Prof. Seiichiro Katsura
The keynote speech presents practical motion controller design approaches for precision positioning devices including strain wave gearing, e.g. industrial multi-axis robots, precision rotation stages, etc. Since HarmonicDrive® gears (HDGs), a typical strain wave gearing, inherently possess nonlinear properties known as Angular Transmission Errors (ATEs) due to structural errors and flexibility in the mechanisms, the ideal positioning accuracy corresponding to the apparent resolution cannot be essentially attained at the output of gearing in the devices. In addition, mechanisms with HDGs generally excite resonant vibrations due to the periodical disturbance by ATEs, especially in the condition that the frequency of synchronous components of ATE corresponds to the critical mechanical resonant frequency. The speech, therefore, focuses on the motion controller design techniques to improve the performance deteriorations in positioning accuracy and vibration suppression. In the compensator design, under the assumption that the accurate mathematical models for ATE can be obtained, model-based feedforward as well as robust feedback control approaches have been introduced to improve the positioning performance, considering together with sensor allocations in the mechanisms. The proposed approaches have been applied to precision motion control of actual devices as servo actuators, and verified through numerical simulations and experiments.
Makoto Iwasaki received Dr. Eng. degrees in electrical and computer engineering from Nagoya Institute of Technology, Nagoya, Japan, in 1991. Since 1991, he has been with the Department of Computer Science and Engineering, Nagoya Institute of Technology, where he is currently a Professor.
As professional contributions of the IEEE/IES, he has been an AdCom member in term of 2010 to 2019, a Technical Editor for IEEE/ASME TMech from 2010 to 2014, an Associate Editor for IEEE TIE since 2014, a Co-Editors-in-Chief for IEEE TIE since 2016, a Vice President for Planning and Development in term of 2018 to 2021, respectively. He is IEEE fellow class 2015 for "contributions to fast and precise positioning in motion controller design".
He has received academic and technological awards, such as the Best Paper Award of Trans of IEE Japan in 2013, the Technical Development Award of IEE Japan in 2017, the Technology Award of the Japan Society for Precision Engineering in 2018, and the Commendation for Science and Technology by the Japanese Minister of Education in 2019, respectively.
His current research interests are the applications of control theories to linear/nonlinear modeling and precision positioning, through various collaborative research activities with industries.
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