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作者:Kiyoshi Ohishi , Hideo Nozawa
来源:[J].Advanced Robotics(IF 0.51), 2002, Vol.16 (4), pp.345-359
摘要:Abstract(#br)As each joint actuator of a robot manipulator has a limit value of torque, the motion control system should consider the torque saturation. In order to consider the torque saturation in a transient state, this paper proposes a new redundant motion control system usin...
作者:... Takahiro Ohashi , Kiyoshi Ohishi , Toshimasa Miyazaki
来源:[J].Optical Review(IF 0.702), 2014, Vol.21 (5), pp.578-584
摘要:Abstract(#br)Recently, the scaling up of the storage capacity and data transfer rate of digital storage media has been required. However, increasing in the storage capacity and transfer rate makes optical head control more difficult. Thus, a tracking control system for optical di...
作者:Kiyoshi Ohishi , Hideo Nozawa
来源:[J].Advanced Robotics(IF 0.51), 2002, Vol.16 (4), pp.345-359
摘要:As each joint actuator of a robot manipulator has a limit value of torque, the motion control system should consider the torque saturation. In order to consider the torque saturation in a transient state,this paper proposes a new redundant motion control system using the autonomo...
作者:Kiyoshi Ohishi , Tohru Someno
来源:[J].Advanced Robotics(IF 0.51), 1997, Vol.12 (7-8), pp.755-769
摘要:As each joint actuator of a robot manipulator has a limit value of torque, the motion control system should consider the torque saturation. Conventional motion control based on robust acceleration controller cannot consider the torque saturation and it often causes an oscillated ...
作者:Kiyoshi Ohishi , Shiro Urushihara
来源:[J].Advanced Robotics(IF 0.51), 2011, Vol.25 (3-4), pp.335-353
摘要:Force estimation plays a very important role in many application areas. The disturbance observer is significantly becoming the preferred approach since it offers distinct advantages of improving the robustness of force control and the accuracy of force estimation. However, one of...
作者:... Manuel Nandayapa , Kiyoshi Ohishi , Seiichiro Katsura
来源:[J].Automatika(IF 0.349), 2013, Vol.54 (1), pp.62-73
摘要:Generally, the flexible robot system can be modeled as the two-mass system which consists of a motor and load connected by a spring. Thus, its elasticity causes resonance in the system. By using the conventional PID controller, this method cannot perform well in this situation. M...
作者:Manuel Nandayapa , Chowarit Mitsantisuk , Kiyoshi Ohishi
来源:[J].Advanced Robotics(IF 0.51), 2013, Vol.27 (3), pp.211-222
摘要:Applications are using force sensation in order to estimate real contact with the environment. In a bilateral control, force feedback is needed, but a force sensor is not suitable. Hence, the force sensation is improved by using a new velocity estimation that is programmed into t...
作者:Kiyoshi Ohishi , Shingo Makishima ...
来源:[J].Electrical Engineering in Japan(IF 0.104), 2015, Vol.191 (1), pp.37-49
摘要:SUMMARY(#br)This paper proposes a new current control method for an interior permanent magnet synchronous motor (IPMSM). In the case of ac motor control, two‐axis current feedback control is performed to control the voltage amplitude and phase. When the inverter voltage is s...
作者:Kentaro Sato , Kiyoshi Ohishi , Toshimasa Miyazaki
来源:[J].Electrical Engineering in Japan(IF 0.104), 2015, Vol.193 (1), pp.21-32
摘要:SUMMARY(#br)A method for estimating the sway angle using an observer has already been proposed. The state observer estimates the sway angle accurately and must use the detected sway angle value. However, the estimated sway angle has an error owing to rope length error, friction f...
作者:Kiyoshi Ohishi , Toshimasa Miyazaki
来源:[J].Electrical Engineering in Japan(IF 0.104), 2015, Vol.193 (1), pp.43-54
摘要:SUMMARY(#br)This study proposes a variable dynamic threshold for a jerk signal for achieving contact detection in industrial robots. Sensorless force control is useful in applications in advanced industrial robots. The external torque of each joint is estimated accurately by usin...

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