2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)最新文献_第9页

Parametric optimization of stored energy in robots with regenerative drive systems 基于再生驱动系统的机器人储能参数优化

2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2016-07-12 DOI: 10.1109/AIM.2016.7576970

Poya Khalaf, H. Richter

{"title":"Parametric optimization of stored energy in robots with regenerative drive systems","authors":"Poya Khalaf, H. Richter","doi":"10.1109/AIM.2016.7576970","DOIUrl":"https://doi.org/10.1109/AIM.2016.7576970","url":null,"abstract":"The paper formulates and solves the problem of finding a set of physical (design) parameters that maximize stored energy in electromechanical robots with regenerative drive systems. The robot is assumed to include semi-active and fully-active joints. Semi-active joints exchange power only with the robot, and are assumed to use (ultra)capacitors for storage. Fully-active joints are conventional in the sense that external power is used for actuation. The semi-active joints are controlled for trajectory tracking by a previously-published virtual control strategy whereby a control law is first designed and then implemented via a virtual matching law. A set of reference trajectories and a virtual controller capable of achieving asymptotic tracking are assumed as given. Equations are derived for the energy stored in the ultracapacitors of the semi-active joints in terms of manipulator parameters. The paper obtains closed-form solutions for the maximizing parameters. It is shown that a unique solution always exists and that it corresponds to a unique global maximum for the stored energy between any two times. A numerical example with a double inverted pendulum and cart system with semi-active and fully-active joints demonstrates the results.","PeriodicalId":154457,"journal":{"name":"2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"78 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-07-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134638994","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 15

A fully actuated quadrotor UAV with a propeller tilting mechanism: Modeling and control 一个完全驱动的四旋翼无人机与螺旋桨倾斜机构:建模和控制

2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2016-07-12 DOI: 10.1109/AIM.2016.7576784

M. Odelga, P. Stegagno, H. Bülthoff

引用次数: 34

Experimental studies on Q filter design of a disturbance observer for a one-wheel robot 单轮机器人扰动观测器Q滤波器设计的实验研究

2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2016-07-12 DOI: 10.1109/AIM.2016.7576858

Sangdeok Lee, Seul Jung

引用次数: 4

Grasping of unknown objects on a planar surface using a single depth image 使用单个深度图像抓取平面上的未知物体

2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2016-07-12 DOI: 10.1109/AIM.2016.7576829

T. Suzuki, Tetsushi Oka

引用次数: 28

Development of low-cost wire type linear potentiometer for flexible spherical actuator 柔性球面执行器用低成本线形线性电位器的研制

2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2016-07-12 DOI: 10.1109/AIM.2016.7576903

Y. Matsui, T. Akagi, S. Dohta

{"title":"Development of low-cost wire type linear potentiometer for flexible spherical actuator","authors":"Y. Matsui, T. Akagi, S. Dohta","doi":"10.1109/AIM.2016.7576903","DOIUrl":"https://doi.org/10.1109/AIM.2016.7576903","url":null,"abstract":"The rehabilitation devices help the elderly who was injured temporally to recover their physical ability for keeping Quality of Life (QOL). This study aims at developing a potable rehabilitation device which can be safe to use while holding it with human hands. In the previous study, the novel flexible pneumatic cylinder that can be used even if it is deformed has been developed. The flexible spherical actuator using two ring-shaped flexible pneumatic cylinders was proposed and tested as a portable rehabilitation device. The attitude control system using a tiny embedded controller, four small-sized quasi-servo valves and two accelerometers was also proposed and constructed. In the next step, it is necessary to recognize the relative position between both stages to prevent both hands to contact each other for safety. In this paper, two types of flexible displacement sensors were proposed and tested. One is a flexible pneumatic cylinder with wire-type linear encoder. Another is the cylinder with a wire-type linear potentiometer. In both sensors, the compact sealing mechanism in the cylinder was also proposed. In addition, the measuring system for the linear encoder and the position control system using the flexible pneumatic cylinder with built-in flexible displacement sensor using embedded controllers were proposed and tested. As a result, it is confirmed that the tested sensor can measure the displacement of the flexible cylinder and the position control using the cylinder with built-in sensor can be realized.","PeriodicalId":154457,"journal":{"name":"2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-07-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115431909","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 10

Modeling offshore ropes for deepwater lifting applications 为深水起重应用建模海上绳索

2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2016-07-12 DOI: 10.1109/AIM.2016.7576937

M. Richter, Fabian Zeil, D. Walser, K. Schneider, O. Sawodny

引用次数: 7

A nonlinear complementary filter for attitude estimation with dynamics compensation of MARG sensor 一种用于MARG传感器动态补偿姿态估计的非线性互补滤波器

2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2016-07-12 DOI: 10.1109/AIM.2016.7576896

Ken Masuya, T. Sugihara

{"title":"A nonlinear complementary filter for attitude estimation with dynamics compensation of MARG sensor","authors":"Ken Masuya, T. Sugihara","doi":"10.1109/AIM.2016.7576896","DOIUrl":"https://doi.org/10.1109/AIM.2016.7576896","url":null,"abstract":"A novel complementary filter for three-dimensional (3D) attitude estimation is proposed. In order to deals with the nonlinearity of 3D attitude, the conventional complementary filter integrated the measured angular velocity corrected by the vector measurement, but it ignored the sensor dynamics which causes the lag. Authors' previous work compensated the sensor dynamics based on the idea that it can be divided into the linear transfer function and the nonlinear coordinate transformation. The properness and stability of the total transfer function are guaranteed by the designed filter inserted between the linear and nonlinear part. However, the disturbance strongly affects the accuracy of the azimuth angle due to the coordinate transformation. This paper aims to improve the estimation accuracy by combining the idea of correcting the measured angular velocity by the vector measurement and the sensor dynamics compensation only with the proper and stable transfer function. The characteristics of the proposed method are the following two points: 1) the relaxation of the complementary condition in order to make the non-proper and unstable function proper and stable, and 2) the filtering of the estimated vector by the sensor dynamics instead of the filtering of the measured vector by the inverse dynamics in order to avoid the magnification of the high frequency noise. Through the experiment for the fast and irregular motion under 5[Hz], the validity of the proposed method is verified.","PeriodicalId":154457,"journal":{"name":"2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-07-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125106957","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 4

Analysis of the magnetic torque on a tilted permanent magnet for drug delivery in capsule robots 胶囊机器人给药用倾斜永磁体的磁力矩分析

2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2016-07-12 DOI: 10.1109/AIM.2016.7576964

F. Munoz, G. Alici, Hao Zhou, Weihua Li, M. Sitti

引用次数: 6

Discrete-time flatness-based control for a twin rotor helicopter with an Extended Kalman filter 基于扩展卡尔曼滤波的双旋翼直升机离散平坦度控制

2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2016-07-12 DOI: 10.1109/AIM.2016.7576818

Hao Sun, S. Butt, H. Aschemann

引用次数: 5

Development of a biped balloon walking robot with lightweight mechanism and simple ON/OFF controls 具有轻便机构和简单开/关控制的两足气球行走机器人的研制

2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2016-07-12 DOI: 10.1109/AIM.2016.7576743

Mami Nishida

引用次数: 0