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Advanced Motion Control, 2010 11th IEEE International Workshop on

Date 21-24 March 2010

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  • [Front cover]

    Publication Year: 2010 , Page(s): c1
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  • [Back cover]

    Publication Year: 2010 , Page(s): c4
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  • [Copyright notice]

    Publication Year: 2010 , Page(s): 1
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  • Welcome to AMC2010-Nagaoka

    Publication Year: 2010 , Page(s): i - viii
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    Freely Available from IEEE
  • Plenary sessions

    Publication Year: 2010 , Page(s): ix - xiii
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    Provides an abstract for each of the plenary presentations and a brief professional biography of each presenter. The complete presentations were not made available for publication as part of the conference proceedings. View full abstract»

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  • Table of contents

    Publication Year: 2010 , Page(s): xv - xxiii
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  • Path tracking of an unicycle robot with a wide-type wheel aimed for navigation

    Publication Year: 2010 , Page(s): 268 - 272
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (865 KB) |  | HTML iconHTML  

    The purpose of this research is to realize a motion along a straight line by a unicycle robot. The robot consists of upper and lower bodies connected with a joint. Our final target of this research is to realize navigation in indoor environment with the robot. In this paper, we describe the driving control system, and show results of the motion desired. View full abstract»

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  • Slip ratio estimation and regenerative brake control without detection of vehicle velocity and acceleration for electric vehicle at urgent brake-turning

    Publication Year: 2010 , Page(s): 273 - 278
    Cited by:  Papers (9)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (938 KB) |  | HTML iconHTML  

    In slip ratio control systems, it is necessary to detect vehicle velocity in order to detect the slip ratio. However, it is very difficult to measure the vehicle velocity directly. Then, we have proposed an estimation method and control method of slip ratio without detecting both the vehicle velocity and the acceleration. In this paper, we carry out simulations and experiments of the estimation method and the control method in turning motion with an electric vehicle. The vehicle motion is stable with the slip ratio control. We verify practical effectiveness of the proposed algorithm. View full abstract»

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  • Rupture detection for exenteration of tissues using two-DOF haptic surgical forceps robot

    Publication Year: 2010 , Page(s): 284 - 289
    Cited by:  Papers (8)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1519 KB) |  | HTML iconHTML  

    This paper proposes a novel method which detects a rupture of organs based on environmental impedance estimation. The proposed method detects the rupture of the organs which is conducive to serious medical accident. The environmental impedance is estimated from position and force responses of a surgery robot by using recursive least-squares algorithm. The rupture behavior is analyzed, and thresholds are settled with respect to each organ to detect the rupture. In the experiment, a two-DOF haptic surgical forceps robot which implements the bilateral control based on robust acceleration control is used. The experimental results show the effectiveness of the proposed method. View full abstract»

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  • Force sensor-less power assist control for low friction systems

    Publication Year: 2010 , Page(s): 290 - 295
    Cited by:  Papers (3)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1103 KB) |  | HTML iconHTML  

    Nowadays aging population is increasing in many country. As a consequence power assist devices are growing in importance. Knowing the force that the user applies is a key aspect in the control of these devices. Force sensors are often used, even though they are generally expensive, heavy and characterized by time delay. To overcome these aspects, force sensor-less power assist control (FSPAC) aims to estimate the force to assist by using only encoders. However, FSPAC is generally not robust against plant uncertainties. In this paper, FSPAC with variable gain is proposed and implemented on a system representing a door, actuated by a linear motor. The results show that the proposed control design increases FSPAC's safety and robustness. View full abstract»

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  • Steering DTC algorithm for IPMSM used in electrical vehicle (EV)- with fast response and minimum torque ripple

    Publication Year: 2010 , Page(s): 279 - 283
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (540 KB) |  | HTML iconHTML  

    This work focuses on providing sensorless DTC for IPMSM with minimum torque ripple and at the same time with a simple algorithm to be implemented with hardware. The developed algorithm method follows the principle of steering that corrects the direction of vehicle from deviation. The algorithm uses the output of two hysteresis controllers used in the traditional HDTC to determine two adjacent active vectors. It also uses the magnitude of the torque error and stator flux linkage position to select the switching time required for the two selected vectors. The selection of the switching time for the selected vector consider the system inertia and control time delay utilizes a new suggested table structure, which reduces the complexity of calculation. The simulation and experimental results of this proposed algorithm show adequate dynamic torque performance and considerable torque ripples reduction as well as lower harmonic current as compared to traditional HDTC. View full abstract»

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  • Novel robot arm with bi-articular driving system using a planetary gear system and disturbance observer

    Publication Year: 2010 , Page(s): 296 - 301
    Cited by:  Papers (10)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1220 KB) |  | HTML iconHTML  

    In this paper, we develop a robot arm with a bi-articular driving system which can incorporate the principle of the bi-articular muscle characteristics of animals. The arm is different from the conventional robot arms that are driven by actuators inserted in each joint, since it has an additional actuator that can generate the torques in two joints at the same time so that the actuator works as a bi-articular muscle. In order to mimic bi-articular driving system, we adopt a planetary gear system that has three inputs and two outputs. This three inputs and two outputs characteristic is similar with the muscle system, however, it does not match one by one and it needs some strategy to make the planetary gear system work as a muscle system. To this end we suggest novel control algorithms: the first is a feedforward control and the second is a feedback control based on the disturbance observer. Details on the design of a robot arm with a planetary gear and control algorithms are given in this paper. View full abstract»

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  • Development of Intelligent Power Wheelchair assisting for people on daily life using motion recognition

    Publication Year: 2010 , Page(s): 302 - 306
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1310 KB) |  | HTML iconHTML  

    In this research, Authors participated in a research project about ¿Development of Intelligent Power Wheelchair assisting for people on Daily Life¿. Recently, the number of elderly people increases. And the development of welfare apparatus having the effect of minimizing care is required because the care prevention is important to promote independence and moderate exercise for elderly people by one's power. Authors develop Intelligent Power Wheelchair along with minimizing care needs for frail elderly people. This wheelchair consists of commercial sensors and a commercial wheelchair. With data observed by these sensors, the movement of the person is analyzed. In the welfare engineering, to provide the most suitable service, it is important a system understands the human's intention. This Wheelchair has three functions, Approach Function by human gesture, Operation Assistance Function by posture recognition, and Corner Assistance Function by motion recognition. Finally it shows utility by verification experiments. View full abstract»

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  • A reproduction method of human motion based on integrated information for haptic skill education

    Publication Year: 2010 , Page(s): 307 - 312
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1317 KB) |  | HTML iconHTML  

    This paper proposes a reproduction system of human motion for haptic skill education. In this system, a robot guides a trainee to follow an expert's motion and show the expert's action force to the trainee. In the proposed method, haptic information of the expert is recorded at first. To record the haptic information, master-slave robots on which bilateral control is implemented are utilized. The proposed system is composed of a timelike reproduction system and a spacelike reproduction system. The timelike reproduction system is designed for the trainee to learn when and how to apply the action force to the robot. The spacelike reproduction system is designed for the trainee to learn how to operate the robot in the correspondent trajectory as the expert operates the robot. The validity of the proposed method is confirmed by experiments. View full abstract»

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  • Modeling of the interaction force between the instrument and the trocar in minimally invasive surgery

    Publication Year: 2010 , Page(s): 313 - 318
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (739 KB) |  | HTML iconHTML  

    Trocars used in Minimally Invasive Surgery (MIS) are equipped with a sealing mechanism. During the motion of an instrument through a trocar, the sealing mechanism deforms itself. None of the friction models presented in the literature capture the macroscopical deformation of the seal mechanism. Therefore a specific hybrid model is developed to describe the movement of an instrument through a trocar. The only geometrical assumption of this model is the axial symmetry of the two bodies. It can thus be applied to all problems with the same symmetry. Two operating modes are distinguished, corresponding to the deformation of the sealing mechanism on the one hand, and to the sliding phase through the trocar on the other hand. The model is identified and validated using experimental data recorded on a dedicated test setup. View full abstract»

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  • Bilateral control based on human model for haptic communication

    Publication Year: 2010 , Page(s): 319 - 324
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1848 KB) |  | HTML iconHTML  

    This paper discusses about a haptic communication system. Recently the haptic information is attracted attention as the third sense of communication information. And the real world haptics is the key technology for the haptic communication. However, the present approach of the teleoperation system postulates that human touches the remote object via the device like as the remote surgery. Considering using the real world haptics for person-to-person haptic communication tool, the exoskeleton-endoskeleton haptic system is necessary. Thus in this paper, we focus the exoskeleton-endoskeleton haptic system and bilateral control in the human modal space is proposed. The availability of the proposed method is shown by experiments. View full abstract»

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  • Nonlinear compensation method with bang-bang compensator for a high precision stage using synchronous piezoelectric device driver

    Publication Year: 2010 , Page(s): 1 - 6
    Cited by:  Papers (1)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1196 KB) |  | HTML iconHTML  

    The need for high precision and a fast response time in positioning tables in the machine tool and semiconductor fields has grown. To achieve such requirements, a synchronous piezoelectric device driver to control the stage has been proposed. The stage is driven by the scratching force of this device, but the control performance was shown to be affected by the nonlinear friction force. Thus, a friction compensation method which was based on PID+FF control with sliding mode compensator was proposed for a high precision stage control [1]. In this paper, we propose an alternative compensation method, consisting of the conventional method with a bang-bang friction compensator. Experimental results are given to show the effectiveness of our proposed method. Using our new method, the high frequency fluctuation phenomena in the control input becomes smaller than in the conventional method. View full abstract»

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  • Speed control and sensorless force control with magnetic gear

    Publication Year: 2010 , Page(s): 325 - 330
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (821 KB) |  | HTML iconHTML  

    This paper describes a study of the speed control and sensorless force control with non-contact magnetic transmission system (the magnetic gear). The magnetic gear has various features. For example, this device is characterized by negligibly small friction because of transmitting torque without contact. However, the magnetic gear introduces a cogging torque and a spring characteristic because it transmits torque via magnetism. Therefore, we applied various control method to reject the disturbances such as cogging torque in speed control. Additionally, using the magnetic gear for force control is primary candidate. If the magnetic gear is applied to a robot manipulator, force control can be performed without using a force sensor because of non-contact. We conducted experiments to examine the sensorless force control using an experimental magnetic geared device, and we verified the promising possibility for the sensorless feedback. View full abstract»

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  • Torque sensor-less tactile control of electro-rheological passive actuators

    Publication Year: 2010 , Page(s): 331 - 336
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (657 KB) |  | HTML iconHTML  

    Electro-rheological materials, such as electro-rheological fluid and electro-rheological elastomer, are functional materials which change these viscoelastic properties according to the electrical field intensity. It is expected to apply to the machine element, such as brake and clutch. Meanwhile, sensor-less control system of application devices using ER material is required to cut cost in practical use. In this study, sensor-less viscous torque control of ER passive actuator using parallel disturbance observer (DOB) is proposed. Parallel DOB can estimate the viscous torque from both applied voltage and angular velocity, and realize robust torque control without additional torque sensor. The effectiveness of this method is confirmed from simulation and experiments. View full abstract»

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  • Robotic finger with coupled joints: A prototype and its inverse kinematics

    Publication Year: 2010 , Page(s): 337 - 342
    Cited by:  Papers (10)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (586 KB) |  | HTML iconHTML  

    Without an external load or without a special effort to overcome the coupling, human fingers move in such a way that DIP and PIP joints of each finger except of a thumb move simultaneously in a coupled fashion. Similar motion of robotic fingers can be achieved by independent control of each joint, but to reduce number of needed actuators, a mechanical coupling of respective joints is frequently used. In this paper we derive an algebraic solution of inverse kinematics for robotic finger with linearly coupled PIP and DIP joints. The calculation involves solving a polynomial. A prototype of robotic finger with coupled joints that uses newly proposed mechanism called "Twist Drive" is presented. The principle of proposed joints actuation mechanism and its main characteristics are explained. A prototype of robotic finger and basic experimental results of joint positioning control are presented. View full abstract»

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  • Equivalent mass matrix based bilateral control for multi-degrees-of-freedom systems

    Publication Year: 2010 , Page(s): 343 - 348
    Cited by:  Papers (1)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (924 KB) |  | HTML iconHTML  

    In this paper, two method were proposed for MDOF and different configuration bilateral system. First is the basic control architecture for MDOF systems. In this paper, the difference are clarified between conventional joint space based bilateral control and operational space control based on DTOB. In addition, the control architecture based on DFOB is proposed to improve the transparency of the system. As the second proposal, the scaling matrix design is also described for the master-slave system with different structure. The scaling for force and position information is designed based on the dynamic and kinematic model. Proposed scaling can match the scale in master-slave system, and it improves the operability of human operator. In addition, the advantage of the proposed DFOB based bilateral control architecture is also described. The validity of these two proposed methods are supported by several experiment results. View full abstract»

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  • Stiffness modeling across transition temperatures in virtual environments by B-spline interpolation

    Publication Year: 2010 , Page(s): 349 - 354
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1774 KB) |  | HTML iconHTML  

    The development of haptic technology has been a significant trend worldwide. To simulate the virtual environments, several researchers have estimated the parameters of environment in order to interact with human operators. However, the material properties of real environments are greatly influenced by temperature. In this paper, the haptic data-based is designed and all of the properties of B-spline curves can be adopted to construct the virtual environments. The order of the curve for the B-spline blending function is set as the natural cubic B-spline. Thus, it is possible to generate a good realization of interaction force and simulate a soft and hard virtual environment according to the material properties. From the experimental results, the proposed mathematical model can be changed the material properties under various condition of temperature. View full abstract»

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  • Friction compensation for Nanopositioning and Nanomeasuring Machines

    Publication Year: 2010 , Page(s): 7 - 12
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1090 KB) |  | HTML iconHTML  

    The presented work concerns the modeling and experimental verification of the highly nonlinear behavior in positioning on the nanometer scale. The main goal of this work is to identify and extend a simple dynamic friction model, which allows a model-based estimation of the friction force including the system inertia only based on a displacement input. Experiments in the pre-sliding and sliding friction regimes are conducted on a high precision positioning stage. A hybrid parameter estimation algorithm is used offline to fit the model parameters based on the experimental data. Extensive experiments show, that the system behavior of the experimental setup is highly position dependent and hence the inverse system model is not valid over the whole operating range of the positioning stage. To solve this problem the parameters of the friction model are adjusted online to ensure precise friction estimation over the positioning range of 200 mm. Finally, an adaptive model is utilized as a model-based friction compensator in a trajectory tracking control scheme. With this adaptive control approach the tracking error is reduced significantly. View full abstract»

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  • Experimental validation of time optimal MPC on a linear drive system

    Publication Year: 2010 , Page(s): 355 - 360
    Cited by:  Papers (2)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (591 KB) |  | HTML iconHTML  

    Model Predictive Control (MPC) is a control technique capable of accounting for constraints on inputs, outputs and states, and traditionally makes a trade-off between output error and input cost. Originally developed for slow processes, MPC is nowadays also applied to faster systems such as mechatronic systems, thanks to increased computer power and more advanced algorithms. For these systems however, time optimality is often of the utmost importance, a feature that is not present in traditional MPC. This paper therefore presents and validates a new type of MPC, time optimal MPC (TOMPC), which minimizes the settling time. An experimental validation of TOMPC on a linear drive system with a sampling time of 5ms is performed and comparison with traditional MPC and linear feedback systems is given. View full abstract»

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  • Compensation for synchronous component of angular transmission errors in harmonic drive gearings

    Publication Year: 2010 , Page(s): 361 - 365
    Cited by:  Papers (2)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (3075 KB) |  | HTML iconHTML  

    This paper presents a modeling and compensation methodology for angular transmission errors in harmonic drive gearings. In this research, effects of synchronous component in the transmission error on the positioning performance are analytically examined. On the basis of the examinations, a transmission error model-based feedforward compensation is adopted to improve the positioning performance during both static and dynamic positioning motions. The proposed approach has been verified by experiments using a prototype with harmonic drive gearings. View full abstract»

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