but feels grasping and manipulating sensation with this method. Simulation and experimental results show the validity of the proposed method View full abstract»

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  • Contact state determination for robotic-based cylindrical pair height adjustment under dynamic conditions

    Page(s): 78 - 83
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (386 KB) |  | HTML iconHTML  

    This paper investigates fine motion strategies associated with the height adjustment manipulations of a cylindrical pair which can be utilised in dynamic assembly and reconfigurable workholding systems. The outer link of the cylindrical pair is held by the end-effector of a 6DOF serial articulated robot. The environment which holds the inner link can be dynamic. Formulations capable of identifying the type of contact between the links and parameters vital for control purposes based on the force and torque data provided by a wrist mounted F/T sensor are established for a generic spatial case. Experimental results indicate that the established methodology is effective in determining the state of contact for the height adjustment operation View full abstract»

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  • Modal system design of multi-robot systems by interaction mode control

    Page(s): 84 - 89
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (466 KB)  

    Motion control technology in open environment will be more and more important. Motion systems should interact with other systems or environment. To adapt complicated environments and do tasks, a realization of multidegree-of-freedom motion is necessary for human cooperating motion. This paper proposes a unified control approach for multi-robot systems by interaction mode control. The proposed interaction mode control considers only the interactions between the systems. The interactions are abstracted by using the quarry matrix. Since the transformed modes are independent to each other, it is possible to design controller in the modal space. This paper also proposes a novel control index named "hybrid ratio". The hybrid ratio is defined as the transfer function from the external acceleration input to the acceleration response of the system. Since it is possible to realize the assigned hybrid ratio in each mode according to the task, the motion command with the hybrid ratio is represented as the task language. Thus, the interaction mode control is able to be treated as the task kinematics. The proposed interaction mode control is applied for grasping motion by multi-robot systems. The experimental results show viability of the proposed method View full abstract»

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  • A fundamental study on reconfigurable robot system construction with central- and local intelligence

    Page(s): 90 - 93
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (322 KB)  

    This paper deals with a study on reconfigurable robots. Firstly, the concept of the reconfigurable robot is described. Secondly, construction of the distributed robot control system consisting of local- and central intelligence is explained. Then the authors propose virtual velocity transmission algorithm (VVTA) as the best-suited control scheme for this system, and finally confirm by simulation the effectiveness of the proposed Algorithm View full abstract»

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  • Motion control design of a manufactory plant by dedicated software

    Page(s): 94 - 98
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (431 KB) |  | HTML iconHTML  

    The paper presents a new approach to the motion control design of a manufactory plant. It is based on the virtual reality simulation of the plant and on the use of dedicated software for the motion control design. The new approach allows to verify the validity of the mechanical structure and the design of the actual profiles of the speed and the torque of each drive. These information are fundamental to tune the size of the drives to the motion requirements. Three standard software are used to attain the desired results View full abstract»

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  • Control design for self servo track writer using estimation of the head position

    Page(s): 99 - 102
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (282 KB) |  | HTML iconHTML  

    In the production process of hard disk drive (HDD), there is a process of writing servo signals on magnetic disks to move the head to target address. However, such a servo track writer takes a longer time to draw servo signals because of the recent increase of the capacity of HDD. Therefore, a low-cost method to draw servo signals is desired. In order to resolve the problems, SSTW method (self servo track writing) which draws servo signals with its own head was suggested. In the SSTW method, there are two problems to realize it. One is how to know where the absolute position of head is. The other is that written servo tracks diverge because gain of the feedback controller is higher than 0 [dB] in high frequency domain. In this paper, the problems of SSTW are summarized and past work proposed by Bando and Hori (2004) is introduced. This method is essentially different from other methods, and performance is dramatically improved. The main ideas of this method, namely the estimation of the head position and the design of feedforward input, are introduced and simulation results are shown View full abstract»

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  • Vibration control above the nyquist frequency in hard disk drives

    Page(s): 103 - 108
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (333 KB) |  | HTML iconHTML  

    In conventional hard disk drives, a control system compensates the mechanical resonance by using a multi-rate notch filter that can decrease the gain above the nyquist frequency. However, such a control system (which is based on the small-gain theorem) only avoids becoming unstable by mechanical resonances. It cannot suppress the vibrations caused by these resonances. In response to these problems, we proposed a design method for a sampled-data control system that uses frequency responses of a controlled object and a digital controller. Our method can calculate the norm of the sensitivity function in a sampled-data system and design a control system that decreases vibrations that occur at frequencies above the nyquist frequency. When the method was applied to the head-positioning system of a hard disk drive, we found that a mechanical resonance, in which the frequency was above the nyquist frequency, could be stabilized by the phase condition, and the vibrations could be decreased by the control system View full abstract»

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  • Accurate friction compensation for precision stage using synchronous piezoelectric device driver

    Page(s): 109 - 114
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (322 KB) |  | HTML iconHTML  

    It is well-known that one of the major limitations to achieve a good performance in mechanical systems is the presence of friction. High resolution positioning systems operating with accuracies in nanometer region usually exhibit relatively large steady-state tracking errors or even oscillations if controllers are designed without considering friction. Consequently, this paper aims at improving the position control of a high precision stage using a synchronous piezoelectric device driver (SPIDER) by comparing the performances of three friction compensators. These friction compensators detect friction in the system and use this information to modify the control input. The first using bang-bang control is based on the well-known static friction model. The second is a friction state observer based on the dynamic friction LuGre model, and the third is a feed-forward compensator based on the LuGre model. In order to effect a fair comparison, three friction compensators use the same identified friction parameters in controller synthesis. The performance comparisons are presented by means of experimental results on the proposed high precision stage using SPIDER View full abstract»

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  • Fast and precise positioning of ball screw-driven table system using minimum jerk control-based command shaping

    Page(s): 115 - 119
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (316 KB) |  | HTML iconHTML  

    This paper presents a minimum jerk transition method-based position command shaping without the specified frequency components. In the mechatronic fields, the 2-degrees-of-freedom position controller is well-known powerful tool to realize both the robust stability and the fast and precise positioning performance. On the other hand, the notch filter to suppress the lower frequency vibration deteriorates the position responses due to the essential phase delay of the notch filter. From the standpoint of view of the frequency component in the command waveform corresponding to the resonant frequency causes the resonant vibration, the command shaping should be considered as one of design freedoms. In this paper, the minimum jerk control-based position command shaping is applied instead of the notch filter to suppress the lower frequency vibrations such as a machine stand vibration. The application of the position command shaping provides better vibration suppression performance and reduces the calculation cost/time for the signal processing. The effectiveness of the proposed position command shaping has been verified by experiments using a table drive system View full abstract»

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  • On-line measurement and compensation of geometrical errors for cartesian numerical control machines

    Page(s): 120 - 125
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (339 KB) |  | HTML iconHTML  

    The form error of linear guides severely affects the positioning accuracy of Cartesian three axis machine tools, and the detrimental effect sensibly reduces the accuracy as the travel length increases. The present work illustrates a technique allowing the computation of the overall positioning error on the tool holder of a three axis Cartesian machine as a function of the elementary geometrical (or form) errors characterising the three motion axes. The overall positioning error is expressed as an error vector acting on the tool holder, and is obtained as a combination of the 3 linear and 3 angular form errors measured for each linear motion axis. The vector field representing the positioning error can be used by the computer numerical control as an error compensation reference. The technique has been successfully implemented on the CNC of a large three axis milling machine. Furthermore, the measurement of angular errors can be repeated on-line, at a regular time schedule, by mean of servo-controlled inclinometers mounted on the machine elements. This allows to keep up-to-date the compensation algorithm used by the CNC. The second part of the paper investigate the feasibility of this on-line calibration of the error compensation algorithm, by means of a simplified breadboard View full abstract»

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  • A new direct deformation sensor for active compensation of positioning errors in large milling machines

    Page(s): 126 - 131
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (305 KB) |  | HTML iconHTML  

    The positioning accuracy of large boring and milling machines (with axes travel larger than 5 m) is severely affected by structural deformations. Heat induced deformations, long-period deformation of foundations, and the machining process itself, cause time-dependent structural deformations of the machine body, which are difficult to model and to predict. In order to overcome these difficulties and to enhance the positioning accuracy, a composite sensor has been designed and tested, which allows direct and continuous (up to 250 Hz) measurement of geometrical deformations on machine structural elements. The present paper i) presents the operating principles of the proposed composite sensor, which is based on an array of fiber-optics Bragg gratings (FBG), ii) discusses requisites and performances of the sensor as well as the algorithm used to calculate the deformed shape as a function of the sensor output, iii) illustrates the results of a finite elements virtual model aimed to demonstrate the feasibility and to evaluate the expected performance of the sensor, and iv) validates the model by showing the results obtained by a sensor prototype giving a real-time measurement of the deformed shape of a structural beam View full abstract»

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  • New robust feedforward tracking control structure for optical disk recording system

    Page(s): 132 - 137
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (804 KB)  

    In optical recording system, the tracking servo system must follow the track of optical disk against the influence of the track eccentricity and the force disturbance. In tracking servo system, the influence of the track eccentricity becomes periodic disturbance. The influence of force disturbance caused by shaking is treated as sudden disturbance. Several control methods suppressing the periodic disturbance have been proposed. On the other hand, it is difficult to detect the sudden disturbance without force sensor. In the conventional tracking servo system, the influence of sudden disturbance has been suppressed by the feedback controller. This paper proposes a new structure of robust tracking servo system, which detects and suppresses the both periodic disturbance and the sudden disturbance without force sensor. The proposed system estimates the both periodic disturbance and sudden disturbance based on a new sudden disturbance observer and memory of tracking error. Moreover, in order to suppress the periodic disturbance quickly, this paper designs the ZPET feedforward servo system with prediction of tracking error. The experimental results point out that the proposed tracking servo system has a precise tracking response against both periodic disturbance and sudden disturbance View full abstract»

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