7th International Workshop on Advanced Motion Control. Proceedings (Cat. No.02TH8623)

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A novel approach to smooth trajectory planning of a mobile robot
7th International Workshop on Advanced Motion Control. Proceedings (Cat. No.02TH8623) - - Trang 472-477
S. Aydin, H. Temeltas
This paper represents a novel smooth trajectory planning algorithm which uses the natural behavior model of a mobile robot (MR). The shortest path in the free configuration space is obtained by using the visibility graph method. It is modified according to dynamic constraints which are implicitly included in natural behavior of the mobile robot. The modified path becomes a smooth, easily trackable...... hiện toàn bộ
#Trajectory #Mobile robots #Path planning #Motion planning #Acceleration #Kinematics #Roads #Software libraries #Orbital robotics #Navigation
Multi-sensor systems based on force/torque/pressure sensors for monitoring of grippers
7th International Workshop on Advanced Motion Control. Proceedings (Cat. No.02TH8623) - - Trang 551-555
F. Alpek, S. Kovacs, N. Krys, M. Terbuc
Using a multi-sensor system the monitoring of the end-effectors and grippers helps to eliminate the disturbances and to increase the reliability of the robotized production. The simultaneous application of force/torque/pressure sensors built in the grippers or mounted in the last robot wrist give the best solution for monitoring of robot grippers.
#Force sensors #Torque #Sensor systems #Monitoring #Grippers #Robot sensing systems #Robotics and automation #Fixtures #Pressure control #Force measurement
Considering from core losses in modeling the reluctance synchronous motor
7th International Workshop on Advanced Motion Control. Proceedings (Cat. No.02TH8623) - - Trang 251-256
C.A.M.D. Ferraz, C.R. de Souza
Synchronous reluctance motor figures of merit have been improved thanks to the technological evolution of the materials its rotor is made of. Other factors, like new control strategies, the developments of power semiconductors and digital electronics have also played an important role in making possible this improvement. Owing to this development, it is now possible to consider this category of mo...... hiện toàn bộ
#Core loss #Synchronous motors #Steady-state #Reluctance motors #Reluctance machines #Semiconductor materials #Rotors #Electric variables control #Induction machines #Equivalent circuits
Repetitive controller design for track-following servo system of an optical disk drive
7th International Workshop on Advanced Motion Control. Proceedings (Cat. No.02TH8623) - - Trang 176-181
Tae-Yong Doh, Jung Rae Ryoo, Myung Jin Chung
In the track-following servo system of an optical disk drive, external disturbances with significant periodic components cause tracking errors of a periodic nature. To effectively reject such disturbances, repetitive control has been employed. However, plant uncertainty makes it difficult to design a repetitive controller which both ensures system stability and improves tracking accuracy. In this ...... hiện toàn bộ
#Optical control #Control systems #Optical design #Servomechanisms #Disk drives #Optical attenuators #Uncertainty #Stability #Optical devices #Sufficient conditions
Limitations in control of elastic servos with co-located sensors
7th International Workshop on Advanced Motion Control. Proceedings (Cat. No.02TH8623) - - Trang 92-97
G. Ferretti, G. Magnani, P. Rocco
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/sub /spl infin// norm of the motor position setpoint to load position transfer function to the motor ...... hiện toàn bộ
#Servomechanisms #Servomotors #Three-term control #Torque control #Bandwidth #Transfer functions #Frequency #Friction #Open loop systems #Poles and zeros
Basic study on rehabilitation support system for upper limb motor function
7th International Workshop on Advanced Motion Control. Proceedings (Cat. No.02TH8623) - - Trang 127-132
Y. Morita, K. Akagawa, E. Yamamoto, H. Ukai, N. Matsui
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...... hiện toàn bộ
#Motion measurement #Motion control #Control systems #Medical treatment #Elbow #Displays #Actuators #Humans #Surface impedance #Electromyography
A new approach for flux and speed estimation in induction motor
7th International Workshop on Advanced Motion Control. Proceedings (Cat. No.02TH8623) - - Trang 148-152
M. Dal, A. Sabanovic
A structure of the induction machine flux and speed observer is proposed. The observer is designed in the stationary frame of references to avoid errors affiliated with the coordinate transformations. In order to ensure the convergence in any operational conditions a nonlinear additional term is added to the observer structure. Full stability analysis based on the Lyapunov stability method is deri...... hiện toàn bộ
#Induction motors #Stators #Sliding mode control #Rotors #Current measurement #Induction machines #Control systems #Circuits #Robust stability #Voltage
High efficiency SVM technique for VSI
7th International Workshop on Advanced Motion Control. Proceedings (Cat. No.02TH8623) - - Trang 269-274
C. Attaianese, D. Capraro, G. Tomasso
A space vector modulation technique for voltage source inverter which takes into account the power modules switching losses is presented in the paper. It is based on three digital separate circuits, which generate the modulation switching pattern by using a clock unit with three separate programmable frequency divisors. In particular, for each leg of the inverter, the switching frequency can be se...... hiện toàn bộ
#Support vector machines #Inverters #Multichip modules #Voltage #Switching loss #Digital modulation #Modulation coding #Switching circuits #Clocks #Frequency conversion
High speed robust visual servoing based on intersample estimation and multirate control
7th International Workshop on Advanced Motion Control. Proceedings (Cat. No.02TH8623) - - Trang 104-109
H. Fujimoto, Y. Hori
This paper presents a visual servoing system based on intersample estimation and disturbance rejection. First, a novel design method of a multirate sampling controller is proposed which enables to reject disturbance completely at M intersample points in the steady state. Second, the intersample observer is developed in order to reduce the phase delay caused by zero-order hold and to increase the s...... hiện toàn bộ
#Robust control #Visual servoing #Open loop systems #Robust stability #Nonlinear control systems #Control systems #Design methodology #Sampling methods #Steady-state #Observers
An on-line reference-trajectory generator for smooth motion of impulse-controlled industrial manipulators
7th International Workshop on Advanced Motion Control. Proceedings (Cat. No.02TH8623) - - Trang 365-370
S. Liu
Industrial manipulators driven by impulse-controlled servo motors commonly follow prescribed reference-trajectories which enable smooth movements (no discontinuity in acceleration profile). On-line generation of such smooth trajectories as a consequence of new target-settings during the motion, however, still suffers from the high computational effort for calculating an optimum solution, as far as...... hiện toàn bộ
#Acceleration #Pulse generation #Microcontrollers #Creep #Servomechanisms #Servomotors #Trajectory #Clocks #Digital signal processing #Kinematics
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