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High speed and high precision linear DC solenoid servo system

High speed and high precision linear DC solenoid servo syste...

引用

Annual Conference of Industrial Electronics Society

作者： A. Kato K. Ohnishi Department of System Design Engineering Faculty Science and Technology Keio University Japan

Linear motor system is used widely for manufacturing automation systems, which provide precision and high speed motion. One type of linear motor systems is Linear DC solenoid motor (LDSM) that is used in this paper. Though LDSM is able to provide instance response, LDSM has not been used widely for servo system due to nonlinear characteristic on real implementation and its stroke too short. However, LDSM used in this paper has better thrust constant compared with general LDSM. Here, the servo system based on LDSM is developed. Firstly, LDSM is employed for position control within disturbance observer. Later, a force control is developed as well. Experimental results shown that LDSM's performance has attained high speed and high precision on both control schemes.

关键词： Solenoids Servomechanisms Synchronous motors DC motors Servomotors Motion control Actuators Induction motors Motion planning Coils

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The transformation of modified 4-channel architecture

The transformation of modified 4-channel architecture

引用

International Workshop on Advanced Motion Control (AMC)

作者： Y. Sumiyoshi K. Ohnishi Department of System Design Engineering Faculty of Science and Technology Keio University Japan

Bilateral control, the technology of teleoperation with force feedback, is progressing rapidly and has a field with an important application in space, oceanic engineering, medicine, and so on. Many researchers have employed velocity, force or impedance information to propose a variety of bilateral control. As a conventional bilateral control, position-position, force-position architecture are known. But, these architecture was only intuitive and did not have a clear performance index. Hannafod, Lawrence and so on had established a clear design method based on transparency by using the H matrix and a four-channel architecture, and among the control architectures that incorporate velocity and force feedforward, the 4-channel architecture has shown perfect transparency in ideal condition. Furthermore, by using a local force feedback, one can counteract an impact force imposed by the operator or the environment force reflection. But, it seems that this modified 4-channel architecture does not show the effect of local force feedback well from the point of view of visual. In addition, like a parallel control and a compliance control, control architecture which have a part where force information is converted into position information through filter cannot be expressed clearly in this architecture. So, the authors transformed the 4-channel architecture to make these control laws easy to evaluate. The authors introduce the transformation of the modified 4-channel architecture to clarify the meaning of local force feedback, and to express the above-mentioned controller clearly.

关键词： Force control Force feedback Space technology Velocity control Marine technology Oceanic engineering and marine technology Impedance Performance analysis design methodology Reflection

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A proposal of sensor fusion in cooperative system

A proposal of sensor fusion in cooperative system

引用

International Workshop on Advanced Motion Control (AMC)

作者： H. Midorikawa K. Ohnishi Department of System Design Engineering Faculty of Science and Technology Keio University Japan

The main problems in visual servo system are long sampling period and extent of visual field. For sampling period of camera used in general is longer than joint servo period, hidden oscillation is controversial. Also, if a object is out of visual field, motion control is impossible. This paper discusses such problems, taking assist mobile robot system for application. An assist mobile robot which mounts a camera supports a working mobile robot with various tasks including delivery and receipt of baggage and removal of obstacles. At the first step of this study, an assist mobile robot is controlled to track a working mobile robot. Here, It doesn't matter whether transmission facility between an assist mobile robot and a working mobile robot is available. This study proposes virtual image plane by sensor fusion of vision and encoder. Virtual image plane is developed by estimated feature. And estimation and correcting of image feature on virtual image plane are realized. In conclusion, motion control with disturbance observer on virtual image plane is designed. And the validity of proposed method is shown in simulation results.

关键词： Proposals Sensor fusion Cooperative systems Mobile robots Servomechanisms Sampling methods Robot vision systems Cameras Motion control Robot control

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Control of pushing operation by a redundant manipulator

Control of pushing operation by a redundant manipulator

引用

International Workshop on Advanced Motion Control (AMC)

作者： T. Kawasa K. Ohnishi Department of System Design Engineering Faculty of Science and Technology Keio University Japan

This paper describes a new approach to pushing operation from one place to another. Pushing operation doesn't need a complicated structure of the end effector in comparison with grasping object. Therefore it is available for multipurpose. However pushing is more instability than pulling and grasping from dynamics' point of view. Hence it is thought that its control system will be complexity. Then, in this paper, the new control method about pushing operation from one place to another by a redundant manipulator is proposed. The purpose of this research is that the center of the object tracks a certain trajectory(in this paper, sin curve) exactly. In this paper, a work space observer is adopted so as to compensate the disturbance to the object. Therefore, the acceleration control system in the object coordinate is necessary to be constructed. Basically, the drive of the object in the translational direction is realized by impedance control and the moment of the object is realized by changing the point which the end effector touches.

关键词： Orbital robotics End effectors Manipulator dynamics Control systems Trajectory Robot kinematics design engineering systems engineering and theory Acceleration Impedance

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Self sustaining bicycle robot with steering controller

Self sustaining bicycle robot with steering controller

引用

International Workshop on Advanced Motion Control (AMC)

作者： Y. Tanaka T. Murakami Department of System Design Engineering Faculty of Science and Technology Keio University Japan

Bicycle is a transportation device without any environmental burden. However, bicycle is unstable in itself and it is fall down without human assistance like steering handle or moving upper body. In these days, electric power assistance bicycles are used practically, but all of those bicycles merely assist human with pedal driving and there are no bicycles that help to stabilize its position. Hence, stabilizing the posture and realizing stable driving of a bicycle have been researched. Dynamic model of running bicycle is complicated and it's hard to recognize completely. However, assuming that the rider doesn't move upper body, dynamics of bicycle is represented in equilibrium of gravity and centrifugal force. Centrifugal force is risen out from the running velocity and turning radius determined by steering angle. Under these conditions, it is possible to stabilize bicycle posture by controlling its steering. In this paper, the dynamic model derived from equilibrium of gravity and centrifugal force is proposed. Then the control method for bicycle steering based on acceleration control is proposed. Finally, the validity of this method is proved by the simulations and experimental results.

关键词： Bicycles Robot control Vehicle dynamics Turning Humans Gravity Wheels Control systems design engineering systems engineering and theory

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Characteristics of carbon and copper flat commutator on DC motor for automotive fuel pump

Characteristics of carbon and copper flat commutator on DC m...

引用

IEEE Holm Conference on Electrical Contacts

作者： T. Shigemori K. Sawa Department of System Design Engineering Faculty of Science and Technology Keio University Japan

Many small motors are used in automobile. In an automotive fuel pump system, a small DC motor is widely used to drive the pump. The motor is installed in a gasoline tank, so that the current is commutated in gasoline, and arc voltage and duration differ from that in air. In this research, we use carbon brush and carbon flat commutator, replacing a cylindrical copper commutator, and investigate relationship between arc duration and sliding condition. Under small commutation current, arc duration is short and sliding condition is good, but under high commutation current, arc duration is long and black parts damaged by arcing on commutator rapidly invade from the edge of segments. Unstable sliding or abnormal wear occurs when a black part width reaches a brush width. Then, effective commutation interval becomes very short, and arc duration and residual current increase rapidly. Experimental results of a copper flat commutator are also described, compared with the carbon commutator.

关键词： Copper Commutation DC motors Automotive engineering Fuel pumps Brushes Petroleum Circuit testing Inductance Voltage

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Yaw rate control of electric vehicle using steer-by-wire system

Yaw rate control of electric vehicle using steer-by-wire sys...

引用

International Workshop on Advanced Motion Control (AMC)

作者： M. Hosaka T. Murakami Faculty of Science and Technology Department of System Design Engineering Keio University Japan

Recently electric power steering system has been developed. Steer-by-wire system has big advantages of packaging flexibility, advanced vehicle control system, and superior performance. Steer-by-wire system has no mechanical linkage between the steering gear and the steering column. It is possible to control the steering wheel and the front-wheels steering independently. The active steering which reduce the difference between actual and estimated vehicle yaw rate can be realized. Since the information from the steering wheel is important for the driver to know the road condition, tire force should be fed back to the steering wheel. But unexpected disturbance is better suppressed without affecting to the steering wheel. Based on estimating the vehicle side slip angle from the internal sensor response, the tire self-aligning torque can be estimated. This torque is fed back to the steering wheel so that the driver can know the road condition. In this paper, we propose the method to control the vehicle yaw rate using steer-by-wire system, also disturbance applied to the front tires is suppressed by disturbance observer without affecting to the steering wheel. Numerical simulations are carried out to show the validity of the proposed method.

关键词： Control systems Electric vehicles Wheels Tires Roads Torque Steering systems Packaging Intelligent vehicles Couplings

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Load distribution control for cooperative transportation by multiple mobile robots

Load distribution control for cooperative transportation by ...

引用

International Workshop on Advanced Motion Control (AMC)

作者： K. Tsuji T. Murakami Department of System Design Engineering Faculty of Science and Technology Keio University Japan

This paper addresses the theme of cooperative transportation by multiple mobile robots. There are some cases where robots are in overload by the influence of environment and the trajectory of a carrying object. In such cases the transportation becomes unstable. Thus, in this paper, the control system to prevent this problem is proposed. The proposed system consists of three control layers and the information on the system's load condition is transmitted among these layers. Based on this, the means for realizing stable transportation are performed. The system can be applied when there is various number and capability of robots. The validity of the proposed control method is checked by the simulation.

关键词： Mobile robots Robot kinematics Control systems design engineering systems engineering and theory Road transportation Production Axles Wheels Paper technology

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Constructing a platform of robust position estimation for mobile robot by ODR

Constructing a platform of robust position estimation for mo...

引用

International Workshop on Advanced Motion Control (AMC)

作者： M. Kondo K. Ohnishi Department of System Design Engineering Faculty of Science and Technology Keio University Japan

Today there is an increasing need for robots which move autonomously and work various operations. The robot taken up in this paper is two wheeled vehicle which has 6-D.O.F manipulator. Considering the position estimation of the vehicle, the conventional method is Dead-Reckoning method, which accuracy of estimation is almost good. But once slip occurs to the vehicle, a position estimated from dead-reckoning loses accuracy, because of wheelspin. Slip environment is often seen in our living space. So a wheeled robot has to detect a slip and compensate for the error. Counting the issue described above, mobile robot should have some sensors which obtains its position and attitude in noncontact from the floor. So in this paper, the method using optical sensor to estimate the vehicle position is proposed. This method is called Optical Dead-Reckoning (ODR) method. Two optical sensors mounted under the vehicle body is going to scan the floor and detect vehicle movement. The value obtained from ODR has no error of slip and friction of floor. Based on this ODR method, optical sensors are mounted on the actual robot, and some experimental results are shown.

关键词： Robustness Mobile robots Optical sensors Remotely operated vehicles Robot sensing systems Vehicle detection Manipulators Orbital robotics Sensor phenomena and characterization Friction

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Tracking control of a compact electrical vehicle trailer based on equivalent dynamics model

Tracking control of a compact electrical vehicle trailer bas...

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International Workshop on Advanced Motion Control (AMC)

作者： H. Ohara T. Murakami Department of System Design Engineering Faculty of Science and Technology Keio University Japan

Recently trajectory control of a compact tractor-trailer using electrical vehicle is studied in industrial environment. There is three reasons. First, improvement of working efficiency is desired. Second, because an electrical vehicle can be controlled easily, utilization of electrical vehicle can be applied to a wide range of tasks. Third, the load transportation capacity is increased by using a compact tractor-trailer. However the conventional trajectory control of a tractor-trailer was based on kinematic model only. So it was applicable only in the environment where the cornering force and the friction don't exist. And it was difficult to adapt the tractor-trailer against the environment changes. In this paper, it composes a controller based on the environmental information. Specifically, it estimates a cornering force and friction and it changes speed and a steering angle based on it. Therefore, it can avoid the jackknife phenomenon which the tractor-truck is peculiar to. It uses PD controller for the controller. Finally, Numerical simulation results is shown.

关键词： Electric vehicles Vehicle dynamics Transportation Kinematics Friction Petroleum Traction motors design engineering systems engineering and theory PD control

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