NDLI: Connection design for motion control system

Content Provider	IEEE Xplore Digital Library
Author	Morisawa, M. Ohnishi, K.
Copyright Year	2002
Description	Author affiliation: Dept. of Syst. Design Eng., Keio Univ., Japan (Morisawa, M.; Ohnishi, K.)
Abstract	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 a motion controller for such a motion system is required. At first, the paper shows a novel viewpoint to abstract the modes from the environment. Two examples of an abstraction using a Hadamard matrix are shown. One is a friction free drive and the other is a control of a paddle foot. Modal transmission from the environment to the final motion should change adoptively 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. The connection matrix and reachable matrix are used for the design of a variable network. Thirdly, since the total performance of the motion system depends on the performance of a single motion controller, 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.
Sponsorship	IEEE Ind. Electron. Soc. Univ. Maribor Slovenia Ministr. Educ., Sci. & Sport Soc. Instrum. & Control Eng. (Japan) IEEE Region 8, Slovenia Sect
Starting Page	28
Ending Page	33
File Size	531873
Page Count	6
File Format	PDF
ISBN	0780374797
DOI	10.1109/AMC.2002.1026886
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2002-07-03
Publisher Place	Slovenia
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Motion control Service robots Orbital robotics Design methodology Foot Humanoid robots Control systems Robust control Friction Design engineering
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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