7th International Workshop on Advanced Motion Control. Proceedings (Cat. No.02TH8623)
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Precise torque and speed control in pure electric braking operation of AC traction in low speed range
- Trang 142-147
This paper describes a method to achieve precise torque and speed control of AC traction in low speed range. The authors apply an instantaneous speed observer to improve the speed information and propose a new pole assignment by analysis in multirate-discrete-time domain. Validity of this method is verified though various simulations.
#Velocity control #Rail transportation #Sampling methods #Open loop systems #Information analysis #Electric vehicles #Footwear #Temperature #Proposals #Vehicle detection
A design method of quasi-optimum control system structure and its parameters using combined controller and performance comparison for controller structure
- Trang 203-208
PID controller, disturbance observer, and so on have been applied to control of servo systems. However, it is difficult to know which controller is the best for given control object and specifications. If we want to realize a best performance among many controllers, we have to design each controller independently. In this paper, we derive a combined controller that is based on the disturbance obse......
#Control systems #Design methodology #Three-term control #Robust stability #Servomechanisms #Drives #Attenuation #Control system synthesis #Vectors #Noise robustness
3D object tracking on active stereo vision robot
- Trang 567-572
The paper describes a control method for visual tracking on the active stereo vision robot. The robot in unique structure has three joints; one is for base rotation and the others for each camera rotation, i.e. neck and eyes. As the system has a redundancy in the meaning of degrees-of-freedom, the novel control approach is introduced and the high performance of the tracking is achieved. The contro......
#Stereo vision #Robot vision systems #Motion control #Cameras #Neck #Eyes #Control systems #Target tracking #Impedance #Delay effects
Supervisory fuzzy control of non-linear motion system
- Trang 341-346
High performance AC drives requiring good position command tracking and load regulation responses are increasingly demanded in industrial applications. The adaptive control methods that take plant disturbances suppression into account are being used for driving either nonlinear systems or nonconstant parameters systems. Generally, the adaptation is achieved by using the model reference approach or......
#Fuzzy control #Robust stability #Electrical equipment industry #Adaptive control #Nonlinear systems #Parameter estimation #Control systems #Fuzzy logic #Torque control #Computational modeling
Measurement of the axial forces and rotation torques in case of hexapod type machine tools
- Trang 275-278
The paper presents a new trend regarding the use of hexapod type structures in machine tool construction. It presents an original solution of kinematic structure for mobile platforms that support the workpiece gripping devices, which can be easily mounted on universal drilling and milling machines. The paper also presents some original approaches for the measuring system of the axial forces and ro......
#Force measurement #Rotation measurement #Torque measurement #Machine tools #Kinematics #Electric variables measurement #Drilling #Metalworking machines #Calibration #Joining processes
Lập kế hoạch chuyển động tối ưu cho kỹ năng lắp ráp dựa trên hệ thống động lực học logic hỗn hợp Dịch bởi AI
- Trang 359-364
Kỹ năng lắp ráp có thể được coi là một trong những hệ thống động lực học hỗn hợp vì động lực học tương tác giữa bộ tinh chỉnh và môi trường thay đổi tùy thuộc vào cấu hình tiếp xúc (các ràng buộc vật lý). Bài báo này, trước tiên, cố gắng xây dựng một mô hình cho kỹ năng lắp ráp dựa trên lý thuyết của hệ thống động lực học logic hỗn hợp (MLDS), bao gồm cả động lực học vật lý (liên tục) và chuyển mạ......
#Hệ thống lắp ráp #Điều khiển tối ưu #Lập trình bậc hai #Logic #Tiếp xúc #Hệ thống động lực học phi tuyến #Lập trình tuyến tính #Mô hình tính toán #Hệ thống sự kiện rời rạc #Hệ thống thời gian liên tục
Laser proximity scanner correlation based method for cooperative localization and map building
- Trang 484-487
This article is concerned with an autonomous robot self-localization, that is the first step of robot navigation. Only if the robot knows where it is relative to a suitable coordinate frame, can it plan its trajectory, and plan the whole mission. The next important part of the autonomous mobile robotic system is a map of the environment. Many self-localization modules suppose the map of the neighb......
#Robot kinematics #Robot sensing systems #Mobile robots #Wheels #Mathematical model #Switches #Laser modes #Laser transitions #Object detection #Least squares approximation
Controlling the human-robot interaction for robotic rehabilitation of locomotion
- Trang 133-135
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......
#Human robot interaction #Rehabilitation robotics #Automatic control #Legged locomotion #Hip #Robotics and automation #Knee #Laboratories #Leg #PD control
Speed sensorless torque control of induction motor for EV's
- Trang 236-241
A novel induction motor speed sensorless torque control scheme optimizing both torque response and efficiency is proposed. The control is quite different than the conventional field-oriented or direct torque control. First, the produced torque is an explicitly continuous output variable of control. Second, a new rotor flux observer, which allows speed sensorless operation of IM by low and zero spe......
#Torque control #Induction motors #Sensorless control #Sliding mode control #Inverters #Rotors #Stators #Robust control #Acceleration #Insulated gate bipolar transistors
A wheelchair type mobile robot taking environmental disturbance into account
- Trang 500-505
Both human and robot will carry out a task which is not realizable by only each of them. In particular, a human recognizes environment and reflects to trajectory planning well. On the other hand, the robot generates the controlled force more than a human. In this paper, the best combination of human ability and robot capacity is considered. Based on the force commands from a human, a robot support......
#Wheelchairs #Mobile robots #Humans #Force control #Frequency #Trajectory #Robot control #Programmable control #Adaptive control #Steady-state