Proceedings: March 30-April 1, 2000, Nagoya Institute of Technology, Nagoya, Japan
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| Format: | Tagungsbericht Buch |
| Sprache: | English |
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Institute of Electrical and Electronics Engineers
2000
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| Online-Zugang: | Inhaltsverzeichnis |
| Beschreibung: | "IEEE catalog number: 00TH8494"--T.p. verso. - Includes bibliographical references |
| Beschreibung: | XXXVIII, 635S. Ill., graph. Darst. |
| ISBN: | 0780359763 |
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| 111 | 2 | |a International Workshop on Advanced Motion Control |n 6 |d 2000 |c Nagoya |j Verfasser |0 (DE-588)6026184-5 |4 aut | |
| 245 | 1 | 0 | |a Proceedings |b March 30-April 1, 2000, Nagoya Institute of Technology, Nagoya, Japan |c 6th International Workshop on Advanced Motion Control ; sponsored by IEEE the Industrial Electronics Society (IES), the Society of Instrument and Control Engineers (SICE), Nagoya Institute of Technology.[General chairperson Nobuyuki Matsui] |
| 246 | 1 | 3 | |a International Workshop on Advanced Motion Control |
| 246 | 1 | 3 | |a Advanced motion control |
| 246 | 1 | 3 | |a AMC 2000 - Nagoya |
| 264 | 1 | |a Piscataway, NJ |b Institute of Electrical and Electronics Engineers |c 2000 | |
| 300 | |a XXXVIII, 635S. |b Ill., graph. Darst. | ||
| 336 | |b txt |2 rdacontent | ||
| 337 | |b n |2 rdamedia | ||
| 338 | |b nc |2 rdacarrier | ||
| 500 | |a "IEEE catalog number: 00TH8494"--T.p. verso. - Includes bibliographical references | ||
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Datensatz im Suchindex
| _version_ | 1804135147260346368 |
|---|---|
| adam_text | Table
of
Contents
Ps
:
Plenary
Session
1 .
Intelligent
Modelling
Observation
and Control for Nonlinear
Systems
Dierk
Schröder (Technical
University of
Munich,
Germany)
2 .
Mechatronics of Electrostatic Microactuators and Micro-gyroscopes
Roberto Horowitz, Yunfeng Li and Sungsu Park
(University of California, USA)
TA—
1 :
Visual Servo System and Image Processing in Motion Control
(1)
(Special Organized Session)
1.
A Tracking Control to Multiple Objects for Plural Hand-Eye Systems
........................... 1
Takashi Aoki,
Goh
Hidaka, Toshiyuki Murakami and Kouhei Ohnishi
(Keio University, Japan)
2 .
Exploring Motion Planning for
3D
Object Recognition
................................................ 7
Takashi
Amada
and Masaaki Shibata (Seikei University, Japan)
3 .
Control Issues to Improve Visual Control of Motion
:
Applications in Active
.................. 13
Tracking of Moving Targets
João
P.
Barreto,
Jorge Batista,
Helder
Araújo
and A.T. Almeida
(University of
Coimbra,
Portugal)
4 .
Evaluation of Processing Architecture and Control Law on the Performance of
.................. 19
Vision-Based Control Systems
S.
Chroust,
M.
Vincze,
R.
Traxl and P. Krautgartner
(Vienna University of Technology, Austria)
TA
— 2 :
Actuators and Sensors in Motion Control
1 .
Design and Realization of Autonomous Decentralized Object Transfer System
: ...............25
Magic Carpet
Hichirousai Oyobe, Hiroaki Kitajima and Yoichi
Horí
(The University of Tokyo, Japan)
2 .
Initial Condition Adapting Robust Control for a High-Speed Moving Iron
........................30
Type Lift Actuator
Taketoshi Kawabe, Ikuhiro Taniguchi and Masaki Toriumi (Nissan Research Center, Japan)
3 .
Electronic Nose-Based Odour Source Localization
......................................................36
Lino Marques and
Aníbal
T. de
Almeida (University of
Coimbra,
Portugal)
4 .
Torque Sensing from Harmonic Drives by Using Three strain Gages
..............................41
Ivan Godler, Tamotsu Ninomiya (Kyusyu University, Japan) and
Masashi Horiuchi (Harmonic Drive Systems
Inc)
VI
TA
— 3 :
Advanced
Control
of Flexible Manipulators
1 .
Following Control of Flexible Manipulator
...............................................................47
Mitsuhiro
Sugna, Toshiyuki
Murakami and Kouhei Ohnishi (Keio University, Japan)
2 .
Control Strategy of One Link Flexible Arm for Contact Motion to Moving Object
............52
Yoshifumi
Monta (Gifu
National College of Technology, Japan), Yoshihito Shimada,
Hiroyuki Ukai, Hisashi Kando and Nobuyuki Matsui (Nagoya Institute of Technology, Japan)
3 .
Development of a Software Package for a Flexible Link Manipulator
..............................58
N.M.
Kwok (Hong Kong Institute of Vocational Education, Hong Kong) and
C.K. Lee (Hong Kong Polytechnic University, Hong Kong)
4 .
Command Generation With Sliding Mode Control for Flexible Systems
...........................64
Erika
A. Ooten and
William Singhose
(Georgia Institute of Technology, USA)
TM
— 1 :
High Performance Servo System for Mass Storage System
(Special Organized Session)
1 .
Recent Control Technologies for Fast and Precise Servo System of Hard Disk Drives
.........69
Takashi Yamaguchi and Shinsuke Nakagawa
(Mechanical Engineering Research
Lab.,
Hitachi Ltd., Japan)
2 .
Proposal of Seeking Control of Hard Disk Drives Based on Perfect Tracking
.................. 74
Control Using Multirate Feedforward Control
Hiroshi Fujimoto and Yoichi
Hori
(The University of Tokyo, Japan), Takashi Yamaguchi
and Shinsuke Nakagawa
(Mech.
Eng.
Research
Lab.,
Hitachi, Ltd., Japan)
3 .
Single/Dual-rate Digital Controller Design for Dual Stage Track Following
..................80
in Hard Disk Drives
Jiagen Ding (University of California at Berkeley, USA), Hidehiko Numasato (Data Storage
&
Retrieval Systems Division, Hitachi, Ltd., Japan) and Masayoshi Tomizuka (Univer
sky of California at Berkeley, USA)
4 .
High Performance Digital Servo Design for HDD by using Sampled-Data Hoo
..................86
Control Theory
Mitsuo Hirata, Takenori Atsumi and
Kenzo Nonami
(Chiba
University, Japan)
5 .
Robust High Speed Tracking Servo System for Optical Disk System
..............................92
Kiyoshi Ohishi and Kenji Kudo, (Nagaoka University of Technology, Japan), Kiyotaka
Arai
and Haruki Tokumaru (NHK Science and Technical Research Laboratories, Japan)
TM —
2 :
Advanced Control of Mobile Robots
1 .
A Motion Control of Mobile Manipulator with External Force
.......................................98
Fumiaki Inoue, Toshiyuki Murakami and Kouhei Ohnishi (Keio University, Japan)
2 .
An Estimation of Slope for Mobile Manipulator
...................................................... 104
Kazutaka Kumeno, Toshiyuki Murakami and Kouhei Ohnishi (Keio University, Japan)
vu
3
.
Experiment System
for Two Wheels Drive Running Control
....................................... 110
Yasuo Yoshida, Kiyoshi Mishima and
Fei fei
Zhang
(Tokyo University of Mercantile
Maríne,
Japan)
4 .
Microcontroller Implementation for Distributed Motion Control of Mobile Robots
............ 114
Gen ichi
Y
asuda
(Nagasaki Institute of Applied Science, Japan)
5 .
A Motion Control of Unconstrained Object in Mobile Robot System
........................... 120
Tatsuo Yajima, Akihisa Nagami, Takahiro Yakoh, Toshiyuki Murakami
and Kouhei Ohnishi (Keio University, Japan)
TM—
3 :
Applications of Advanced Control Theory(l)
1 .
The Proof of Global Boundedness in the Adaptive Control Using Hoo Control Law
......... 126
Guo Qingding and Sun Yanna (Shenyang University of Technology, P.R. China) and
Wang
Limei
(Harbin Institute of Technology, PR. China)
2 .
The Control System Design of a Traveling Crane using Hoo Control Theory
.................. 131
Kunihito Matsuki, Noriyuki Kikuti, Shigeto Ouchi
(Tokai
University, Japan)
and Yuji Todaka (Fuji Electric Co., Ltd., Japan)
3 .
Joint Design Method Based on Factorized Representation of Plant and Controller
............ 135
of
2
DOF
Control System
Kazuhiro Yubai, Tatsuya Suzuki and Shigeru Okuma (Nagoya University, Japan)
4 .
Degital Controller Design For Recordable Optical Disk Player Using Disturbance Observer
•••141
Koji
Fujiyama, Ryu Katayama, Toshihide Hamaguchi and Koichi Kawakami
(Sanyo Electric Co., Ltd., Japan)
5 .
Observer-Based Loop Control of
Bullblock
Drawing Machines
.................................... 147
Ikuya Hoshino, Hiroki Yamanashi and Haruo Tanaka (Sumitomo Light Metal
Ind.,
Ltd., Japan)
TP
— 1 :
Advanced Traction Control
1 .
A
Po wer-
Assistant Platform Taking Environmental Disturbance into Account
.................. 152
Akihisa Nagami, Toshiyuki Murakami and Kouhei Ohnishi (Keio University, Japan)
2 .
Automatic Following Control for Agricutural Vehicle
................................................ 158
M.
Uda,
M. Kudou, K. Ono and M.
Umeda
(Kyoto
University, Japan)
3
.
Application of Pure Electric Braking System to Electric Railcars
................................. 163
Masahiro Ashiya (Mitsubishi Electric Corporation, Japan),
Šatoru
Sone
(The University of
Tokyo, Japan), Yasuharu Sato (Shin-Keisei Electric Railway, Japan), and Atsushi Kaga
(Mitsubishi Electric Corporation, Japan)
4.
Disturbance Observer Based Adhesion Control for Shinkansen
.................................... 169
Yosuke Takaoka and Atsuo Kawamura (Yokohama National University, Japan)
Vili
TP
— 2 :
Advanced
Control
of Nonlinear
SystemsC
1 )
1 .
Combined Identification of Parameters and Nonlinear Characteristics
........................... 175
based on Input-Output Data
Christian Hintz, Martin Rau and Dierk
Schröder
(Technical University Munich, Germany)
2 .
Genetic Algorithm (GA) Based Modeling of Non-linear Behavior of Friction of
............... 181
A Rolling Ball Guide Way
Kazuhiro Tsuruta (Yaskawa Electric Corporation, Japan), Teruo Murakami (Kyushu
University, Japan) Shigeru
Futam
і
(Yaskawa Electric Corporation, Japan) and Tadashi
Sumimoto (Yaskawa Electric Corporation, Japan)
3 .
A Friction Compensation in Twin Drive System
...................................................... 187
Nobuhiro Hayashida, Takahiro Yakoh, Toshiyuki Murakami and Kouhei Ohnishi
(Keio University, Japan)
4 .
A Torque Control Method of Three-Inertia
Torsionai
System with Backlash
..................... 193
Yu Nakayama, Kiyoshi Fujikawa and Hirokazu Kobayashi
(Toy
о
Electric. Mfg. Co., Ltd., Japan)
TP—
3 :
Applications of Advanced Control Theory
(2)
1 .
A Control Design Method of Repetitive Control Systems Using Free Parameter
............... 199
Кои
Yamada (Yamagata University, Japan), Hironobu Hoshi (NTT Corp., Japan) and
Tadashi Okuyama (Yamagata College of Industry and Technology, Japan)
2 .
A Design Method of Antiwindup Control Systems With Unknown External Signal
............
2(b
Кои
Yamada (Yamagata University, Japan) and Yosuke
Funami
(Yamagata College
of Industry and Technology, Japan)
3 .
Motive Simulation Table Mixed Sensitivity Design Applying Sampled-data Control
......... 211
Theory
Ma Jie, Yao Yu and Fang Qiang
(Harbin Institute of Technology, P.R. China)
4 .
New Representation of Systems with Effect Variables
................................................216
Kentarou Ueno, Takahiro Yakoh, Toshiyuki Murakami and Kouhei Ohnishi
(Keio University, Japan)
FA
— 1 :
Methodologies for Precision Motion Control Systems
(Special Organized Session)
1 .
Developing a Controller to Reduce Contour Error
................................................... 222
Hiroshi Takahashi (Tokyo University of Agriculture and Technology, Japan) and
Robert J. Bickel (Toyota Motor Corporation, Japan)
IX
2 .
Discrete-Time Repetitive Control System with Multiple Periods
.................................228
Manabu
Y amada (Nagoya
Institute of Technology, Japan), Zaier Riadh (Fujitsu Automation
Ltd., Japan) and Yasuyuki Funahashi (Nagoya Institute of Technology, Japan)
3 .
Design of Precise Multi-Axis Motion Control Systems
.............................................234
Syh-Shiuh Yeh and
Раи
-Lo
Hsu (National Chiao Tung University, Taiwan)
4 .
The Design of Precise Motion Systems by Applying both the Advanced Controllers
.........240
and the Interpolators
Yu- Yuan Chang and
Раи
-Lo
Hsu (National Chiao Tung University, Taiwan)
5 .
Digital Redesign and Multi-rate Control for Motion Control
.......................................246
—
a general approach and application to hard disk drive servo system
Yuping Gu and Masayoshi Tomizuka (University of California at Berkeley, USA)
FA —
2 :
Advanced Control for Various Robots
1 .
A Decoupling Control Method for Industrial Robots
................................................252
Ray Nakashima (Kyushu Institute of Technology, Japan), Masao Ojima (Yaskawa Electric
Corporation, Japan), Ryuichi Oguro (Yaskawa Electric Corporation, Japan) and
Temo
Tsuji
(Kyushu Institute of Technology, Japan)
2 .
A Design of Switched Controllers for Force Control System
.......................................258
Tadanao Zanma, Tatsuya Suzuki and Shigeru Okuma (Nagoya University, Japan)
3 .
Final-state Control of A Two-link Cat Robot by Feedforward Torque Inputs
..................264
Zhiqiang Weng and Hidekazu Nishimura
(Chiba
University, Japan)
4 .
Control of a New Tele Robot
...........................................................................270
A.
Schlotter
and
F. Pfeiffer (Technische Universität München,
Germany)
5 . Evolution
Strategies
Applied
to
Controls
on a Two Axis Robot
....................................276
W.
Hofmann
and R.
Richter
(Chemnitz University of Technology, Germany)
FA
— 3 :
Advanced Control for Induction Motors
1 .
Robust Fuzzy State Feedback Control of a Field Oriented Induction Motor
.....................281
M.A. Denai and
S.A.
Attia (University
Usto, Algeria)
2 .
Compensation Method of
Stator
Iron Loss
............................................................ 287
of Vector Controlled Induction Motor Using Robust Flux Observer
M
Hasegawa, S.
Doki
and S. Okuma (Nagoya University, Japan)
3 .
Fuzzy Logic Control of Saturated Induction Machine
................................................293
Mona N.
Eskander (Electronics Research Institute, Egypt)
4 .
Period
Adding Route to Chaos in a Hysteresis Current Controlled AC Drive
.................. 299
Zoltán
Suto,
István Nagy
(Technical University of Budapest, Hungary) and
Eisuke
Masada
(The Science University of Tokyo, Japan)
FM— 1 :
Advanced Traction Control of Electric Vehicles and Trains(l)
(Special Organized Session)
1 .
Robust Longitudinal Velocity Tracking of Vehicles Using Traction and Brake Control
......305
Meihua
Tai
and Masayoshi Tomizuka
(University of California at Berkeley, USA)
2 .
Traction Control of Electric Vehicles Considering Vehicle Stability
..............................311
Motoki Shino, Naoya Miyamoto, YuQing Wang and Masao Nagai
(Tokyo University of Agriculture and Technology, Japan)
3 .
Anti
Skid Control with Motor in Electric Vehicle
...................................................317
Shin-ichiro Sakai, Hideo
Sado
and Yoichi
Hori
(University of Tokyo, Japan)
4 .
A dhesion Control of Electric Motor Coach Based on Force Control Using
.....................323
Disturbance Observer
Kiyoshi Ohishi and Yasuaki Ogawa (Nagaoka University of Technology, Japan). Ichiro
Mi y
ashita and Shinobu Yasukawa (Toyo Electric Manufacturing Co., Ltd.)
5 .
Torque Trajectory Tracking Control of
IM
for EV s
...............;................................329
Karel
Jezernik (University of
Maribor,
Slovenia) and Asif
Sabanović
(Sabanci University.
Turkey)
FM —2 :
High Accurate Positioning/Tracking Control
1 .
Quasi Mixed H2/H00 Controller for a High Precision Positioning Device
..................335
Estiko Rijanto (Tokyo University of Agriculture and Technology, Japan)
2 .
A Tracking Method for Soft Non-Linear Moving Objects
..........................................339
Using Correlation Method with Confidence
Shinji Tsuruoka, Toshihiro Kunisada, Wataru Ohyama, Tomohiro Yoshikawa and
Kiyotsugu Sekioka
(Mie
University, Japan)
3 .
Plasma Arc Cutting Torch Tracking Control
.........................................................345
Jiayou Wang, Kazuowi Kusuwoto and Kikuo Nezu (Gunwa University, Japan)
4 .
Horizontal Stabilization of a Rocket Launcher Transporter
..........................................351
Y. Ota, W. Mizunuwa, H.
Копита
and Ben T. Nohara
(Mitsubishi Heavy Industries, Japan)
5 .
Integrated Planar Drives and Their Application
......................................................357
Eugen Saffert
and
Eberhard Kallenbach
(Ilwenau Technical University, Gerwany)
Xl
FM —
3 :
Advanced
Vibration
Suppression Control^)
1 .
A Floor Vibration Attenuation Device Using Robust Hoo Controller
..............................363
E. Rijanto, M. Okamoto, Wu Kuang and Y. Tagawa
(Tokyo University of Agriculture and Technology, Japan)
2 .
Feedforward Control Design for Vibration of Machine Stand
.......................................367
Teruo Tsuji (Kyushu Institute of Technology, Japan), Shuang-Hui Hao and Ryuichi Oguro
(Yaskawa Electric Corporation, Japan)
3 .
Concurrent Design of Input Shaping and Feedback
................................................ 372
Control for Insensitivity to Parameter Variations
Michael Kenison (Development Engineer, Schlumberger, USA) and
William
Singhose
(Georgia Institute of Technology, USA)
4 .
Fuzzy Logic Based Vibration Suppression Control of Flexible Structures
........................378
A. Forrai,
S.
Hashimoto,
H.
Funato and K. Kamiyama
(Utsunomiya University, Japan)
FP—
1 :
Advanced Control of Machine Tools
1 .
Comparative Investigation of Rotary and Linear Motor
.............................................384
Feed Drive Systems for High Precision Machine Tools
G. Brandenburg, S.
Brùckì,
J.
Dormann,
J.
Heinzl and
С
Schmidt
(Technical University
München,
Germany)
2 .
Automatic Tuning of Cascade Structure CNC Controllers
..........................................390
M. T. Pham and Ph.
Poignet (Laboratoire de
Vision
et Robotique de Bourges, France) and
M. Gautier (Institut de Recherche en Cybernétique de Nantes, France)
3 .
High-Speed Precision Numerically Controlled Tapping Using Dual Predictive Control
...... 396
Shigeru
Fu
tami
and Hiroshi Nakamura (Yaskawa Electric Corporation, Japan)
FP —
2 :
Advanced Control of Nonlinear Systems(2)
1 .
Nonlinear Model Predictive Control of a Robot Manipulator
....................................... 401
Ph.
Poignet (Laboratoire de
Vision
et Robotique de Bourges, France) and
M. Gautier (Institut de Recherche en Cybernétique de Nantes, France)
2 .
On
the Statistical and Fourier Modelling of Robot Motion
..........................................407
J.A.
Tenreiro Machado
and Alexandra M.S.F. Galhano
(Polytechnic Inst. of Porto, Portugal)
3 .
Parameter Estimation for State Controlled Rolling-Mill Motors Using
...........................413
Evolutionary Algorithms
Hans-Peter Beck and Dirk Turschner (Technical University
Clausthal,
Germany)
ХП
Anti-Sway Control System of a Rotational Crane Using the Non-Linear Controller
............419
Jun
Yanai, Makoto Murakami and Shigeto Ouchi
(Tokai
University, Japan)
Kang-Zhi Liu
(Chiba
University, Japan) and Yuji Todaka (Fuji Electric Co., Ltd)
FP —
3 :
Advanced Vibration Suppression Control(2)
1 .
Robust Motion Controller Design for Servo System with
2
Mass Characteristics
...............423
Doo-
Jin Shin and Uk-
Y oui
Huh (Inha University, Korea)
2 .
Suppression Control Method for Torque Vibration of Brushless DC Motor
.....................427
Utilizing Repetitive Control with Fourier Transform
Satomi
Hattori,
Muneaki Ishida and
Takamasa
Hori
(Mie
University, Japan)
3 .
A Solution to Benchmark Problems of a Couple of
3
Inertia System
...........................433
Кои
Yamada (Yamagata University, Japan)
4 .
Suppression of Vibration for Elevator System using Deadtime Compensation with
............439
Current Prediction
Yong- Won Choi, Jung-Ik Ha Seung-Ki
Sul
(Seoul National University, Korea),
Dae-Woong Chung (Fairchild Semiconductor, Korea), Jun-Koo Kang (Yaskawa Electric
Corporation, Japan), Geun-Ho Lee, Han-Jong Kim and Jea-Pil Lee (LG Industrial System
Co., Ltd., Korea)
SA—
1 :
Soft Computing Applications to Motion Control(l) (Special Organized Session)
1 .
New Fuzzy Inference Method for Symbolic Stability Analysis of Fuzzy Control System
......443
Hidehiro Yamamoto and Takeshi Furuhashi (Nagoya University, Japan)
2 .
Automatic Generation of Motion Sequence in Programmable Logical Control
..................448
Takeshi Aoki (Nagoya Municipal Industrial Research Institute, Japan)
Tomonori Hashiyama (Nagoya City University, Japan)
Tadanao Zanma, Tatsuya Suzuki and Shigeru Okuma (Nagoya University, Japan)
3 .
GA-Based Practical Compensator Design for Motion Control System
...........................453
Kazuaki Itoh, Makoto Iwasaki and Nobuyuki Matsui
(Nagoya Institute of Technology, Japan)
SA —
2 :
Advanced Traction Control of Electric Vehicles and Trains(2)
1 .
Optimization Strategy for Design and Control of a Hybrid Vehicle
..............................459
A. Kleimaier and D.
Schröder (Technical
University of Munich, Germany)
2 .
Researches on Small Capacity Vehicles Driven by Induction Machine
...........................465
Kunio
Fujii
(Kyushu Kyoritsu University, Japan), Hisayuki
Китаї
(Kyushu Seimitsu Denki
Co., Ltd.), Eiji Ishii (QM Soft Co., Ltd.), Suguru Higaki,
S
izu
о
Yam
ag uch
i and
Ни а-А и
Zhao (Kyushu Kyoritsu University, Japan)
ХШ
3
.
Optimization of Gear Shift Operations in Automatic Transmissions
..............................469
A. Haj-Fraj and
F. Pfeiffer
(TV
-München,
Germany)
4 .
The Drive Control System of Automobile Based on
................................................474
the Quadratic Stabilization Design Method
Shinji Hanada, Masaru Nakayama and Shigeto Ouchi (Tokai University, Japan)
SA —
3 :
Advanced Control of Hard Disk Drive
1 .
Modeling and Control of a Dual Stage Actuator
......................................................479
Hard Disk Drive with MEMS-based secondary actuator
Roberto Oboe (University of
Padova,
Italy) and
Bruno
Murári (STMicroelectronics
S.r.l, Italy)
2 .
Use of Low-cost MEMS Accelerometers for
.........................................................485
Vibration Compensation in Hard Disk Drives
Roberto Oboe (University of
Padova,
Italy)
3 .
Compensation for Repeatable Tracking Errors in Hard Drives
....................................490
Using Discrete-Time Repetitive Controllers
Yoshikazu Onuki and Hideaki Ishioka (Sony Corporation, Japan)
4 .
Toward the Discrete Sliding-Mode Controller Design For An Optical Pick-up Head
.........496
Tsang-Li
Tai
and Jian-Shiang Chen
(National Tsing-Hua University, Taiwan, ROC)
5 .
Optimal Track Following Control for Hard Disk Drives
.............................................502
Chen Lin, Guoxiao Guo, Ben M. Chen (Data Storage Institute, Singapore)
(National University of Singapore, Singapore) and Chi-Chung
Ko
(National University of
Singapore, Singapore)
SM—
1 :
Soft Computing Applications to Motion Control(2)
1 .
Acquisition of Fuzzy Control Rules for a Mobile Robot Using Genetic Algorithm
............507
Hiroharu Kawanaka, Tomohiro Yoshikawa and Shinji Tsuruoka
(Mie
University, Japan)
2 .
Collision Avoidance of Moving Obstacles for Ship with Genetic Algorithm
..................... 513
Xiao-ming
Zeng,
Masanorí
Ito
and Etsuro
Shimizu
(Tokyo University of Mercantile
Maríne,
Japan)
3 .
Towards Latent Faults Prevision in an Automatic Controlled Plant
..............................519
Alessandro De Carli, Riccardo drillo
and Cosmo
Leccese
(University of Rome
La Sapienza
,
Italy)
XIV
SM —
2 :
Control
of Biped Walking Robots( ^(Special Organized Session)
1 .
Waseda Biped Humanoid Robots Realizing Human-like Motion
................................. 525
Hun
-ок
Lim
and Atsuo Takanishi (Waseda University, Japan)
2 .
A Mathematical Representation of
Biorobots
and Humanoids for
................................. 531
Performance Assessment, Computer Simulation and Motion Animation
Hooshang
Hernami
(The Ohio State University, USA) and
Behzad Dariush (Honda R&D Americas, USA)
3 .
An Approach to Biped Robot with Parallel Mechanism
............................................. 537
Mitsuharu Morisawa, Takahiro Yakoh, Toshiyuki Murakami and Kouhei Ohnishi
(Keio University, Japan)
4 .
Gait Characteristics of Speed Variable Biped Walking Robot
....................................... 542
Hideaki Minakata, Chikara Katagiri and Susumu Tadakuma
(Chiba
Institute of Technology, Japan)
5 .
Experimental Approach for the Biped Walking Robot
MARI-
1 ................................. 548
Akira Yonemura, Youji Nakajima, Andre R. Hirakawa and Atsuo Kawamura
(Yokohama National University, Japan)
SM —
3 :
Advanced Control for PM Motors
1 .
Robust Motion Control Algorithm for Brushless Direct Drive Motor
.............................. 554
Aleš
Hace
and
Karel Jezernik
(University of
Maribor,
Slovenia)
2 .
Self-Sensing Control of AC-Servo Motor with DSP Oriented Observer
........................... 560
Akihiko Yoneya, Kiyotaka Yoshimaru and Yoshitaka Togari
(Nagoya Institute of Technology, Japan)
3 .
Output DC Voltage Control System of a Doubly Salient-Pole
Homopolar
Generator
......... 566
Jimon
Tornino,
Kensuke Yoshizue, Akira
Chiba
(Science University of Tokyo, Japan)
and Tadashi Fukao (Tokyo Instiute of Technology, Japan)
4 .
The H°° Robust Adaptive Control for Linear Permanent Magnet Synchronous
............... 572
Servo Motor (LPSM)
Sun Y
anna, Guo Qingding, Liu Aim in (Shenyang University of Technology, P.R. China)
and Wang
Limei
(Harbin Institute of Technology, P.R. China)
5 .
Preview Feedforward Compensation of Permanent Magnet Linear Synchronous
............... 576
Motor Servo System Implemented with
Adaline
Guo Qingding, Guo Wei (Shenyang University of Technology, P.R. China),
Zhou Yue (Chinese Academy of Sciences P.R. China) and
Wang
Limei
(Harbin Institute of Technology, PR. China)
XV
SP
— 1 :
Visual
Servo
System and Image Processing
in Motion
Contrôlez)
1 .
A
Visual
Motion
Control Strategy of Multi-Degrees-of-Freedom Manipulators
..................580
using Virtual Image Space
Naoki
Oda (Chitóse
Institute of Science and Technology, Japan)
2 .
Control of A Wheeled Mobile Robot with Two Image Processing Grades
........................586
Tamio Nakashima, Takahiro Yakoh, Toshiyuki Murakami and Kouhei Ohnishi
(Keio University, Japan)
3 .
Application of Limited Authority Control to Visual Tracking System
........................... 590
Djoko Purwanto, Toshiyuki Murakami and Kouhei Ohnishi
(Keio University, Japan)
SP-2
:
Control of Biped Walking Robots(2)
1 .
Controllability Analysis of Biped Walking Robots
...................................................595
Filipe
M.
Silva
(University of
Aveiro,
Portugal) and
J.A.
Tenreiro Machado
(Polytechnic Institute of Porto, Portugal)
2 .
Control of a Biped Jogging Robot
........................................................................601
K.
Löffler, M.
Gienger and
F. Pfeiffer
(Technische Universität München,
Germany)
3
.
Development of ROCOSCRobot Control Simulator)
...................................................606
Jump of human-type biped robot by the adaptive impedance control
Takeshi Hirano (Mitubishi Heavy Industries Co.,),
Так
urna Sueyoshi
and
Atsuo Kawamura (Yokohama National University, Japan)
4 .
Impact Force Reduction for Biped Robot Based on Decoupling COG Control Scheme
......612
Masaaki Shibata and Takeshi Natori (Seikei University, Japan)
SP —
3 :
Advanced Manipnlator Control
1 .
The High-speed Numerical Calculation Method for the On-Line Inverse Kinematics of
......618
Redundant Degree of Freedom Manipulators
Taro
Takahashi and Atsuo Kawamura (Yokohama National University, Japan)
2 .
Motion Chaos in the
Pseudoinverse
Control of Redundant Robots
.................................624
Fernando B.M.
Duarte
(Polytechnic Institute of
Viseu,
Portugal) and
J.A.
Tenreiro Machado
(Polytechnic Institute of Porto,
Portogal)
3 .
Energy Saving Manipulator by Regenerating Conservative Energy
.................................630
Teruyuki
Izumi (Shimane
University, Japan)
xvi
|
| adam_txt |
Table
of
Contents
Ps
:
Plenary
Session
1 .
Intelligent
Modelling
Observation
and Control for Nonlinear
Systems
Dierk
Schröder (Technical
University of
Munich,
Germany)
2 .
Mechatronics of Electrostatic Microactuators and Micro-gyroscopes
Roberto Horowitz, Yunfeng Li and Sungsu Park
(University of California, USA)
TA—
1 :
Visual Servo System and Image Processing in Motion Control
(1)
(Special Organized Session)
1.
A Tracking Control to Multiple Objects for Plural Hand-Eye Systems
. 1
Takashi Aoki,
Goh
Hidaka, Toshiyuki Murakami and Kouhei Ohnishi
(Keio University, Japan)
2 .
Exploring Motion Planning for
3D
Object Recognition
. 7
Takashi
Amada
and Masaaki Shibata (Seikei University, Japan)
3 .
Control Issues to Improve Visual Control of Motion
:
Applications in Active
. 13
Tracking of Moving Targets
João
P.
Barreto,
Jorge Batista,
Helder
Araújo
and A.T. Almeida
(University of
Coimbra,
Portugal)
4 .
Evaluation of Processing Architecture and Control Law on the Performance of
. 19
Vision-Based Control Systems
S.
Chroust,
M.
Vincze,
R.
Traxl and P. Krautgartner
(Vienna University of Technology, Austria)
TA
— 2 :
Actuators and Sensors in Motion Control
1 .
Design and Realization of Autonomous Decentralized Object Transfer System
: .25
Magic Carpet
Hichirousai Oyobe, Hiroaki Kitajima and Yoichi
Horí
(The University of Tokyo, Japan)
2 .
Initial Condition Adapting Robust Control for a High-Speed Moving Iron
.30
Type Lift Actuator
Taketoshi Kawabe, Ikuhiro Taniguchi and Masaki Toriumi (Nissan Research Center, Japan)
3 .
Electronic Nose-Based Odour Source Localization
.36
Lino Marques and
Aníbal
T. de
Almeida (University of
Coimbra,
Portugal)
4 .
Torque Sensing from Harmonic Drives by Using Three strain Gages
.41
Ivan Godler, Tamotsu Ninomiya (Kyusyu University, Japan) and
Masashi Horiuchi (Harmonic Drive Systems
Inc)
VI
TA
— 3 :
Advanced
Control
of Flexible Manipulators
1 .
Following Control of Flexible Manipulator
.47
Mitsuhiro
Sugna, Toshiyuki
Murakami and Kouhei Ohnishi (Keio University, Japan)
2 .
Control Strategy of One Link Flexible Arm for Contact Motion to Moving Object
.52
Yoshifumi
Monta (Gifu
National College of Technology, Japan), Yoshihito Shimada,
Hiroyuki Ukai, Hisashi Kando and Nobuyuki Matsui (Nagoya Institute of Technology, Japan)
3 .
Development of a Software Package for a Flexible Link Manipulator
.58
N.M.
Kwok (Hong Kong Institute of Vocational Education, Hong Kong) and
C.K. Lee (Hong Kong Polytechnic University, Hong Kong)
4 .
Command Generation With Sliding Mode Control for Flexible Systems
.64
Erika
A. Ooten and
William Singhose
(Georgia Institute of Technology, USA)
TM
— 1 :
High Performance Servo System for Mass Storage System
(Special Organized Session)
1 .
Recent Control Technologies for Fast and Precise Servo System of Hard Disk Drives
.69
Takashi Yamaguchi and Shinsuke Nakagawa
(Mechanical Engineering Research
Lab.,
Hitachi Ltd., Japan)
2 .
Proposal of Seeking Control of Hard Disk Drives Based on Perfect Tracking
. 74
Control Using Multirate Feedforward Control
Hiroshi Fujimoto and Yoichi
Hori
(The University of Tokyo, Japan), Takashi Yamaguchi
and Shinsuke Nakagawa
(Mech.
Eng.
Research
Lab.,
Hitachi, Ltd., Japan)
3 .
Single/Dual-rate Digital Controller Design for Dual Stage Track Following
.80
in Hard Disk Drives
Jiagen Ding (University of California at Berkeley, USA), Hidehiko Numasato (Data Storage
&
Retrieval Systems Division, Hitachi, Ltd., Japan) and Masayoshi Tomizuka (Univer
sky of California at Berkeley, USA)
4 .
High Performance Digital Servo Design for HDD by using Sampled-Data Hoo
.86
Control Theory
Mitsuo Hirata, Takenori Atsumi and
Kenzo Nonami
(Chiba
University, Japan)
5 .
Robust High Speed Tracking Servo System for Optical Disk System
.92
Kiyoshi Ohishi and Kenji Kudo, (Nagaoka University of Technology, Japan), Kiyotaka
Arai
and Haruki Tokumaru (NHK Science and Technical Research Laboratories, Japan)
TM —
2 :
Advanced Control of Mobile Robots
1 .
A Motion Control of Mobile Manipulator with External Force
.98
Fumiaki Inoue, Toshiyuki Murakami and Kouhei Ohnishi (Keio University, Japan)
2 .
An Estimation of Slope for Mobile Manipulator
. 104
Kazutaka Kumeno, Toshiyuki Murakami and Kouhei Ohnishi (Keio University, Japan)
vu
3
.
Experiment System
for Two Wheels Drive Running Control
. 110
Yasuo Yoshida, Kiyoshi Mishima and
Fei fei
Zhang
(Tokyo University of Mercantile
Maríne,
Japan)
4 .
Microcontroller Implementation for Distributed Motion Control of Mobile Robots
. 114
Gen' ichi
Y
asuda
(Nagasaki Institute of Applied Science, Japan)
5 .
A Motion Control of Unconstrained Object in Mobile Robot System
. 120
Tatsuo Yajima, Akihisa Nagami, Takahiro Yakoh, Toshiyuki Murakami
and Kouhei Ohnishi (Keio University, Japan)
TM—
3 :
Applications of Advanced Control Theory(l)
1 .
The Proof of Global Boundedness in the Adaptive Control Using Hoo Control Law
. 126
Guo Qingding and Sun Yanna (Shenyang University of Technology, P.R. China) and
Wang
Limei
(Harbin Institute of Technology, PR. China)
2 .
The Control System Design of a Traveling Crane using Hoo Control Theory
. 131
Kunihito Matsuki, Noriyuki Kikuti, Shigeto Ouchi
(Tokai
University, Japan)
and Yuji Todaka (Fuji Electric Co., Ltd., Japan)
3 .
Joint Design Method Based on Factorized Representation of Plant and Controller
. 135
of
2
DOF
Control System
Kazuhiro Yubai, Tatsuya Suzuki and Shigeru Okuma (Nagoya University, Japan)
4 .
Degital Controller Design For Recordable Optical Disk Player Using Disturbance Observer
•••141
Koji
Fujiyama, Ryu Katayama, Toshihide Hamaguchi and Koichi Kawakami
(Sanyo Electric Co., Ltd., Japan)
5 .
Observer-Based Loop Control of
Bullblock
Drawing Machines
. 147
Ikuya Hoshino, Hiroki Yamanashi and Haruo Tanaka (Sumitomo Light Metal
Ind.,
Ltd., Japan)
TP
— 1 :
Advanced Traction Control
1 .
A
Po wer-
Assistant Platform Taking Environmental Disturbance into Account
. 152
Akihisa Nagami, Toshiyuki Murakami and Kouhei Ohnishi (Keio University, Japan)
2 .
Automatic Following Control for Agricutural Vehicle
. 158
M.
Uda,
M. Kudou, K. Ono and M.
Umeda
(Kyoto
University, Japan)
3
.
Application of Pure Electric Braking System to Electric Railcars
. 163
Masahiro Ashiya (Mitsubishi Electric Corporation, Japan),
Šatoru
Sone
(The University of
Tokyo, Japan), Yasuharu Sato (Shin-Keisei Electric Railway, Japan), and Atsushi Kaga
(Mitsubishi Electric Corporation, Japan)
4.
Disturbance Observer Based Adhesion Control for Shinkansen
. 169
Yosuke Takaoka and Atsuo Kawamura (Yokohama National University, Japan)
Vili
TP
— 2 :
Advanced
Control
of Nonlinear
SystemsC
1 )
1 .
Combined Identification of Parameters and Nonlinear Characteristics
. 175
based on Input-Output Data
Christian Hintz, Martin Rau and Dierk
Schröder
(Technical University Munich, Germany)
2 .
Genetic Algorithm (GA) Based Modeling of Non-linear Behavior of Friction of
. 181
A Rolling Ball Guide Way
Kazuhiro Tsuruta (Yaskawa Electric Corporation, Japan), Teruo Murakami (Kyushu
University, Japan) Shigeru
Futam
і
(Yaskawa Electric Corporation, Japan) and Tadashi
Sumimoto (Yaskawa Electric Corporation, Japan)
3 .
A Friction Compensation in Twin Drive System
. 187
Nobuhiro Hayashida, Takahiro Yakoh, Toshiyuki Murakami and Kouhei Ohnishi
(Keio University, Japan)
4 .
A Torque Control Method of Three-Inertia
Torsionai
System with Backlash
. 193
Yu Nakayama, Kiyoshi Fujikawa and Hirokazu Kobayashi
(Toy
о
Electric. Mfg. Co., Ltd., Japan)
TP—
3 :
Applications of Advanced Control Theory
(2)
1 .
A Control Design Method of Repetitive Control Systems Using Free Parameter
. 199
Кои
Yamada (Yamagata University, Japan), Hironobu Hoshi (NTT Corp., Japan) and
Tadashi Okuyama (Yamagata College of Industry and Technology, Japan)
2 .
A Design Method of Antiwindup Control Systems With Unknown External Signal
.
2(b
Кои
Yamada (Yamagata University, Japan) and Yosuke
Funami
(Yamagata College
of Industry and Technology, Japan)
3 .
Motive Simulation Table Mixed Sensitivity Design Applying Sampled-data Control
. 211
Theory
Ma Jie, Yao Yu and Fang Qiang
(Harbin Institute of Technology, P.R. China)
4 .
New Representation of Systems with Effect Variables
.216
Kentarou Ueno, Takahiro Yakoh, Toshiyuki Murakami and Kouhei Ohnishi
(Keio University, Japan)
FA
— 1 :
Methodologies for Precision Motion Control Systems
(Special Organized Session)
1 .
Developing a Controller to Reduce Contour Error
. 222
Hiroshi Takahashi (Tokyo University of Agriculture and Technology, Japan) and
Robert J. Bickel (Toyota Motor Corporation, Japan)
IX
2 .
Discrete-Time Repetitive Control System with Multiple Periods
.228
Manabu
Y amada (Nagoya
Institute of Technology, Japan), Zaier Riadh (Fujitsu Automation
Ltd., Japan) and Yasuyuki Funahashi (Nagoya Institute of Technology, Japan)
3 .
Design of Precise Multi-Axis Motion Control Systems
.234
Syh-Shiuh Yeh and
Раи
-Lo
Hsu (National Chiao Tung University, Taiwan)
4 .
The Design of Precise Motion Systems by Applying both the Advanced Controllers
.240
and the Interpolators
Yu- Yuan Chang and
Раи
-Lo
Hsu (National Chiao Tung University, Taiwan)
5 .
Digital Redesign and Multi-rate Control for Motion Control
.246
—
a general approach and application to hard disk drive servo system
Yuping Gu and Masayoshi Tomizuka (University of California at Berkeley, USA)
FA —
2 :
Advanced Control for Various Robots
1 .
A Decoupling Control Method for Industrial Robots
.252
Ray Nakashima (Kyushu Institute of Technology, Japan), Masao Ojima (Yaskawa Electric
Corporation, Japan), Ryuichi Oguro (Yaskawa Electric Corporation, Japan) and
Temo
Tsuji
(Kyushu Institute of Technology, Japan)
2 .
A Design of Switched Controllers for Force Control System
.258
Tadanao Zanma, Tatsuya Suzuki and Shigeru Okuma (Nagoya University, Japan)
3 .
Final-state Control of A Two-link Cat Robot by Feedforward Torque Inputs
.264
Zhiqiang Weng and Hidekazu Nishimura
(Chiba
University, Japan)
4 .
Control of a New Tele Robot
.270
A.
Schlotter
and
F. Pfeiffer (Technische Universität München,
Germany)
5 . Evolution
Strategies
Applied
to
Controls
on a Two Axis Robot
.276
W.
Hofmann
and R.
Richter
(Chemnitz University of Technology, Germany)
FA
— 3 :
Advanced Control for Induction Motors
1 .
Robust Fuzzy State Feedback Control of a Field Oriented Induction Motor
.281
M.A. Denai and
S.A.
Attia (University
Usto, Algeria)
2 .
Compensation Method of
Stator
Iron Loss
. 287
of Vector Controlled Induction Motor Using Robust Flux Observer
M
Hasegawa, S.
Doki
and S. Okuma (Nagoya University, Japan)
3 .
Fuzzy Logic Control of Saturated Induction Machine
.293
Mona N.
Eskander (Electronics Research Institute, Egypt)
4 .
Period
Adding Route to Chaos in a Hysteresis Current Controlled AC Drive
. 299
Zoltán
Suto,
István Nagy
(Technical University of Budapest, Hungary) and
Eisuke
Masada
(The Science University of Tokyo, Japan)
FM— 1 :
Advanced Traction Control of Electric Vehicles and Trains(l)
(Special Organized Session)
1 .
Robust Longitudinal Velocity Tracking of Vehicles Using Traction and Brake Control
.305
Meihua
Tai
and Masayoshi Tomizuka
(University of California at Berkeley, USA)
2 .
Traction Control of Electric Vehicles Considering Vehicle Stability
.311
Motoki Shino, Naoya Miyamoto, YuQing Wang and Masao Nagai
(Tokyo University of Agriculture and Technology, Japan)
3 .
Anti
Skid Control with Motor in Electric Vehicle
.317
Shin-ichiro Sakai, Hideo
Sado
and Yoichi
Hori
(University of Tokyo, Japan)
4 .
A'dhesion Control of Electric Motor Coach Based on Force Control Using
.323
Disturbance Observer
Kiyoshi Ohishi and Yasuaki Ogawa (Nagaoka University of Technology, Japan). Ichiro
Mi y
ashita and Shinobu Yasukawa (Toyo Electric Manufacturing Co., Ltd.)
5 .
Torque Trajectory Tracking Control of
IM
for EV's
.;.329
Karel
Jezernik (University of
Maribor,
Slovenia) and Asif
Sabanović
(Sabanci University.
Turkey)
FM —2 :
High Accurate Positioning/Tracking Control
1 .
Quasi Mixed H2/H00 Controller for a High Precision Positioning Device
.335
Estiko Rijanto (Tokyo University of Agriculture and Technology, Japan)
2 .
A Tracking Method for Soft Non-Linear Moving Objects
.339
Using Correlation Method with Confidence
Shinji Tsuruoka, Toshihiro Kunisada, Wataru Ohyama, Tomohiro Yoshikawa and
Kiyotsugu Sekioka
(Mie
University, Japan)
3 .
Plasma Arc Cutting Torch Tracking Control
.345
Jiayou Wang, Kazuowi Kusuwoto and Kikuo Nezu (Gunwa University, Japan)
4 .
Horizontal Stabilization of a Rocket Launcher Transporter
.351
Y. Ota, W. Mizunuwa, H.
Копита
and Ben T. Nohara
(Mitsubishi Heavy Industries, Japan)
5 .
Integrated Planar Drives and Their Application
.357
Eugen Saffert
and
Eberhard Kallenbach
(Ilwenau Technical University, Gerwany)
Xl
FM —
3 :
Advanced
Vibration
Suppression Control^)
1 .
A Floor Vibration Attenuation Device Using Robust Hoo Controller
.363
E. Rijanto, M. Okamoto, Wu Kuang and Y. Tagawa
(Tokyo University of Agriculture and Technology, Japan)
2 .
Feedforward Control Design for Vibration of Machine Stand
.367
Teruo Tsuji (Kyushu Institute of Technology, Japan), Shuang-Hui Hao and Ryuichi Oguro
(Yaskawa Electric Corporation, Japan)
3 .
Concurrent Design of Input Shaping and Feedback
. 372
Control for Insensitivity to Parameter Variations
Michael Kenison (Development Engineer, Schlumberger, USA) and
William
Singhose
(Georgia Institute of Technology, USA)
4 .
Fuzzy Logic Based Vibration Suppression Control of Flexible Structures
.378
A. Forrai,
S.
Hashimoto,
H.
Funato and K. Kamiyama
(Utsunomiya University, Japan)
FP—
1 :
Advanced Control of Machine Tools
1 .
Comparative Investigation of Rotary and Linear Motor
.384
Feed Drive Systems for High Precision Machine Tools
G. Brandenburg, S.
Brùckì,
J.
Dormann,
J.
Heinzl and
С
Schmidt
(Technical University
München,
Germany)
2 .
Automatic Tuning of Cascade Structure CNC Controllers
.390
M. T. Pham and Ph.
Poignet (Laboratoire de
Vision
et Robotique de Bourges, France) and
M. Gautier (Institut de Recherche en Cybernétique de Nantes, France)
3 .
High-Speed Precision Numerically Controlled Tapping Using Dual Predictive Control
. 396
Shigeru
Fu
tami
and Hiroshi Nakamura (Yaskawa Electric Corporation, Japan)
FP —
2 :
Advanced Control of Nonlinear Systems(2)
1 .
Nonlinear Model Predictive Control of a Robot Manipulator
. 401
Ph.
Poignet (Laboratoire de
Vision
et Robotique de Bourges, France) and
M. Gautier (Institut de Recherche en Cybernétique de Nantes, France)
2 .
On
the Statistical and Fourier Modelling of Robot Motion
.407
J.A.
Tenreiro Machado
and Alexandra M.S.F. Galhano
(Polytechnic Inst. of Porto, Portugal)
3 .
Parameter Estimation for State Controlled Rolling-Mill Motors Using
.413
Evolutionary Algorithms
Hans-Peter Beck and Dirk Turschner (Technical University
Clausthal,
Germany)
ХП
Anti-Sway Control System of a Rotational Crane Using the Non-Linear Controller
.419
Jun
Yanai, Makoto Murakami and Shigeto Ouchi
(Tokai
University, Japan)
Kang-Zhi Liu
(Chiba
University, Japan) and Yuji Todaka (Fuji Electric Co., Ltd)
FP —
3 :
Advanced Vibration Suppression Control(2)
1 .
Robust Motion Controller Design for Servo System with
2
Mass Characteristics
.423
Doo-
Jin Shin and Uk-
Y oui
Huh (Inha University, Korea)
2 .
Suppression Control Method for Torque Vibration of Brushless DC Motor
.427
Utilizing Repetitive Control with Fourier Transform
Satomi
Hattori,
Muneaki Ishida and
Takamasa
Hori
(Mie
University, Japan)
3 .
A Solution to Benchmark Problems of a Couple of
3
Inertia System
.433
Кои
Yamada (Yamagata University, Japan)
4 .
Suppression of Vibration for Elevator System using Deadtime Compensation with
.439
Current Prediction
Yong- Won Choi, Jung-Ik Ha Seung-Ki
Sul
(Seoul National University, Korea),
Dae-Woong Chung (Fairchild Semiconductor, Korea), Jun-Koo Kang (Yaskawa Electric
Corporation, Japan), Geun-Ho Lee, Han-Jong Kim and Jea-Pil Lee (LG Industrial System
Co., Ltd., Korea)
SA—
1 :
Soft Computing Applications to Motion Control(l) (Special Organized Session)
1 .
New Fuzzy Inference Method for Symbolic Stability Analysis of Fuzzy Control System
.443
Hidehiro Yamamoto and Takeshi Furuhashi (Nagoya University, Japan)
2 .
Automatic Generation of Motion Sequence in Programmable Logical Control
.448
Takeshi Aoki (Nagoya Municipal Industrial Research Institute, Japan)
Tomonori Hashiyama (Nagoya City University, Japan)
Tadanao Zanma, Tatsuya Suzuki and Shigeru Okuma (Nagoya University, Japan)
3 .
GA-Based Practical Compensator Design for Motion Control System
.453
Kazuaki Itoh, Makoto Iwasaki and Nobuyuki Matsui
(Nagoya Institute of Technology, Japan)
SA —
2 :
Advanced Traction Control of Electric Vehicles and Trains(2)
1 .
Optimization Strategy for Design and Control of a Hybrid Vehicle
.459
A. Kleimaier and D.
Schröder (Technical
University of Munich, Germany)
2 .
Researches on Small Capacity Vehicles Driven by Induction Machine
.465
Kunio
Fujii
(Kyushu Kyoritsu University, Japan), Hisayuki
Китаї'
(Kyushu Seimitsu Denki
Co., Ltd.), Eiji Ishii (QM Soft Co., Ltd.), Suguru Higaki,
S
izu
о
Yam
ag uch
i and
Ни а-А и
Zhao (Kyushu Kyoritsu University, Japan)
ХШ
3
.
Optimization of Gear Shift Operations in Automatic Transmissions
.469
A. Haj-Fraj and
F. Pfeiffer
(TV
-München,
Germany)
4 .
The Drive Control System of Automobile Based on
.474
the Quadratic Stabilization Design Method
Shinji Hanada, Masaru Nakayama and Shigeto Ouchi (Tokai University, Japan)
SA —
3 :
Advanced Control of Hard Disk Drive
1 .
Modeling and Control of a Dual Stage Actuator
.479
Hard Disk Drive with MEMS-based secondary actuator
Roberto Oboe (University of
Padova,
Italy) and
Bruno
Murári (STMicroelectronics
S.r.l, Italy)
2 .
Use of Low-cost MEMS Accelerometers for
.485
Vibration Compensation in Hard Disk Drives
Roberto Oboe (University of
Padova,
Italy)
3 .
Compensation for Repeatable Tracking Errors in Hard Drives
.490
Using Discrete-Time Repetitive Controllers
Yoshikazu Onuki and Hideaki Ishioka (Sony Corporation, Japan)
4 .
Toward the Discrete Sliding-Mode Controller Design For An Optical Pick-up Head
.496
Tsang-Li
Tai
and Jian-Shiang Chen
(National Tsing-Hua University, Taiwan, ROC)
5 .
Optimal Track Following Control for Hard Disk Drives
.502
Chen Lin, Guoxiao Guo, Ben M. Chen (Data Storage Institute, Singapore)
(National University of Singapore, Singapore) and Chi-Chung
Ko
(National University of
Singapore, Singapore)
SM—
1 :
Soft Computing Applications to Motion Control(2)
1 .
Acquisition of Fuzzy Control Rules for a Mobile Robot Using Genetic Algorithm
.507
Hiroharu Kawanaka, Tomohiro Yoshikawa and Shinji Tsuruoka
(Mie
University, Japan)
2 .
Collision Avoidance of Moving Obstacles for Ship with Genetic Algorithm
. 513
Xiao-ming
Zeng,
Masanorí
Ito
and Etsuro
Shimizu
(Tokyo University of Mercantile
Maríne,
Japan)
3 .
Towards Latent Faults Prevision in an Automatic Controlled Plant
.519
Alessandro De Carli, Riccardo drillo
and Cosmo
Leccese
(University of Rome
"La Sapienza
",
Italy)
XIV
SM —
2 :
Control
of Biped Walking Robots( ^(Special Organized Session)
1 .
Waseda Biped Humanoid Robots Realizing Human-like Motion
. 525
Hun
-ок
Lim
and Atsuo Takanishi (Waseda University, Japan)
2 .
A Mathematical Representation of
Biorobots
and Humanoids for
. 531
Performance Assessment, Computer Simulation and Motion Animation
Hooshang
Hernami
(The Ohio State University, USA) and
Behzad Dariush (Honda R&D Americas, USA)
3 .
An Approach to Biped Robot with Parallel Mechanism
. 537
Mitsuharu Morisawa, Takahiro Yakoh, Toshiyuki Murakami and Kouhei Ohnishi
(Keio University, Japan)
4 .
Gait Characteristics of Speed Variable Biped Walking Robot
. 542
Hideaki Minakata, Chikara Katagiri and Susumu Tadakuma
(Chiba
Institute of Technology, Japan)
5 .
Experimental Approach for the Biped Walking Robot
MARI-
1 . 548
Akira Yonemura, Youji Nakajima, Andre R. Hirakawa and Atsuo Kawamura
(Yokohama National University, Japan)
SM —
3 :
Advanced Control for PM Motors
1 .
Robust Motion Control Algorithm for Brushless Direct Drive Motor
. 554
Aleš
Hace
and
Karel Jezernik
(University of
Maribor,
Slovenia)
2 .
Self-Sensing Control of AC-Servo Motor with DSP Oriented Observer
. 560
Akihiko Yoneya, Kiyotaka Yoshimaru and Yoshitaka Togari
(Nagoya Institute of Technology, Japan)
3 .
Output DC Voltage Control System of a Doubly Salient-Pole
Homopolar
Generator
. 566
Jimon
Tornino,
Kensuke Yoshizue, Akira
Chiba
(Science University of Tokyo, Japan)
and Tadashi Fukao (Tokyo Instiute of Technology, Japan)
4 .
The H°° Robust Adaptive Control for Linear Permanent Magnet Synchronous
. 572
Servo Motor (LPSM)
Sun Y
anna, Guo Qingding, Liu Aim in (Shenyang University of Technology, P.R. China)
and Wang
Limei
(Harbin Institute of Technology, P.R. China)
5 .
Preview Feedforward Compensation of Permanent Magnet Linear Synchronous
. 576
Motor Servo System Implemented with
Adaline
Guo Qingding, Guo Wei (Shenyang University of Technology, P.R. China),
Zhou Yue (Chinese Academy of Sciences P.R. China) and
Wang
Limei
(Harbin Institute of Technology, PR. China)
XV
SP
— 1 :
Visual
Servo
System and Image Processing
in Motion
Contrôlez)
1 .
A
Visual
Motion
Control Strategy of Multi-Degrees-of-Freedom Manipulators
.580
using Virtual Image Space
Naoki
Oda (Chitóse
Institute of Science and Technology, Japan)
2 .
Control of A Wheeled Mobile Robot with Two Image Processing Grades
.586
Tamio Nakashima, Takahiro Yakoh, Toshiyuki Murakami and Kouhei Ohnishi
(Keio University, Japan)
3 .
Application of Limited Authority Control to Visual Tracking System
. 590
Djoko Purwanto, Toshiyuki Murakami and Kouhei Ohnishi
(Keio University, Japan)
SP-2
:
Control of Biped Walking Robots(2)
1 .
Controllability Analysis of Biped Walking Robots
.595
Filipe
M.
Silva
(University of
Aveiro,
Portugal) and
J.A.
Tenreiro Machado
(Polytechnic Institute of Porto, Portugal)
2 .
Control of a Biped Jogging Robot
.601
K.
Löffler, M.
Gienger and
F. Pfeiffer
(Technische Universität München,
Germany)
3
.
Development of ROCOSCRobot Control Simulator)
.606
Jump of human-type biped robot by the adaptive impedance control
Takeshi Hirano (Mitubishi Heavy Industries Co.,),
Так
urna Sueyoshi
and
Atsuo Kawamura (Yokohama National University, Japan)
4 .
Impact Force Reduction for Biped Robot Based on Decoupling COG Control Scheme
.612
Masaaki Shibata and Takeshi Natori (Seikei University, Japan)
SP —
3 :
Advanced Manipnlator Control
1 .
The High-speed Numerical Calculation Method for the On-Line Inverse Kinematics of
.618
Redundant Degree of Freedom Manipulators
Taro
Takahashi and Atsuo Kawamura (Yokohama National University, Japan)
2 .
Motion Chaos in the
Pseudoinverse
Control of Redundant Robots
.624
Fernando B.M.
Duarte
(Polytechnic Institute of
Viseu,
Portugal) and
J.A.
Tenreiro Machado
(Polytechnic Institute of Porto,
Portogal)
3 .
Energy Saving Manipulator by Regenerating Conservative Energy
.630
Teruyuki
Izumi (Shimane
University, Japan)
xvi |
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| genre_facet | Konferenzschrift 2000 Nagoya |
| id | DE-604.BV021370122 |
| illustrated | Illustrated |
| index_date | 2024-07-02T14:02:09Z |
| indexdate | 2024-07-09T20:35:53Z |
| institution | BVB |
| institution_GND | (DE-588)6026184-5 |
| isbn | 0780359763 |
| language | English |
| lccn | 99069095 |
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| physical | XXXVIII, 635S. Ill., graph. Darst. |
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| publisher | Institute of Electrical and Electronics Engineers |
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| spelling | International Workshop on Advanced Motion Control 6 2000 Nagoya Verfasser (DE-588)6026184-5 aut Proceedings March 30-April 1, 2000, Nagoya Institute of Technology, Nagoya, Japan 6th International Workshop on Advanced Motion Control ; sponsored by IEEE the Industrial Electronics Society (IES), the Society of Instrument and Control Engineers (SICE), Nagoya Institute of Technology.[General chairperson Nobuyuki Matsui] International Workshop on Advanced Motion Control Advanced motion control AMC 2000 - Nagoya Piscataway, NJ Institute of Electrical and Electronics Engineers 2000 XXXVIII, 635S. Ill., graph. Darst. txt rdacontent n rdamedia nc rdacarrier "IEEE catalog number: 00TH8494"--T.p. verso. - Includes bibliographical references Antriebssteuerung (DE-588)4142754-3 gnd rswk-swf (DE-588)1071861417 Konferenzschrift 2000 Nagoya gnd-content Antriebssteuerung (DE-588)4142754-3 s DE-604 Digitalisierung TU Muenchen application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=014653180&sequence=000002&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Proceedings March 30-April 1, 2000, Nagoya Institute of Technology, Nagoya, Japan Antriebssteuerung (DE-588)4142754-3 gnd |
| subject_GND | (DE-588)4142754-3 (DE-588)1071861417 |
| title | Proceedings March 30-April 1, 2000, Nagoya Institute of Technology, Nagoya, Japan |
| title_alt | International Workshop on Advanced Motion Control Advanced motion control AMC 2000 - Nagoya |
| title_auth | Proceedings March 30-April 1, 2000, Nagoya Institute of Technology, Nagoya, Japan |
| title_exact_search | Proceedings March 30-April 1, 2000, Nagoya Institute of Technology, Nagoya, Japan |
| title_exact_search_txtP | Proceedings March 30-April 1, 2000, Nagoya Institute of Technology, Nagoya, Japan |
| title_full | Proceedings March 30-April 1, 2000, Nagoya Institute of Technology, Nagoya, Japan 6th International Workshop on Advanced Motion Control ; sponsored by IEEE the Industrial Electronics Society (IES), the Society of Instrument and Control Engineers (SICE), Nagoya Institute of Technology.[General chairperson Nobuyuki Matsui] |
| title_fullStr | Proceedings March 30-April 1, 2000, Nagoya Institute of Technology, Nagoya, Japan 6th International Workshop on Advanced Motion Control ; sponsored by IEEE the Industrial Electronics Society (IES), the Society of Instrument and Control Engineers (SICE), Nagoya Institute of Technology.[General chairperson Nobuyuki Matsui] |
| title_full_unstemmed | Proceedings March 30-April 1, 2000, Nagoya Institute of Technology, Nagoya, Japan 6th International Workshop on Advanced Motion Control ; sponsored by IEEE the Industrial Electronics Society (IES), the Society of Instrument and Control Engineers (SICE), Nagoya Institute of Technology.[General chairperson Nobuyuki Matsui] |
| title_short | Proceedings |
| title_sort | proceedings march 30 april 1 2000 nagoya institute of technology nagoya japan |
| title_sub | March 30-April 1, 2000, Nagoya Institute of Technology, Nagoya, Japan |
| topic | Antriebssteuerung (DE-588)4142754-3 gnd |
| topic_facet | Antriebssteuerung Konferenzschrift 2000 Nagoya |
| url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=014653180&sequence=000002&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
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