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Advanced Motion Control, 1998. AMC '98-Coimbra., 1998 5th International Workshop on

Date June 29 1998-July 1 1998

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  • AMC'98 - Coimbra. 1998 5th International Workshop on Advanced Motion Control. Proceedings (Cat. No.98TH8354)

    Publication Year: 1998
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    Freely Available from IEEE
  • Author index

    Publication Year: 1998, Page(s):XXI - XXIII
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    Freely Available from IEEE
  • Robust torque control of induction motor for electric vehicle

    Publication Year: 1998, Page(s):36 - 41
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (412 KB)

    Direct torque control is an emerging technique for controlling the PWM inverter-fed induction motor (IM) drives. It allows the precise and quick control of the IM flux and torque using only the stator voltage and current, i.e. sensorless speed control. Combining the variable structure system and Lyapunov design a new discrete-time control algorithm is developed. It possesses all the good propertie... View full abstract»

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  • Implementation aspects of neural networks in the field of electrical drives

    Publication Year: 1998, Page(s):381 - 386
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (424 KB)

    In this paper, the implementation aspects of neural network controllers in real-time application are investigated. Very often the implementation of neural network controllers is a complicated task and depends on the hardware used. A comparison between different implementation and test methods is given View full abstract»

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  • A comparative study of a PI, neural network and fuzzy genetic approach controllers for an AC-drive

    Publication Year: 1998, Page(s):375 - 380
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (400 KB)

    An increasing number of applications in high performing electrical drive systems use, nowadays, squirrel-cage induction motors. In this paper we use fuzzy genetic, neural network and PI approaches to control the speed of a field oriented AC-drive. The control methods and performances are presented and compared View full abstract»

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  • An approach to stable motion control of biped robot with unknown load by torque estimator

    Publication Year: 1998, Page(s):82 - 87
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (348 KB)

    This paper describes a novel approach of a stable walking control in 3D biped robot with an unknown loaded object. In general, it is difficult for the biped robot to realize a stable walking action without using the information of a loaded object since there is no fixed point for keeping the stable posture of the robot. Then the estimation of the mass and position of a target object is useful for ... View full abstract»

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  • A sliding mode position controller for induction machines with diametrical inversion of stator voltage

    Publication Year: 1998, Page(s):30 - 35
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (336 KB)

    The diametrical inversion of stator voltage is used to control the rotor shaft position of an induction motor. The method substitutes the actual spatial voltage phasor applied to the motor, by another voltage phasor, which is diametrically opposed to the first and rotates in the inverse direction. This substitution is made at high frequency. The resulting three phase voltage sequences applied to t... View full abstract»

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  • The effects of saturation induced saliency movement on flux angle estimation

    Publication Year: 1998, Page(s):369 - 374
    Cited by:  Papers (8)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (528 KB)

    This paper presents results from a substantially experimental study of the relationship between the location of saturation-induced saliencies and the various flux components in an induction machine. The movement of the saturation-induced saliencies affects techniques that use these saliencies for flux angle estimation and direct field orientation. Approaches are presented to use this knowledge of ... View full abstract»

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  • A study of foot strike phenomenon for piped walking machine

    Publication Year: 1998, Page(s):76 - 81
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (520 KB)

    Biped walking has been regarded as a promising locomotion applicable to medical, nursing and home-service robots. However, the influences of foot strike have not been widely discussed. In this paper, we present the experimental result about the collision between the tip of a 2-link system and the floor. We compare the result with computer simulation. These considerations are used to improve the wa... View full abstract»

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  • Digital tracking controller design for CD player using disturbance observer

    Publication Year: 1998, Page(s):598 - 603
    Cited by:  Papers (20)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (464 KB)

    Disturbance rejection is becoming more and more important as optical disk players are being utilized in more applications. The paper considers the design of a tracking servo controller for a CD player using the disturbance observer (DOB) theory. By adding a DOB to the conventional PID controller, the tracking performance is dramatically improved in the presence of sinusoidal vibrations or a shock ... View full abstract»

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  • Advanced motion control in redundant motion systems

    Publication Year: 1998, Page(s):141 - 146
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (372 KB)

    As each joint actuator of a robot manipulator has a limited value of torque, the motion control system should consider the torque saturation. This paper proposes the new autonomous consideration method of joint torque saturation for robust redundant manipulator motion control. The proposed method consists of a torque limitation algorithm in the joint space, an adjustment algorithm of the motion co... View full abstract»

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  • Visual generalized predictive path tracking

    Publication Year: 1998, Page(s):159 - 164
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (560 KB)

    This paper describes a path-tracking method which allows the real-time control of an autonomous vehicle. A generalized predictive control approach is used to keep the vehicle on a trajectory defined by a moving target, detected and tracked through image processing. A fast parallel implementation of the target tracking algorithms allows the system to achieve short target position update cycles. The... View full abstract»

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  • Ground plane detection by fusing visual and inertial information

    Publication Year: 1998, Page(s):175 - 179
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (624 KB)

    In mobile systems the position and attitude of the active vision system's cameras can be hard to determine. Inertial sensors coupled to the active vision system can provide valuable information, as happens with the vestibular system in human and other animals. We present our integrated inertial and vision systems. The active vision system has a set of stereo cameras capable of vergence, with a com... View full abstract»

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  • A generalised software control system for industrial robots

    Publication Year: 1998, Page(s):411 - 416
    Cited by:  Papers (1)  |  Patents (14)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (584 KB)

    This paper presents an overview of the main features and the software architectural design of a generalised software control system for industrial robots, named GENERIS. After an introduction explaining the project history and its current development and exploitation state, the authors analyse the required capability and quality attributes for a modern motion control system for robotics workcells.... View full abstract»

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  • Active perception system for recognition of 3D objects in image sequences

    Publication Year: 1998, Page(s):700 - 705
    Cited by:  Papers (6)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (524 KB)

    The authors describe an active 3D object recognition system that can learn complex 3D objects completely unsupervised and that can recognize previously learnt objects from different views. First a decision of which is the best next view is taken. The system developed for this task is an iterative active perception system that executes the acquisition of several views of the object, builds a stocha... View full abstract»

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  • Dynamic performance of biped locomotion systems

    Publication Year: 1998, Page(s):451 - 456
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (444 KB)

    This paper presents the energy analysis of a bipedal walking system. The main goal is to understand the movement strategies in walking and to search for the optimal locomotion variables that minimise the energy consumption. In this goal, a set of locomotion variables is used in the description and analysis of motion. The locomotion variables considered include: step length, hip height, hip ripple,... View full abstract»

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  • Human power extender: an example of human-machine interaction via the transfer of power and information signals

    Publication Year: 1998, Page(s):565 - 572
    Cited by:  Papers (11)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1600 KB)

    A human's ability to perform physical tasks is limited by physical strength, not by intelligence. We define “extenders” as a class of robot manipulators worn by humans to augment human mechanical strength, while the wearer's intellect remains the central control system for manipulating the extender. Our research objective is to determine the ground rules for the design and control of r... View full abstract»

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  • Map interpretation in dynamic environments

    Publication Year: 1998, Page(s):340 - 345
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (480 KB)

    In this paper we present a navigation system for a mobile robot that is capable of operating in dynamic environments. Mapbuilding is based on landmark detection, with landmarks being established through a process of self-organisation of the robot's sensory data. The resultant map can then be used to determine, and subsequently follow, arbitrary paths through the environment. The results of several... View full abstract»

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  • Optimal force control of elastic robot with contact motion to environment

    Publication Year: 1998, Page(s):228 - 233
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (556 KB)

    This paper presents a control method for the contact motion of the one link flexible arm. Our purpose is to accomplish the smooth transition from the free space to the constraint space without changing control laws at a collision. We design the controller based on the model following servo system with two additional compensators: one is the stabilizing compensation based on a strain feedback, and ... View full abstract»

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  • Safety in robotics: the Bremen Autonomous Wheelchair

    Publication Year: 1998, Page(s):524 - 529
    Cited by:  Papers (9)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (720 KB)

    Describes the development of a safety layer for an electrically driven wheelchair that is equipped with a ring of ultrasonic sensors. Designing this safety layer, which consists of software modules as well as hardware components, involved formal methods. An important outcome of the presented formal approach is a detailed set of hypotheses that specify the requirements the environment has to satisf... View full abstract»

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  • Design of a multiprocessor architecture for high performance AC drive control

    Publication Year: 1998, Page(s):364 - 368
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (348 KB)

    The multiprocessor architecture based on a digital signal processor and a microcontroller to control an AC motor and a three-phase VS-PWM inverter is presented. The main objective is to design a powerful platform to enable the development and test of different pulse width modulation (PWM) methods and advanced motor control schemes. We discuss in detail the main considerations that had led us to ch... View full abstract»

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  • Attitude control experiments of biped walking robot based on environmental force interaction

    Publication Year: 1998, Page(s):70 - 75
    Cited by:  Papers (2)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (748 KB)

    In this paper, the attitude control of the biped robot based on the robust reactive force control is proposed, which can locally suppresses the unknown disturbances on the terrain. The method is investigated through the experiments of the 14-axes biped robot. The position of the center of mass and the attitude of the body is well controlled within ±0.03 [m] and ±0.04 [rad] (=±... View full abstract»

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  • Use of eigenspace techniques for position estimation

    Publication Year: 1998, Page(s):267 - 271
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (524 KB)

    Presents a method for solving the problem of mobile robot localisation in an indoor environment. It is based on an approach in which the scene is “learned” by taking images from a large number of positions (x, y) and orientations (θ) along a 2D grid. The positioning problem is then reduced to a problem of associating an unknown input image with a “learned” image. A br... View full abstract»

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  • Disturbance observer-based nonlinear friction compensation in table drive system

    Publication Year: 1998, Page(s):299 - 304
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (416 KB)

    This paper presents a disturbance observer-based algorithm for nonlinear friction compensation in table drive systems to achieve the high accurate trajectory control. In order to design an effective compensator, dynamic characteristics of the friction are examined and, as a result, a simple and high accurate observer can be designed on the basis of the analyzed friction characteristic. Using the d... View full abstract»

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  • A fish microrobot using ICPF actuator

    Publication Year: 1998, Page(s):592 - 597
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (472 KB)

    It is our purpose to develop an underwater microrobot that has the characteristics of flexibility, driven by a low voltage, good response and safety in the body. We propose a prototype model of an underwater microrobot utilizing an ICPF (ionic conducting polymer film) actuator as the servo actuator. Biomimetic fish-like propulsion using an ICPF actuator as a propulsion tail fin for a microrobot sw... View full abstract»

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