Motion Control of Ultra-High-Speed Manipulator with a Flexible Link Based on Dynamically Coupled Driving

2006 ◽  
Vol 18 (5) ◽  
pp. 598-607 ◽  
Author(s):  
Tomoari Maruyama ◽  
◽  
Chunquan Xu ◽  
Aiguo Ming ◽  
Makoto Shimojo
Keyword(s):  
Motion Control ◽  
High Speed ◽  
Wrist Joint ◽  
High Accuracy ◽  
Human Motion ◽  
Golf Club ◽  
Direct Drive ◽  
Flexible Link ◽  
Ultra High Speed ◽  
Drive Motor

We have developed a golf robot whose swing simulates human motion. The design concept is to realize ultra-high-speed dynamic manipulation using a dexterous mechanism. The robot consists of a shoulder joint with a high-power direct-drive motor and a wrist joint with a low-power direct-drive motor. High-speed golf swings are realized by a sort of motion control, called dynamically-coupled driving which compensates for the lack of drive in the wrist joint. In this paper a new model accounting for golf club flexibility with all parameters identified in experiments was developed. Based on this, we generated and implemented trajectories for different criteria. Experimental results confirmed the high accuracy of motion control and the feasibility of golf club flexibility in ultra-high-speed manipulation.

High-Speed and High-Accuracy Schemes of Coordinate Calculation and End Point Judgment for Elliptic Interpolation

2012 ◽  
Vol 217-219 ◽  
pp. 2664-2668
Author(s):  
Shi Yong Wang ◽  
Di Li
Keyword(s):  
Motion Control ◽  
High Speed ◽  
High Performance ◽  
High Accuracy ◽  
Interpolation Point ◽  
End Point ◽  
Sample Method ◽  
Relationship Of ◽  
Approximation Calculation

To implement high-speed and high-accuracy elliptic interpolation required in high-performance motion control, novel coordinate calculation and end point judgment schemes are proposed. Data Sample method is used for coordinate calculation. High accuracy is guaranteed by avoiding approximation calculation of interpolation points. Exact end point judgment is constructed based on the position relationship of the current interpolation point, the next interpolation point and the end point to avoid incomplete interpolation or over interpolation of elliptic trajectories. The proposed schemes feature fewer amounts of calculation and high accuracy and can produce any elliptic trajectories.

Motion Control of Direct-Drive Motor by a Homogeneous ER Fluid

1999 ◽  
Vol 10 (9) ◽  
pp. 728-731 ◽  
Author(s):  
Naoyuki Takesue ◽  
Guoguang Zhang ◽  
Junji Furusho ◽  
Masamichi Sakaguchi
Keyword(s):  
Motion Control ◽  
Direct Drive ◽  
Drive Motor ◽  
Er Fluid

scholarly journals AdjustSense: Adaptive 3D Sensing System with Adjustable Spatio-Temporal Resolution and Measurement Range Using High-Speed Omnidirectional Camera and Direct Drive Motor

Sensors ◽  
2021 ◽  
Vol 21 (21) ◽  
pp. 6975
Author(s):  
Mikihiro Ikura ◽  
Sarthak Pathak ◽  
Jun Younes Louhi Kasahara ◽  
Atsushi Yamashita ◽  
Hajime Asama
Keyword(s):  
Temporal Resolution ◽  
High Speed ◽  
Measurement Range ◽  
Direct Drive ◽  
Multiple Measurement ◽  
Sensing System ◽  
Drive Motor ◽  
3D Sensing ◽  
Spatio Temporal ◽  
Conventional Systems

Many types of 3D sensing devices are commercially available and were utilized in various technical fields. In most conventional systems with a 3D sensing device, the spatio-temporal resolution and the measurement range are constant during operation. Consequently, it is necessary to select an appropriate sensing system according to the measurement task. Moreover, such conventional systems have difficulties dealing with several measurement targets simultaneously due to the aforementioned constants. This issue can hardly be solved by integrating several individual sensing systems into one. Here, we propose a single 3D sensing system that adaptively adjusts the spatio-temporal resolution and the measurement range to switch between multiple measurement tasks. We named the proposed adaptive 3D sensing system “AdjustSense.” In AdjustSense, as a means for the adaptive adjustment of the spatio-temporal resolution and measurement range, we aimed to achieve low-latency visual feedback for the adjustment by integrating not only a high-speed camera, which is a high-speed sensor, but also a direct drive motor, which is a high-speed actuator. This low-latency visual feedback can enable a large range of 3D sensing tasks simultaneously. We demonstrated the behavior of AdjustSense when the positions of the measured targets in the surroundings were changed. Furthermore, we quantitatively evaluated the spatio-temporal resolution and measurement range from the 3D points obtained. Through two experiments, we showed that AdjustSense could realize multiple measurement tasks: 360∘ 3D sensing, 3D sensing at a high spatial resolution around multiple targets, and local 3D sensing at a high spatio-temporal resolution around a single object.

Development of Sensor-Less Power-Assisted System with Disturbance Observer Considering High Friction

2013 ◽  
Vol 25 (6) ◽  
pp. 1020-1028
Author(s):  
Takanori Miyoshi ◽  
◽  
Ryosuke Imai ◽  
Kazuhiko Terashima ◽  
Kanemitsu Ochiai ◽  
...  
Keyword(s):  
High Power ◽  
Disturbance Observer ◽  
High Speed ◽  
Static Friction ◽  
Force Sensor ◽  
Direct Drive ◽  
Speed Reduction ◽  
Drive Motor ◽  
Support Device ◽  
Friction Parameters

Japan has a dwindling birthrate and a rapidly aging population, which has led to an increasing number of elderly laborers. Although this has spurred development into power-assisted (PA) equipment that can reduce the physical demands, most of power assisted systems developed so far have used the force sensor, a direct drive motor, or a high power motor. The PA machine using force sensor is unable to detect and avoid obstacles that might collide with nonsensor components of the machine. The direct drive motor is too expensive for the practical use and its power tends to increase. According to Japanese law, a high power motor is not allowed to cooperate together with laborers in the factory. Thus, in this research, a sensor-less power-assisted (PA) system capable of estimating operator force based on a disturbance observer and friction correction is designed and built for a high friction production support device using a lowcapacity servo motor and a high-speed reduction ratio reducer. First, a dynamic model of a production support device is identified with specific friction parameters. Next, a sensor-less PA system is constructed that is equipped with an appropriate disturbance observer and dynamic friction correction. Moreover, the static friction issues are solved by the regular driving command. Finally, the accuracies of estimated force are examined, and the effectiveness of the constructed sensor-less PA system is verified.

scholarly journals Adaptive Robust Motion Control of Direct-Drive DC Motors with Continuous Friction Compensation

2013 ◽  
Vol 2013 ◽  
pp. 1-14 ◽  
Author(s):  
Jianyong Yao ◽  
Guichao Yang ◽  
Zongxia Jiao ◽  
Dawei Ma
Keyword(s):  
Motion Control ◽  
High Accuracy ◽  
Friction Model ◽  
Control Input ◽  
Continuous Control ◽  
Direct Drive ◽  
Accuracy Control ◽  
Tracking Accuracy ◽  
Robust Controller ◽  
Output Tracking

Uncertainties including the structured and unstructured, especially the nonlinear frictions, always exist in physical servo systems and degrade their tracking accuracy. In this paper, a practical method named adaptive robust controller (ARC) is synthesized with a continuous differentiable friction model for high accuracy motion control of a direct-drive dc motor, which results in a continuous control input and thus is more suitable for application. To further reduce the noise sensitivity and improve the tracking accuracy, a desired compensation version of the proposed adaptive robust controller is also developed and its stability is guaranteed by a proper robust law. The proposed controllers not only account for the structured uncertainties (e.g., parametric uncertainties) but also for the unstructured uncertainties (e.g., unconsidered nonlinear frictions). Furthermore, the controllers theoretically guarantee a prescribed output tracking transient performance and final tracking accuracy in both structured and unstructured uncertainties while achieving asymptotic output tracking in the absence of unstructured uncertainties, which is very important for high accuracy control of motion systems. Extensive comparative experimental results are obtained to verify the high-performance nature of the proposed control strategies.

MOTION CONTROL OF DIRECT-DRIVE MOTOR BY A HOMOGENEOUS ER FLUID

2000 ◽  
pp. 759-766
Author(s):  
NAOYUKI TAKESUE ◽  
GUOGUANG ZHANG ◽  
JUNJI FURUSHO ◽  
MASAMICHI SAKAGUCHI
Keyword(s):  
Motion Control ◽  
Direct Drive ◽  
Drive Motor ◽  
Er Fluid
Sign in / Sign up

Export Citation Format

Share Document