Motion Control 2009 Part 1 pptx

Motion Control Motion Control Edited by Federico Casolo In-Teh IV Published by In-Teh In-Teh Olajnica 19/2, 32000 Vukovar, Croatia Abstracting and non-profit use of the material is permitted with credit to the source. Statements and opinions expressed in the chapters are these of the individual contributors and not necessarily those of the editors or publisher. No responsibility is accepted for the accuracy of information contained in the published articles. Publisher assumes no responsibility liability for any damage or injury to persons or property arising out of the use of any materials, instructions, methods or ideas contained inside. After this work has been published by the In-Teh, authors have the right to republish it, in whole or part, in any publication of which they are an author or editor, and the make other personal use of the work. © 2009 In-teh www.intechweb.org Additional copies can be obtained from: publication@intechweb.org First published January 2010 Printed in India Technical Editor: Teodora Smiljanic Motion Control, Edited by Federico Casolo p. cm. ISBN 978-953-7619-55-8 Preface This book deals with a crucial aspect of mechanical systems design: the synthesis and control of movements of machine components. The scientific research in this area is strongly linked to the evolution of robotics and mechatronics and is focused on various aspects of motion dynamics. Purpose of this volume is to provide researchers with updated information, useful from the point of view of application as well as of theory. For this reason, most chapters describe the research in depth and show all the required details to implement the methods toward other practical applications. The need of motor control studies is still growing in numerous research fields; therefore, our selection shows applications from very diverse areas. They range from terrestrial, aerial, underwater and space vehicles control, to the precision control of industrial components in manufacturing systems and include the control of structures connected to the human body and transmitting to it noise and vibrations. The book reveals many different aspects of motion control, and a wide multiplicity of approaches to the problem as well. Despite the number of examples, however, this volume is not meant to be exhaustive: it intends to offer some original insights for all researchers that hopefully, in the future, will make their experience available for a forthcoming publication on the subject. Editor Federico Casolo Politecnico di Milano, Department of Mechanics Italy Contents Preface V 1. Dynamics and Control of Multibody Systems 001 Marek Vondrak, Leonid Sigal and Odest Chadwicke Jenkins 2. Intelligent Control 031 Maouche Amin Riad 3. Vision-Based Hierarchical Fuzzy Controller and Real Time Results for a Wheeled Autonomous Robot 051 Pourya Shahmaleki, Mojtaba Mahzoon, Alireza Kazemi and Mohammad Basiri 4. Smooth Path Generation for Wheeled Mobile Robots Using η 3 -Splines 075 Aurelio Piazzi, Corrado Guarino Lo Bianco and Massimo Romano 5. Motion Synthesis and Coordinated Control in the Multi-Axle-Driving-Vehicle 097 Yunhua Li and Liman Yang 6. A Novel Traction Control for Electric Vehicle without Chassis Velocity 121 Dejun Yin and Yoichi Hori 7. Formal Verification of Hybrid Automotive Systems 141 Jairam Sukumar, Subir K Roy, Kusum Lata and Navakanta Bhat 8. Rolling Stability Control of In-wheel Motor Electric Vehicle Based on Disturbance Observer 163 Kiyotaka Kawashima, Toshiyuki Uchida and Yoichi Hori 9. Terrestrial and Underwater Locomotion Control for a Biomimetic Amphibious Robot Capable of Multimode Motion 181 Junzhi Yu, Qinghai Yang, Rui Ding and Min Tan VIII 10. Autonomous Underwater Vehicle Motion Control during Investigation of Bottom Objects and Hard-to-Reach Areas 207 Alexander Inzartsev, Lev Kiselyov, Andrey Medvedev and Alexander Pavin 11. Integrated Positioning System of Autonomous Underwater Robot and Its Application in High Latitudes of Arctic Zone 229 Alexander Inzartsev, Alexander Kamorniy, Lev Kiselyov, Yury Matviyenko, Nicolay Rylov, Roman Rylov and Yury Vaulin 12. Intelligent Flight Control of an Autonomous Quadrotor 245 Syed Ali Raza and Wail Gueaieb 13. Microgravity Experiment for Attitude Control of A Tethered Body by Arm Link Motion 265 Masahiro Nohmi 14. Distributed Control of Multi-Robot Deployment Motion 277 Yu Zhou 15. Controlling a Finger-arm Robot to Emulate the Motion of the Human Upper Limb by Regulating Finger Manipulability 297 Jian Huang, Masayuki Hara and Tetsuro Yabuta 16. Elbow Prosthesis for Partial or Total Upper Limb Replacements 315 Federico Casolo 17. Fuzzy Control Strategy for Cooperative Non-holonomic Motion of Cybercars with Passengers Vibration Analysis 325 Francesco Maria Raimondi and Maurizio Melluso 18. Characteristics of Mechanical Noise during Motion Control Applications 351 Mehmet Emin Yüksekkaya, Ph.D. 19. Hybrid Magnetic Suspension Actuator for Precision Motion Control 363 Dengfeng Li and Hector Gutierrez 20. Three Degrees-of-Freedom Hybrid Stage With Dual Actuators and Its Precision Motion Control 375 Yonmook Park 21. FPGA-Realization of a Motion Control IC for X-Y Table 395 Ying-Shieh Kung and Ting-Yu Tai IX 22. A Long-Stroke Planar Actuator with Multiple Degrees of Freedom by Minimum Number of Polyphase Currents 413 Yasuhito Ueda and Hiroyuki Ohsaki 23. Sensorless V/f Control of Permanent Magnet Synchronous Motors 439 Daniel Montesinos-Miracle, P. D. Chandana Perera, Samuel Galceran-Arellano and Frede Blaabjerg 24. Fuzzy Sliding Mode Control of a Ball Screw Driven Stage 459 Mohammad Shams and Masoud Safdari 25. Dynamic Modeling and Performance Trade-offs in Flexure-based Positioning and Alignment Systems 481 Vijay Shilpiekandula and Kamal Youcef-Toumi 26. Development of a LCD Photomask Based Desktop Manufacturing System 497 Ren C. Luo and Jyh-Hwa Tzou 27. Positioning Systems for Bed Profiling in Hydraulics Physical Models 515 João Palma, Paulo Morais, Luís Guilherme and Elsa Alves 28. Switching Control of Image Based Visual Servoing in an Eye-in-Hand System using Laser Pointer 533 Wen-Fang Xie, Zheng Li, Claude Perron and Xiao-Wei Tu 29. The Analysis and Optimization in Virtual Environment of the Mechatronic Tracking Systems used for Improving the Photovoltaic Conversion 553 Cătălin Alexandru and Claudiu Pozna [...]... single controller can produce complex motions of interest, approaches that focus on building composable controllers (Faloutsos et al., 20 01) have also been explored Alternatively, controllers that attempt to control high degree-of-freedom motions using task-based formulations, that allow decoupling and composing of controls required to complete a particular task (e.g., maintain balance) from controls... proportional derivative (PD) control (Hodgins et al., 19 95); such controllers can produce very stable motions (e.g., human gait (Yin et al., 2007)) but often look artificial or robotic Locomotion controllers with stable limit cycle behavior are popular and appealing 3 Dynamics and Control of Multibody Systems choices for various forms of cyclic gates (Laszlo et al, 19 96); particularly in the robotics... communities (Goswami et al., 19 96) At least in part the challenges in control stem from the high dimensionality of the control space To that end few approaches have attempted to learn low-dimensional controllers through optimization (Safonova et al., 2004) Other optimization-based techniques are also popular, but often require initial motion (Liu et al., 2005) or existing controller (Yin et al., 2008).. .1 Dynamics and Control of Multibody Systems Marek Vondrak1, Leonid Sigal2 and Odest Chadwicke Jenkins1 1Brown University, of Toronto 1U.S.A., 2Canada 2Univesity 1 Introduction Over the past decade, physics-based simulation has become a key enabling technology for variety of applications... as operational space control (Khatib, 19 87; Nakamura et al., 19 87) Here we discuss and describe trajectory-based control that we believe to strike a balance between the complexity and effectiveness in instances where desired motion trajectories are available or easy to obtain Such control has been illustrated to be effective in the emerging applications, such as tracking of human motion from video (Vondrak... al., 2007) However, control over the motion of characters within these simulators is still very limited Those packages that do provide means for building user defined dynamic controllers (e.g., Euphoria by NaturalMotion and Dynamic Controller Toolbox (Shapiro et al., 2007)) still lack fidelity and ability to model stylistic variations that are important for producing realistic motions In this chapter,... mechanism for controlling motion through the use of constraints is introduced We then apply the approach to the problem of physics-based animation (control) of humanoid characters We start with a review of unconstrained rigid body dynamics and introduce the basic concepts like body mass properties, state parameterization and equations of motion The derivations will follow (Baraff et al., 19 97) and (Erleben,... request on the desired acceleration requiring that Instead of 0 we can require , (11 ) where and are positive constants Because we get Plugging these equations into our constraint definitions, we can therefore implement the position level equality constraint with stabilization by submitting either the velocity level 18 Motion Control equality constraint or the acceleration level equality constraint Moreover,... and motion control In this section we will illustrate some examples of useful constraints that can be used to build articulated structures In particular, we look at construction of joints (implemented with “anchors”) that connect individual rigid bodies by virtual hinges and restrict rotations about specific axes Anchors are formally defined as position level equality constraints 21 Dynamics and Control. .. acceleration level with stabilization 5 Motion control and motors In this section we show how to actuate the articulated body defined in the previous section In particular, we show how constraints can be used to define motors that can be applied at the joints of articulated body, similarly to (Kokkevis, 2004) Motors control angles or displacements along certain axes; they also control rotational or translational . 18 . Characteristics of Mechanical Noise during Motion Control Applications 3 51 Mehmet Emin Yüksekkaya, Ph.D. 19 . Hybrid Magnetic Suspension Actuator for Precision Motion Control. 1 Dynamics and Control of Multibody Systems Marek Vondrak 1 , Leonid Sigal 2 and Odest Chadwicke Jenkins 1 1 Brown University, 2 Univesity of Toronto 1 U.S.A., 2 Canada 1. Introduction. Tetsuro Yabuta 16 . Elbow Prosthesis for Partial or Total Upper Limb Replacements 315 Federico Casolo 17 . Fuzzy Control Strategy for Cooperative Non-holonomic Motion of Cybercars