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Advanced Motion Control, 2002. 7th International Workshop on

Date 3-5 July 2002

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Displaying Results 1 - 25 of 109
  • 7th International Workshop on Advanced Motion Control. Proceedings (Cat. No.02TH8623)

    Publication Year: 2002
    Request permission for commercial reuse | PDF file iconPDF (511 KB)
    Freely Available from IEEE
  • Author index

    Publication Year: 2002, Page(s):610 - 612
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    Freely Available from IEEE
  • Double inverted pendulum optimal control-basis for unsupported standing in paraplegia

    Publication Year: 2002, Page(s):121 - 126
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (578 KB) | HTML iconHTML

    Limited unsupported standing has been restored in a patient with thoracic spinal cord injury through closed loop functional electrical stimulation of paralyzed ankle joint dorsal and plantarflexor muscles and voluntary and reflex activity of intact upper trunk musculature. The paraplegic subject was considered an underactuated double inverted pendulum structure with an active degree of freedom in ... View full abstract»

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  • Basic study on rehabilitation support system for upper limb motor function

    Publication Year: 2002, Page(s):127 - 132
    Cited by:  Papers (3)  |  Patents (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (703 KB) | HTML iconHTML

    This paper presents a rehabilitation support system for the exercise of upper limb motor function. The system supports occupational therapy for recovering physical function and is used for reaching exercise of the upper limbs, especially the shoulder and elbow joints. This system is effective for people with advanced problems. It allows patients with motor dysfunction of the upper limb to keep mot... View full abstract»

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  • Controlling the human-robot interaction for robotic rehabilitation of locomotion

    Publication Year: 2002, Page(s):133 - 135
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (364 KB) | HTML iconHTML

    The research work reported in this article aims at improving the robotic rehabilitation of locomotion employed at our rehabilitation center Paracare (University Hospital Balgrist, Zurich). Two algorithms have been developed and tested in simulations and actual experiments that estimate the human-robot interaction and by this means allow for automatic gait-pattern adaptation during the rehabilitati... View full abstract»

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  • Identification and observation of mechatronic systems including multidimensional nonlinear dynamic functions

    Publication Year: 2002, Page(s):285 - 290
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (703 KB) | HTML iconHTML

    In this article a new approach on identification and observation of mechatronic systems is presented. This approach deals with complex nonlinear systems. These systems consist of a well-known dynamic subsystem and an unknown nonlinear dynamic subsystem with multiple inputs and a single output (MISO). The structure and the parameters of the dynamic subsystem are exactly known, whereas only rough kn... View full abstract»

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  • Principles and implementation of permanent magnet synchronous motor zero-speed sensorless control

    Publication Year: 2002, Page(s):247 - 250
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (449 KB) | HTML iconHTML

    This paper presents an implementation of zero speed sensorless control for permanent magnet synchronous machines (PMSM). The paper focuses on the principles and practical implementation of high frequency injection technology in a salient PMSM. The method using rotating vector, carrier frequency excitation and heterodyning, tracking observers for position estimation is discussed. A DSP-based drive ... View full abstract»

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  • Neural network enhancement of closed-loop controllers for nonlinear systems

    Publication Year: 2002, Page(s):291 - 295
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (466 KB) | HTML iconHTML

    The actual trend is to combine traditional control methods with neural networks in parallel. This paper places the neural network inside the closed loop, in series with the existing controller. With the neural network inside the closed-loop, randomly initialized weights, unknown performance levels, and multiple reinitializations are more difficult. A problem not so readily seen is that the weights... View full abstract»

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  • Variable structure control with mismatched uncertainties tracking control of hydraulic systems

    Publication Year: 2002, Page(s):296 - 299
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (393 KB) | HTML iconHTML

    The dynamical behavior of a variable structure system (VSS) in sliding mode is determined by the sliding surface. On the surface, the system trajectory is immune from all uncertainties and external disturbances which are in the range of the control space, i.e., disturbances and uncertainties satisfy the so called matching condition. This property of invariance towards matched uncertainty makes sli... View full abstract»

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  • Experimental investigation on elastic joint robot dynamics

    Publication Year: 2002, Page(s):588 - 592
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (406 KB) | HTML iconHTML

    The investigation is a part of research on the dynamical behaviour of robots having "nonrigid transmissions" between motors and links. The experimental investigations are carried on by means of a planar 2 DOF prototype manipulator that has been designed and built at our Department. In previous investigations it was demonstrated (by computer simulations) that, from trajectories recordings, there ar... View full abstract»

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  • Optimal design of robust vibration suppression controller using genetic algorithms

    Publication Year: 2002, Page(s):86 - 91
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (570 KB) | HTML iconHTML

    This paper presents an evolutional compensator design for motion control systems using genetic algorithms (GA). The control system is composed of a robust 2-degrees-of-freedom (2DOF) compensator based on the coprime factorization description. A feedback compensator in the 2DOF control system is mainly designed under the μ-synthesis framework to ensure the robust stability because the real plant... View full abstract»

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  • A CAD environment for the numerical simulation of servo pneumatic actuator systems

    Publication Year: 2002, Page(s):593 - 598
    Cited by:  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (745 KB) | HTML iconHTML

    In this paper, a CAD environment for the simulation of pneumatic actuator servo-systems is described. The simulation environment is based on a gas-dynamic model that is solved by means of a numerical integration method. The simulation algorithm has been developed through a general-purpose language. This code is linked to a kinetic-dynamic simulator (MSC Visual NASTRAN Desktop), which provides accu... View full abstract»

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  • Limitations in control of elastic servos with co-located sensors

    Publication Year: 2002, Page(s):92 - 97
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (547 KB) | HTML iconHTML

    Performance limitations of elastic servomechanisms where only the motor position is measured emerge considering also the load position behavior. Limitations inherent to PID control, the most common solution in commercial products are dealt with first. The authors explicitly relate a bound of the H norm of the motor position setpoint to load position transfer function to the motor... View full abstract»

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  • Bilateral robot system on the real time network structure

    Publication Year: 2002, Page(s):63 - 68
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (653 KB) | HTML iconHTML

    This paper presents a bilateral robot system, which is driven by a static friction free drive system and implemented on the real time network structure. The goal is to realize a force feedback teleoperation with haptic impression transmission over computer networks. The paper considers two subjects relating to the bilateral robot. The first is static friction, which degrades the performance of man... View full abstract»

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  • Active isolation of vibration of driver seat

    Publication Year: 2002, Page(s):305 - 309
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (427 KB) | HTML iconHTML

    In this article, the author shows how a quasi PI feedback scheme can be installed into a driver's seat for seat position control. Dynamical disturbances that influence a car from the road are not known. The classical linear methods cannot be used since the dynamical model of the controlled mechanism is nonlinear and the influences of disturbances are very strong. An accelerometer is used for the i... View full abstract»

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  • Optimization of unilaterally constrained telerobots

    Publication Year: 2002, Page(s):488 - 493
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (664 KB) | HTML iconHTML

    Mobile telerobots, that are not rigidly fixed but unilaterally constrained to the environment, operate under the risk of losing their defined position, starting to slip away or to turn over. It is the objective to minimize this risk by finding an optimal geometrical configuration and position of the mobile telerobot, so that a given task is performed properly, under regard of some mechanical const... View full abstract»

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  • Run time position estimation with basic sensors in real time SCADA applications

    Publication Year: 2002, Page(s):583 - 587
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (683 KB) | HTML iconHTML

    In this study, a novel real time SCADA (supervisory control and data acquisition) algorithm for position estimation of an object moving on a plane (e.g. an object on a moving conveyor band) is proposed by using basic sensors (e.g. limit switch, proximity sensor etc.). This algorithm is explained on a sample band system application. View full abstract»

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  • In-pipe bristled micromachine

    Publication Year: 2002, Page(s):599 - 603
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (475 KB) | HTML iconHTML

    This paper deals with in-pipe micromachine, which moves in pipes with inner diameter under 25 mm. The micromachine locomotion principle is based directional friction force between bristle tip and pipe wall. At first we have theoretically analysed the locomotion principle. The next part consist of analysis of bristle tip connection with inner pipe wall. Finally, the analysis is supported with exper... View full abstract»

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  • Cooperatingly synchronized control for 6-DOF virtual-axis machine tool

    Publication Year: 2002, Page(s):171 - 175
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (411 KB) | HTML iconHTML

    This paper presents a cooperatingly synchronized control for 6-DOF virtual-axis machine tool driven by permanent magnetic linear synchronous motor (PMLSM) by keeping the 6 links in cooperating motion at any time. In this paper the coupling 6-link system is divided into 6 separate systems, and each link load disturbance and the coupling disturbance between other 5 links are regarded as the dynamic ... View full abstract»

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  • Robust controller for a brushless DC motor based on the gain and phase margin

    Publication Year: 2002, Page(s):197 - 202
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (486 KB) | HTML iconHTML

    In comparison to classical DC motors, brushless DC motors are very reliable. Nevertheless, they can also fail, caused by overheating or mechanical wear. This paper proposes a design of robust controller (via H technique) for a brushless DC motor with requirement for gain (mk) and phase (γk) margin. A simple way to include the amplitude and phase margin... View full abstract»

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  • An approach to generation of smooth walking pattern for biped robot

    Publication Year: 2002, Page(s):98 - 103
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (510 KB) | HTML iconHTML

    Biped robots and other legged robots have better adaptation to environments in human living-spaces than wheel type and crawler type mobile robots. Such an adaptivity to various environments, including rough ground, highly depends on control capacity. Till now, there have been much investigations on control the practical controllers for biped robots. According the environmental information, a walki... View full abstract»

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  • Motor control system driven by decentralized inverters

    Publication Year: 2002, Page(s):165 - 170
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (584 KB) | HTML iconHTML

    In this paper, a new motor control system where plural inverters are used to control an AC motor is proposed. The distinct feature of this system is improvement of robustness and performance by cooperation control using decentralized inverters. The following good features are expected by using the proposed system. (1) A high voltage motor can be driven by low voltage inverters. (2) More robust sys... View full abstract»

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  • Initial value compensation applied to disturbance observer-based servo control in HDD

    Publication Year: 2002, Page(s):34 - 39
    Cited by:  Papers (10)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (544 KB) | HTML iconHTML

    The mode switching control (MSC) technique makes use of several controllers, each one designed to optimize a particular control objective. The switching between-controllers is performed at the supervisory level. MSC is often used when the control objective is different in different operational regions as in the HDD servo system where three different operation modes can be identified, i.e. seek, se... View full abstract»

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  • Model based control of a biped robot

    Publication Year: 2002, Page(s):443 - 448
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (656 KB) | HTML iconHTML

    The control scheme of the anthropomorphic biped robot "Johnnie" is based on a comprehensive mechanical model. In order to perform a dynamically stable motion, the robot is equipped with a comprehensive set of sensors that allow to determine the complete state of the system. Since there are still unknown parameters in a real environment, a method is presented to adapt the trajectories in case of ma... View full abstract»

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  • Fault tolerant flight controller design using μ-synthesis for the unmanned winged re-entry space vehicles

    Publication Year: 2002, Page(s):310 - 315
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (499 KB) | HTML iconHTML

    Unmanned winged re-entry space vehicles glide without any thrust in their re-entry phase. In this phase, one of the most possible and important faults in the airframe is jamming of the elevon. In order to make control systems tolerant to this failure, the flight control system is required to keep its stability and the performance, even if such a failure occurs. Since this kind of fault can be mode... View full abstract»

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