AMC '96- MIE

1996 4th International Workshop on

Advanced Motion Control

Proceedings

Volume 1 of 2

March 18-21, 1996Mie University

Tsu-City, Mie-Pref., Japan

Sponsored by

IEEE/The Industrial Electronics Society

The Society of Instrument andControl Engineers of Japan

Mie University

Table of ContentsVol.1 pp. 1-424Vol.2 pp.425-734

Ps: Plenary Session

1. Model Based Prediction, Preview and Robust Controls in Motion Control Systems 1

Masayoshi Tomizuka (University of California at Berkeley, USA)

2. Electrical Drives -Universal Sources of Mechanical Energy 7

Werner Leonhard (Technical University Braunschweig, Germany)

3. Intelligent Mechatronics 15

Fumio Harashima (The University of Tokyo, Japan)

A-l: Motor Control

1. Sensorless Control and Initial Position Estimation of Salient-Pole Brushless DCMotor 18

Takaharu Takeshita and Nobuyuki Matsui (Nagoya Institute ofTechnology, Japan)

2. Sensorless Estimation of Rotor Position of Cylindrical Brushless DC Motors UsingEddy Current 24

Mutuwo Tomita (Nagoya University, Japan), Mitsuhiko Satoh,Hideyuki Yamaguchi (Aichi Electric Co., Ltd., Japan), Shinji Doki andShigeru Okuma (Nagoya University, Japan)

3. A Normalized Smoothing Control Scheme Based on Fuzzy Modeling for the Controlof DC Brushless Servo Drives 29

Chao-Shu Liu, Jui-Ching Yang and Jian-Shiang Chen (National TsingHua University, China)

4. Improvement of Motor Drive System by Nominal Model Tracking System UsingHysteresis Element 35

Takashi Koga, Hidenori Nagai (Toyo Electric Mfg. Co., Ltd., Japan),Michio Nakano and Bangji Gong (Tokyo Institute of Technology, Japan)

5. Neural Network Adaptive Observer Based Position and Velocity Sensorless Controlof PMSM 41

Guo Qingding, Luo Ruifu and Wang Limei (Shenyang PolytechnicUniversity, China)

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B-l: Two Degree of Freedom Control

1. A Step and Settle Positioning Algorithm for Electro-Mechanical Systems withDamping 47

Carl J. Kempf (NSK Ltd., Japan)

2. Two Dimensional Precise Positioning Using an Impulse Force Controlled by FuzzyReasoning 53

Hisashi Suyama, Teruyuki Izumi and Yoshikazu Hitaka (YamaguchiUniversity, Japan)

3. The Basic Characteristics of Two-Degree-of-Freedom PID Position Controller Usinga Simple Design Method for Linear Servo Motor Drives 59

Masaki Sugiura (Meiji University, Japan), Shu Yamamoto (PolytechnicUniversity, Japan), Jun Sawaki and Kouki Matsuse (Meiji University,Japan)

4. Robust Digital Tracking Controller Design for High-Speed Positioning Systems -ANew Design Approach and Implementation Techniques 65

Hideyuki Kobayashi, S. Endo, Seiichi Kobayashi and Carl J. Kempf(NSK Ltd., Japan)

5. Many Points Positioning Control of a Pneumatic Cylinder for a Vertical AxisActuator Using Two Degrees of Freedom PI Control Method 71

Hirokazu Kawanaka and Keiichi Hanada (Toyo University, Japan)

6. Implementation Technique Considering Closed-Loop System Performance of HighOrder Controllers 75

Takashi Ogawa, Toshihiko Kumagai, Tatsuya Suzuki andShigeru Okuma (Nagoya University, Japan)

C-l: Robot Design

1. Systemization with CAD/CAM Welding Robots for Bridge Fabrication 80

Yuji Sugitani, Yoshihiro Kanjo and Masatoshi Murayama (NKK Corp.,Japan)

2. Fine Motion Control of Robot Manipulators in Deburring Applications UtilizingCutting Tool Signals 86

Ahmed Abou-El-Ela and Rolf Isermann (Technical University ofDarmstadt, Germany)

3. Development of a Transfer Supporting Equipment - Applying Power Assist Control - 92

Daizo Takaoka, Tsunehito Iwaki, Makoto Yamada andKazuyoshi Tsukamoto (Sanyo Electric Co., Ltd., Japan)

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4. Robot Hand with Fingers using Vibration-Type Ultrasonic Motors (DrivingCharacteristics) 97

Kenji Nishibori (Daido Institute of Technology, Japan), Shigeru Okuma(Nagoya University, Japan), Hirohisa Obata (Aisan Industry Co., Ltd.,Japan) and Setsuya Kondo (Daido Institute of Technology, Japan)

5. Development of Biomimetic Prosthetic Hand Controlled by Electromyogram 103

Ryuhei Okuno, Masaki Yoshida and Kenzo Akazawa (Kobe University,Japan)

6. Experiment toward Speed-Tracking Controller Designs for Planar Linkage 109

Ming-Chang Lin and Jian-Shiang Chen (National Tsing Hua University,China)

D-la: Intelligent System la

1. Robust Position Control of DC Servomotors Using Fuzzy Reasoning 115

Tomonobu Senjyu, Shingo Ashimine and Katsumi Uezato (University ofthe Ryukyus, Japan)

2. A Fuzzy Control Algorithm Reducing Steady-State Position Errors of RoboticManipulators 121

Chul-Goo Kang (Kon-Kuk University, Korea) and Bee-Sung Kwak (DaeWoo Heavy Industries Ltd., Korea)

3. Fuzzy Intelligent Emotion and Instinct Control of a Robotic Unicycle 127

Sergei V. Ulyanov and Kazuo Yamafuji (The University of Electro-Communications, Japan)

4. A Hybrid Control Architecture with a Fuzzy Supervisory Controller and SlaveController Modules 133

Takayuki Furuta and Ken Tomiyama (Aoyama Gakuin University,Japan)

D-lb: Intelligent System Ib

1. New Fuzzy-Controller Design for Speed Control of Electric Drives 139

Bernd Cebulski and Wilfried Hofmann (Technical University ofChemnitz, Germany)

2. An Automatic Design Method of Fuzzy Controllers Based on Linguistic Specificationsand Fuzzy Model of Controlled Object 144

Gaku Adachi, Takeshi Furuhashi and Yoshiki Uchikawa (NagoyaUniversity, Japan)

3. Application of a Virtual Environment Model to Field Work Planning and the Controlof Distribution Line Work by Robots 150

Hirokazu Ishida (Chubu Electric Power Co., Inc., Japan),Seiichi Hanaki and Norihito Murai (Computer Technology IntegratorCo., Ltd., Japan)

A-2a: Induction Motor Drive I (Sensorless Drive)

1. Slip Frequency Estimation for Sensorless Low Speed Control of Induction Motor 156

Tae-Woong Kim and Atsuo Kawamura (Yokohama National University,Japan)

2. Parameter Sensitivity of Speed Estimation in Speed Sensorless Induction MotorDrives 162

Ciro Attaianese, Giuseppe Fusco (Universitd di Cassino, Italy),I. Marongiu (Universitd di Cagliari, Italy) and A. Perfetto (Universitddi Napoli, Italy)

3. Model Based Speed and Rotor Resistance Estimation for Sensorless Vector-ControlledInduction Motor Drives Using Floating Point DSP 168

Teodor Pana (Technical University of Cluj-Napoca, Romania)

A-2b: Induction Motor Drive II

1. Characteristics of PWM Inverter-Fed Induction Motor in Consideration of Saturation 174

Katsumi Kamimoto, Shigeru Yamada (Daido Institute of Technology,Japan) and Yoshihiro Murai (Gifu University, Japan)

2. Field Oriented Control of Induction Machine - Simulation and Realization 180

Christophe Millet, D. Leroux and C. Bergmann (I. U. T. de Nantes,France)

3. On Fuzzy Logic Speed Control for Vector Controlled AC Motors 186

D. Fodor (University of Veszpre'm, Hungary), Zoltdn Katona (KFKIResearch Ins. for Measurement & Computing Tech., Hungary) andJ. Vass (University of Veszpre'm, Hungary)

4. Series Resonant DC-Link AC/AC Power Converter for a V/F Controlled Motor Drive 192

Sunil Gamini Abeyratne, J. Horikawa, Yoshihiro Murai and T. A. Lipo(Gifu University, Japan)

B-2: Adaptive Control

1. Contour Error Analysis and Gain Tuning for CNC Machining Center 197

Il-Ju Na, Chong-Ho Choi, Tae-Jeong Jang, Byeong-Kap Choi and O-Sok Song (Seoul National University, Korea)

2. Adaptive Control for a Throwing Motion of a 2 DOF Robot 203

Norihiko Kato, Kenji Matsuda and Tatsuya Nakamura (Mie University,

Japan)

3. Model Reference Adaptive Control for Nonminimum Phase Systems and ItsApplication to DC Servo Motor Systems 208

Jianming Lu, Muhammad Shafiq and Takashi Yahagi (Chiba University,Japan)

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4. Multi-Rate Adaptive Pole-Placement Control for Pneumatic Servo System withAdditive External Forces 213

Kanya Tanaka (Ehime University, Japan), Yuuji Yamada (KureInstitute National College, Japan), Akira Shimizu and Satoru Shibata(Ehime University, Japan)

5. Disturbance Compensation Control of Direct Drive Motor Using an AdaptiveObserver 219

Valeri Kroumov and Akira Inoue (Okayama University, Japan)

6. Robust Position Control of Manipulators Based on Disturbance Observer and InertiaIdentifier in Task Space 225

Satoshi Komada, Tetsuya Kimura, Muneaki Ishida and Takamasa Hori(Mie University, Japan)

C-2: Walking Machine and Mobile Robot

1. Distributed Intelligent Control Structure for Multi-Legged Walking Robots 231

Kuniaki Kawabata, Takayuki Suzuki, Tomoki Hayama andHisato Kobayashi (Hosei University, Japan)

2. Leg Synchronization by Distributed Control Structure 237

Hajime Minamisawa, Kuniaki Kawabata, Po Chih Lin,Yasuhiko Hanamaki (Hosei University, Japan), Katsuhiko Inagaki(Tokai University, Japan) and Hisato Kobayashi (Hosei University,Japan)

3. Fundamental Study of Biped Bike Prototype Controlled by Accelerator and BrakePedals 241

Hideaki Minakata and Yoichi Hori (The University of Tokyo, Japan)

4. Robust Biped Walking with Active Interaction Control between Robot andEnvironment 247

Yasutaka Fujimoto and Atsuo Kawamura (Yokohama NationalUniversity, Japan)

5. Dynamic Trajectory Control of a Variable Structure Type Four-Wheeled Robot toPass over Steps 253

Osamu Matsumoto, Shuuji Kajita and Kazuo Tani (MechanicalEngineering Laboratory, MITI, Japan)

6. Motion Control of a Spherical Mobile Robot 259

Aarne Holme, Torsten Schonberg and Yan Wang (Helsinki Universityof Technology, Finland)

7. Modeling and Control of a New Type of Omnidirectional Holonomic Vehicle 265

Masayoshi Wada and Shunji Mori (Fuji Electric Corp. Research andDevelopment, Ltd., Japan)

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D-2: Intelligent System II

1. Intelligent Control of an Exercise Machine 271

Perry Li and Roberto Horowitz (University of California at Berkeley,USA)

2. Motion Control of Mobile Manipulators Moving on Waved Road Surfaces UsingNeural Networks 277

Masatoshi Hatano, Mamoru Minami, Toshiyuki Asakura,

Yoshio Takahashi and Masaki Ichimura (Fukui University, Japan)

3. Learning Control System for Manipulators with the Ability to Use Already AcquiredKnowledge in Other Problem 283

Soichiro Hayakawa, Toshiaki Oka, Tatsuya Suzuki and Shigeru Okuma(Nagoya University, Japan)

4. Identification of a Nonlinear Motor System with Neural Networks 287

Kai Ching Sio and C. K. Lee (The Hong Kong Polytechnic University,Hong Kong)

5. Adaptive Neural Controller for a Class of Plant with Nonlinear Uncertainties 293

Bing Hong Xu, Toshio Tsuji and Makoto Kaneko (Hiroshima University,

Japan)

6. Using Neural Networks to Improve Gain Scheduling Techniques for Linear Parameter-Varying Systems 299

Tsu-Tian Lee, Jin-Tsong Jeng and Ching-Long Shih (National TaiwanInstitute of Technology, China)

A-3: Induction Motor Control

1. Asymmetrical Modulation and Over-Modulation Techniques of Parallel ConnectedNPC-PWM Inverters for AC Motor Drives 305

Keiju Matsui, Yasutaka Kawata, Fukashi Ueda, Kazuo Tsuboi andKoji Iwata (Chubu University, Japan)

2. Optimal Control of Double Output Induction Generator Using Optimal RegulatorTheory 311

Mono Naguib Eskander, M. S. Abd El Motaleb and H. A. El Khashab(Electronics Research Institute, Egypt)

3. Reduction of Mechanical Vibration of an Induction Motor with Pulsating TorqueLoad by Feedforward Control Utilizing an Acceleration Sensor and a Timing Sensor 316

Shinichi Higuchi, Muneaki Ishida and Takamasa Hori (Mie University,Japan)

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B-3: Disturbance Observer

1. An Estimating Method of Instantaneous Load Torque by Wavelet Transform for theInduction Motor Drive 321

Nobuyuki Kasa, Tomoyuki Karino and Hiroshi Watanabe (TokyoMetropolitan Institute of Technology, Japan)

2. Robust Speed Servo System for Wide Speed Range Based on Instantaneous SpeedObserver and Disturbance Observer 326

Kiyoshi Ohishi and Yoshihiro Nakamura (Nagaoka University ofTechnology, Japan)

3. Discrete-Time Disturbance Observer Design for Systems with Time Delay 332

Carl J. Kempf and Seiichi Kobayashi (NSK Ltd., Japan)

4. Analysis of Servo System Realized by Disturbance Observer 338

Kohji Yamada, Satoshi Komada, Muneaki Ishida and Takamasa Hori(Mie University, Japan)

5. Observer-Based Nonlinear Friction Compensation in Servo Drive System 344

Makoto Iwasaki and Nobuyuki Matsui (Nagoya Institute of Technology,Japan)

6. The Control for the Disturbance in the System with Time Delay 349

Takeshi Takehara, Teruo Kunitake, Hideki Hashimoto andFumio Harashima (The University of Tokyo, Japan)

7. Fuzzy-Controlled DC Drive System with Load Observer 354

Xiaogang Feng and Boshi Chen (Shanghai University, China)

C-3a: Visual Servo

1. A Construction of Visual Servo Controller by Kalman Filter and Created Window 359

Hideaki Minamide, Toshiyuki Murakami and Kouhei Ohnishi (KeioUniversity, Japan)

2. Analysis on Real Time Motion Estimation with Active Stereo Camera 365

Kohtaro Sabe, Hideki Hashimoto and Fumio Harashima (The Universityof Tokyo, Japan)

3. A Method of Visual Servoing for Autonomous Vehicles 371

Masami Kobayashi, Y. Miyamoto, K. Mitsuhashi (Kawasaki HeavyIndustries, Ltd., Japan) and Yutaka Tanaka (Okayama University,Japan)

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C-3b: Sensor

1. Bias Estimation of Two 3-Dimensional Radars Using Kalman Filter 377

Yoshio Kosuge and Takamitsu Okada (Mitsubishi Electric Corp., Japan)

2. A Sensor Stabilizing Technology of Air-Cushion for Pile Detection 383

Nobuhiro Shimoi, Shuichiro Koga, Kohji Itoh, Fujio Iitaka and

Yoshiaki Shinoda (TRDI, JDA, Japan)

3. Regional Wall Motion Tracking System for High-Frame Rate UltrasoundEchocardiography 389

Shinji Tsuruoka, Mikio Umehara, Fumitaka Kimura,Tetsushi Wakabayashi, Yasuji Miyake and Kiyotsugu Sekioka (MieUniversity, Japan)

D-3: VSS Control

1. Sliding-Mode Neural Network Robot Controller 395

Riko Safaric, Karel Jezernik, Miran Rodic (University of Maribor,Slovenia), Asif Sabanovic (B and H Engineering and Consulting Co.Ltd., Turkey) and Suzana Uran (University of Maribor, Slovenia)

2. Discontinous and Continous Sliding Mode Motion Control 401

Karel Jezernik, Boris Curk, Joze Harnik (University of Maribor,Slovenia) and Asif Sabanovic (BH Engineering & Consulting Co.,Turkey)

3. A Generalized Approach for Lyapunov Design of Sliding Mode Controllers for MotionControl Applications 407

Melik§ah Ertugrul (TUBITAK Marmara Research Center,Turkey), Okyay Kaynak (Bogazici University, Turkey), Asif Sabanovic(TUBITAK Marmara Research Center, Turkey) and Kouhei Ohnishi(Keio University, Japan)

4. Design of a Globally Stable Direct Adaptive VSS Regulator for MultivariableNonminimum-Phase Systems Based on the Doubly Coprime Factorization 413

Nariyasu Minamide (Mie University, Japan)

5. Design of VSS Observers and Its Application 419

Nariyasu Minamide and Xinkai Chen (Mie University, Japan)

A-4a: Electric Vehicle

1. Experimental Discussion on the Permanent Magnet Type Anti-Directional-Twin-Rotary Motor Drive for Electric Vehicle 425

Nobukazu Hoshi and Atsuo Kawamura (Yokohama National University,Japan)

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2. Implementation of Advanced Adhesion Control for Electric Vehicle 430

Takeo Furuya, Yasushi Toyoda and Yoichi Hori (The University ofTokyo, Japan)

3. Robust Induction Motor Control for Electric Vehicles 436

Karel Jezernik (University of Maribor, Slovenia)

A-4b: Industrial Drive Systems

1. Brake Control Characteristics of a Linear Synchronous Motor for Ropeless Elevator 441

Hitoshi Yamaguchi, Hiroshi Osawa, Toshiharu Watanabe (Fuji ElectricCo., Ltd., Japan) and Hajime Yamada (Shinshu University, Japan)

2. Control of Nonlinear Motion Processes in Processing-Machines by Individual ElectricDrives 447

Rolf Schonfeld (Dresden University of Technology, Germany)

3. A Simulation of a Road Scraper Control 452

Pekka Saavalainen, Kalervo Nevala (VTT Automation,Machine Automation, Finland) and Juha Savilampi (Rautaruukki Oy,Engineering, Finland)

4. DC Servo Speed Control of an InkJet Print Head Transport System Using a Phase-Locked Loop 458

Hong-Yu Lin, Ming-Chyuan Lu, Jiuun-Hwa Horng, Tsai-Bao Yang, S.C. Hsieh (Industrial Technology Research Institute, China), C. Y. Hsiao,Hung-Ming Tai and Jian-Shiang Chen (National Tsing-Hua University,China)

B-4: Servo System I

1. A Mechanism for Three Dimensional Levitated Movement of a Small Magnet 464

Tatsuya Nakamura and Mir Behrad Khamesee (Mie University, Japan)

2. The Organized Motion Control of Multi-Directional Wave Maker 470

Ben T. Nohara, Ikuo Yamamoto and Masami Matsuura (MitsubishiHeavy Industries, Ltd., Japan)

3. An Hoc Almost Disturbance Decoupling Robust Controller Design for a PiezoelectricBimorph Actuator with Hysteresis 476

Ben M. Chen, T. H. Lee, C. C. Hang, Y. Guo and S. Weerasooriya(National University of Singapore, Singapore)

4. Analysis and Design of H^ Preview Tracking Control Systems 482

Antonio Moran, Yumiko Mikami and Minoru Hayase (Tokyo Universityof Agriculture and Technology, Japan)

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5. A Robust Control Strategy for an Unstable Mechanical System 488

Gianluca Cristadoro, Alessandro De Carli and Luca Onofri (Universityof Rome "La Sapienza", Italy)

6. Application and Comparison of Alternative Position Sensors in High-AccuracyControl of an X-Y Table 494

Martin Fischer (Technical University of Darmstadt, Germany) andMasayoshi Tomizuka (University of California at Berkeley, USA)

7. Control System Design with On-line Preview Planning for Desired Signals 500

Akihiko Matsushita and Takeshi Tsuchiya (Hokkaido University, Japan)

C-4: Manipulator Control

1. Force Control of Manipulator /Vehicle System Floating on the Water Utilizing VehicleRestoring Force 506

Kazuhiro Kosuge (Tohoku University, Japan), Hisashi Kajita and

Toshio Fukuda (Nagoya University, Japan)

2. Gain Scheduled Control for Robot Manipulator's Contact Tasks on FlexibleEnvironments 512

Jianqing Wu (Toyohashi University of Technology, Japan), Zhiwei Luo(The Institute of Physical and Chemical Research, Japan) and Koji Ito(Toyohashi University of Technology, Japan)

3. Feedback Error Learning for Control of a Robot Using SMENN 518

Sahin Yildirim and V. Aslantas (Erciyes University, Turkey)

4. Virtual Impedance with Position Error Correction for Teleoperator with Time Delay 524

Suradech Manorotkul and Hideki Hashimoto (The University of Tokyo,

Japan)

5. Implementation of Cooperative Manipulation Using Decentralized RobustPosition/Force Control 529

Toshikazu Mukaiyama, Kyunghwan Kim and Yoichi Hori (TheUniversity of Tokyo, Japan)

6. Multi-Variable Virtual Impedance Control of a Robot Considering Human Emotions 535

Mohamed Sahbi Ben-Lamine, Satoru Shibata, Kanya Tanaka andAkira Shimizu (Ehime University, Japan)

D-4: Industrial Application

1. Fieldbus Based Integrated Communication and Control Systems - ArchitecturalImplications 541

Jean-Dominique Decotignie, David M. Auslander (University ofCalifornia at Berkeley, USA) and Michel Moreaux (Swiss FederalInstitute of Technology, Switzerland)

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2. Control System Design Automation for Mechanical Systems (First Report) 547

Kiyoshi Maekawa, Atsushi Morita and Takashi Iwasaki (MitsubishiElectric Corp., Japan)

3. Studies on Horizontal Axis Wind Turbine Electric Generation System with VariableSpeed Control 553

Yukimaru Shimizu, Minoru Takada (Mie University, Japan),Hidenari Fujiwara (Babcock Hitachi Co., Ltd., Japan), Yoshihito Yasui,Takao Maeda, Yasunari Kamada, Takamasa Hori and Muneaki Ishida(Mie University, Japan)

4. Induction Motor with Free Rotating Magnets in the Rotor 559

Yoshiyuki Shibata, Nuio Tsuchida and Koji Imai (Toyota TechnologicalInstitute, Japan)

5. Automatic Generating Machines of Patterns 565

Kihachi Takeichi, Yasumichi Hasegawa (Gifu University, Japan) andTsuyoshi Matsuo (Toho University, Japan)

A-5: Vibration Control

1. On General Weighting Functions for the Application of H^ Optimization Method 571

Yeonghan Chun and Yoichi Hori (The University of Tokyo, Japan)

2. Hybrid Control System for Microvibration Isolation 577

Kazuki Mizutani, Yoshitaka Fujita (Mie University, Japan) andHideto Ohmori (Nippon Steel Corp., Japan)

3. Optimal Motion Control of Elastic Plants 583

Frank Palis, A. Buch and U. Ladra (Otto-von-Guericke-UniverstdtMagdeburg, Germany)

4. Transfer Function and Parameters Identification of a Motor Drive System UsingAdaptive Filtering 588

Rached Dhaouadi (Ecole Polytechnique de Tunisie, Tunisie) andKenji Kubo (Hitachi, Ltd., Japan)

5. Speed Control of Symmetrical Type Three-Mass Resonant System by PID-Controller 594

Yoshinori Takeichi, Satoshi Komada, Muneaki Ishida and

Takamasa Hori (Mie University, Japan)

6. Analysis and Design of AC Servo Motion Drive Control System with 2-MassMechanical Resonant Load 600

Kenji Inoue (Shinko Electric Co., Ltd., Japan) and Mutsuo Nakaoka(Yamaguchi University, Japan)

7. The Design Method of Two-Degree-of-Freedom Controller Using /i-Synthesis and ItsApplication to Two-Mass System 606

Kazunori Matsumoto, Tatsuya Suzuki and Shigeru Okuma (NagoyaUniversity, Japan)

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B-5: Servo System II

1. Feedforward and Feedback Strategies Applying the Principle of Input Balancing forMinimal Tracking Errors in CNC Machine Tools 612

Guenther Brandenburg (Technische Universitdt Munchen, Germany)and W. Papiernik (Siemens AG, Germany)

2. Synthesis of Control Inputs for Simultaneous Control of Angle and Position ofInverted Pendulum 619

Jung II Park and Suck Gyu Lee (Yeungnam University, Korea)

3. A Simultaneous Optimization Algorithm for Determining Both Mechanical-Systemand Controller Parameters for Positioning Control Mechanisms 625

Atsushi Arakawa and Koichi Miyata (Hitachi, Ltd., Japan)

4. A Control Method of Speed Control Drive System with Backlash 631

You Wu, Kiyoshi Fujikawa and Hirokazu Kobayashi (Toyo Electric Mfg.Co., Ltd., Japan)

5. Motor Speed Estimation by Redundant Processing 637

Gang-Hyeon Choi, Hideo Nakamura and Hisato Kobayashi (HoseiUniversity, Japan)

6. Modeling without Using Phase-Information and Robust Stability 641

Kou Yamada and Keiji Watanabe (Yamagata University, Japan)

C-5: Flexible Manipulator

1. Vibration Control for Cartesian 3 Axes Robot 647

Tsuyoshi Yamamoto, Katsuhisa Tanaka and Masayuki Sumiyoshi(Toyota Motor Corp., Japan)

2. A Linear Parameter Varying Approach to a Gain Scheduled Flexible Joint Robot 653

Toru Namerikawa (Kanazawa University, Japan), Masayuki Fujita(Japan Advanced Inst. of Science and Tech., Hokuriku, Japan) andFumio Matsumura (Kanazawa University, Japan)

3. Anti-Sway and Position Control of Crane System 657

Yoshimi Hakamada and Masakatsu Nomura (Meidensha Corp., Japan)

4. Vibration Control of Flexible Robotic Arms Using Robust Model Matching Control 663

Jianming Lu, Muhammad Shafiq and Takashi Yahagi (Chiba University,Japan)

5. Robust Tracking Control of Flexible Arm Using Inverse Dynamics Method 669

Estiko Rijanto, Antonio Moran, T. Kurihara and Minoru Hayase (TokyoUniversity of Agriculture and Technology, Japan)

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6. Suppressing Vibration of Horizontal Robot Arm with Timing Belts 675

Kohei Mori, Shigeo Morimoto and Yoji Takeda (University of OsakaPrefecture, Japan)

7. Vibration Suppression Control of Flexible Arms by Using a Strain Feedback withLow-Pass Filter 681

Kenji Ohta, Satoshi Komada, Muneaki Ishida and Takamasa Hori (MieUniversity, Japan)

D-5a: Motion Planning

1. Proposal of Trajectory Generation for Redundant Manipulators Using VariationalApproach Applied to Minimization of Consumed Electrical Energy 687

Andre Riyuiti Hirakawa and Atsuo Kawamura (Yokohama NationalUniversity, Japan)

2. Implementation of Near-Time-Optimal Inspection Task Sequence Planning forIndustrial Robot Arms 693

Bailin Cao and Gordon I. Dodds (The Queen's University of Belfast,

U.K.)

3. Path Planning and Environment Understanding Based on Distributed Sensing inDistributed Autonomous Robotic System 699

Anhui Cai, Toshio Fukuda, Fumihito Arai (Nagoya University, Japan),Koji Yamada and Shiro Matsumura (Chubu Electric Power Co., Inc.,Japan)

4. Octree-Based Approach to Real-Time Collision-Free Path Planning for RobotManipulator 705

Koichi Hamada and Yoichi Hori (The University of Tokyo, Japan)

5. Search Guided by Skill in Motion Planning Using Dynamic Programming 711

Tatsuya Nakamura (Mie University, Japan)

D-5b: Micro Machines

1. Friction Models for a Mobile Machine Using Piezo Vibration 717

Kazuo Tani (Mechanical Engineering Laboratory, Japan)

2. Development of a Tactile Sensing Flexible Actuator 723

Yutaka Tanaka, Akio Gofuku (Okayama University, Japan) andYuji Fujino (Murata Seisakusho, Japan)

3. Micro Active Guide Wire Catheter Using ICPF Actuator 729

Shuxiang Guo, Tatsuya Nakamura (Mie University, Japan) andToshio Fukuda (Nagoya University, Japan)

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