Juan Padron （ファン・パドロン）
プロフィール
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学年： 博士後期課程 ２年生 母校: Universidad Simon Bolivar (Venezuela) 趣味: プログラミング、筋トレ、スノーボード、ボルダリング 連絡先 (email): s175066 at stn.nagaokaut.ac.jp (Change at for @) |
研究内容
| 研究テーマ |
研究テーマ: 切り替え型外乱オブザーバーを使ったモーションコントロールにおける非線形現象の補償・除去に関する研究 私の研究は主にモーションコントロールによくある非線形現象の補償と除去に重点を置いています。どういった現象かと言いますと： ・ ギア付きモータのオイルシールによる非線形摩擦 ・ ギア付きモータのバックラッシュ現象 ・ 産業用ロボットのコンタクトモーション等 現在、外乱オブザーバーと切り替え制御を融合して、ギヤードモーターや産業用ロボットの非線形現象をモデルレスで除去する研究に携わっています。このテーマに関する問い合わせやディスカッションなど、論文の送付をお願いしたい場合はぜひご連絡ください。 |
| 原著論文 |
[2] ◎Juan Padron, Yusuke Kawai, Yuki Yokokura, Kiyoshi Ohishi and Toshimasa Miyazaki: "Stable Torsion Torque Control Based on Friction-Backlash Analogy for Two-Inertia Systems with Backlash", IEEJ Journal of Industry Applications, (Advance Publication), 2022 Link⇒IEEJ Journal IA [1] ◎Juan Padron, Yuki Yokokura, Kiyoshi Ohishi and Toshimasa Miyazaki: "Velocity Driven N-order Stick Compensator and Slip Suppressor for Nonlinear Friction in an Oil-Seal-Mounted Geared Motor", IEEJ Journal of Industry Applications, Vol. 9, No. 2, pp. 168-176, 2020 Link⇒IEEJ Journal IA |
| 国際会議 |
[6]◎Juan Padron, Yusuke Kawai, Yuki Yokokura, Kiyoshi Ohishi and Toshimasa Miyazaki:``Stable Torsion Torque Control for Two-Inertia Systems with Backlash Based on Duality of Nonlinear Friction and Backlash''The 7th IEEJ international workshop on Sensing, Actuation, Motion Control, and Optimization(SAMCON), Chiba, (3.2021) Online oral presentation [5]◎Juan Padron, Yusuke Kawai, Yuki Yokokura, Kiyoshi Ohishi and Toshimasa Miyazaki:``Fine Torsion Torque Control for Geared Motors by a State-Reference-Dependent Variable-Order Friction Observer''29th IEEE International Symposium on Industrial Electronics, Delft, The Netherlands (6.2020) Online oral presentation Link⇒IEEE Xplore [4]◎Juan Padron, Yuki Yokokura, Kiyoshi Ohishi, Toshimasa Miyazaki:``An Error-Based Variable-Order Disturbance Observer for Force Control in a Geared Motor Affected by Nonlinear Friction''The 6th IEEJ international workshop on Sensing, Actuation, Motion Control, and Optimization(SAMCON), (3.2020) [3]◎Juan Padron, Yuki Yokokura, Kiyoshi Ohishi and Toshimasa Miyazaki:``Suppression of Stick-Slip in an Oil-Seal-Mounted Geared Motor for Forward-Drivability Improvement''IEEE 45th Annual Conference of the Industrial Electronics Society, Lisbon, Portugal (10.2019) Oral presentation Link⇒IEEE Xplore [2]◎Juan Padron, Yuki Yokokura, Kiyoshi Ohishi:``Stick-slip suppression in geared motor using speed-variant transient components of high-order Motor-side Normalization Compensator''IEEE 2019 International Conference on Mechatronics (ICM2019), Ilmenau, Germany (3.2019) Oral presentation Link⇒IEEE Xplore [1]◎Juan Padron, Yuki Yokokura, Kiyoshi Ohishi:``Reduction of nonlinear distortion in a stick-slip suppression system using velocity-triggered high-frequency damping''The 5th IEEJ international workshop on Sensing, Actuation, Motion Control, and Optimization(SAMCON), Chiba, (3.2019)Video and Interactive Sessions (Poster) |
| 国内学会 |
[5]◎Juan Padron, Yusuke Kawai, Yuki Yokokura, Kiyoshi Ohishi and Toshimasa Miyazaki: 『A switched torsion disturbance observer for improving the performance of torsion torque control in a two inertia system with backlash』 IEEJ/IAS Online Technical Meeting 2020, Online oral presentation (2020.9) [4]◎Juan Padron, Kiyoshi Ohishi, Yuki Yokokura and Toshimasa Miyazaki: 『オイルシール装着ギアーモータのスティックスリップ補償によって広がるヒューマンインタラクションロボットアクチュエータ』 Transdisciplinary Federation of Science and Technology (TraFST) 10th Conference, Nagaoka (2019.12) [3]◎Juan Padron, Kiyoshi Ohishi and Yuki Yokokura: 『Combined low-high order MNC for stick-slip suppression』 IEICE Shin-etsu Section Conference, Niigata (2018.9) [2]◎Juan Padron, Kiyoshi Ohishi and Yuki Yokokura: 『Stick-slip suppression in geared motor by speed-dependent switching of high-order Motor-side Normalization Compensator components』 Mechatronics Technical Meeting (2018.9) [1] ◎Juan Padron, Kiyoshi Ohishi, Yuki Yokokura: 『Suppression of stick-slip phenomenon on geared motor with oil seal using a sensitivity-variable MNC』, The 36th Annual Conference of the Robotics Society of Japan, Nagoya (2018.09) |
| 受賞・その他 |
・ IEEE Shin-etsu Section 2018 Section Student Branch Award (国際会議[1]) ・ IEEE Shin-etsu Section 2018 Section Paper Award (国際会議[1]) ・ James Dyson Award 2017 Top 20 Finalist |