Advanced Motion Control for Next-Generation Industrial Applications

In this special section, a total of ten papers are included, covering a variety of aspects of advanced motion control for industrial applications. The first two papers are on the control of the robotic elastic joint. The classical two-degrees-of-freedom robot control is extended by the virtual torsion sensor in the loop. The proposed control is experimentally evaluated on a single-joint robot consisting of an actuator with harmonic-drive gear and inertial load under additional impact of gravity. Also proposed is an acceleration-based robust controller for the position and force control problems of a novel variable stiffness series elastic actuator (SEA). The vibration of the novel SEA and external disturbances are suppressed by using the resonance ratio control and arm disturbance observer, respectively. The intrinsically safe mechanical structure and high performance motion control system provide several benefits in industrial applications.

[1]  Roberto Oboe,et al.  Acceleration Measurement Drift Rejection in Motion Control Systems by Augmented-State Kinematic Kalman Filter , 2016, IEEE Transactions on Industrial Electronics.

[2]  Eizo Miyashita,et al.  State Variables of the Arm May Be Encoded by Single Neuron Activity in the Monkey Motor Cortex , 2016, IEEE Transactions on Industrial Electronics.

[3]  Makoto Iwasaki,et al.  Sensorless Torsion Control of Elastic-Joint Robots With Hysteresis and Friction , 2016, IEEE Transactions on Industrial Electronics.

[4]  Gong Chen,et al.  An Acceleration-Based Robust Motion Controller Design for a Novel Series Elastic Actuator , 2016, IEEE Transactions on Industrial Electronics.

[5]  Toshiaki Tsuji,et al.  Dynamic Object Manipulation Considering Contact Condition of Robot With Tool , 2016, IEEE Transactions on Industrial Electronics.

[6]  Yanqing Zhang,et al.  Research on Two-Degree-of-Freedom Internal Model Control Strategy for Induction Motor Based on Immune Algorithm , 2016, IEEE Transactions on Industrial Electronics.

[7]  Seiichiro Katsura,et al.  Data Reduction Design Based on Delta-Sigma Modulator in Quantized Scaling-Bilateral Control for Realizing of Haptic Broadcasting , 2016, IEEE Transactions on Industrial Electronics.

[8]  Wei Li,et al.  sEMG-Based Identification of Hand Motion Commands Using Wavelet Neural Network Combined With Discrete Wavelet Transform , 2016, IEEE Transactions on Industrial Electronics.

[9]  Toshiyuki Murakami,et al.  Full-Speed Range Self-Balancing Electric Motorcycles Without the Handlebar , 2016, IEEE Transactions on Industrial Electronics.

[10]  Toshiaki Tsuji,et al.  Motion Matching in Rehabilitation Databases With Force and Position Information , 2016, IEEE Transactions on Industrial Electronics.