Connection design for motion control system

Mitsuharu Morisawa, Kouhei Ohnishi

研究成果: Paper査読

4 被引用数 (Scopus)

抄録

Up to now, much effort has been concentrated on the control of a single control of motion system. However future machine or robots will be spread out in our society and they will make their motion in an open environment. Since such an environment has a lot of modes, a design methodology of motion controller for such motion system is required. At first, the paper shows a novel viewpoint to abstract the modes from environment. Two examples of an abstraction using Hadamard matrix are shown. One is a friction-free drive and the other is a control of a paddle foot. Modal transmission from environment to the final motion should change adaptively according to the situation. If the system becomes complex, it is necessary to design the variable network from the modes to the motion via motion controllers. The paper secondarily shows a methodology to design the network of the motion system based on the hard real-time manner. Connection matrix and reachable matrix are used for the design of variable network. Since the total performance of the motion system depends on the performance of a single motion controller, thirdly a design method for the robust control with the feedforward loop is proposed. There are numerical and experimental examples in the paper. They show the viability of novel approach to the complex motion.

本文言語English
ページ28-33
ページ数6
出版ステータスPublished - 2002 12月 1
イベント7th International Workshop on Advanced Motion Control, AMC '02 - Proceedings - Maribor, Slovenia
継続期間: 2002 7月 32002 7月 5

Other

Other7th International Workshop on Advanced Motion Control, AMC '02 - Proceedings
国/地域Slovenia
CityMaribor
Period02/7/302/7/5

ASJC Scopus subject areas

  • 制御およびシステム工学
  • モデリングとシミュレーション
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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