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2015 IEEE International Conference on Mechatronics (ICM)最新文献

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Gripper's rotation of five DoF surgical robot by using coordinate transformation 利用坐标变换实现五自由度手术机器人夹持器的旋转
2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7083947
T. Matsunaga, G. Fau, Ryohei Kozuki, Kazuki Tanida, K. Ohnishi
{"title":"Gripper's rotation of five DoF surgical robot by using coordinate transformation","authors":"T. Matsunaga, G. Fau, Ryohei Kozuki, Kazuki Tanida, K. Ohnishi","doi":"10.1109/ICMECH.2015.7083947","DOIUrl":"https://doi.org/10.1109/ICMECH.2015.7083947","url":null,"abstract":"This paper presents a control method of gripper's rotation angle using the five degrees of freedom (DoF) surgical robot. Minimally invasive surgery has advantages for patients, but skills are required for surgeons and the demand to support by engineering is increasing. Therefore, surgical robots teleoperated by surgeons and operate patients are studied and developed. However, conventional surgical robots are not able to transmit force sense to operator adequately. Besides, there are mechanical problems caused by driving method and increased DoF. In order to overcome these problems, the five DoF surgical robot with z-translation, grasping, roll motion, pitch motion and yaw motion is developed. The rotation axes of roll, pitch and yaw motion cross a point and it is similar to human hand which can manage complex tasks. However, the roll motion of the five DoF surgical robot is different from the one of human hand because the all part inserted into human body is rotated by the roll motion. In this paper, a method to control the gripper's rotation angle by using coordinate transformation and control on workspace is proposed. The validity of the proposed method is verified by experiments.","PeriodicalId":179621,"journal":{"name":"2015 IEEE International Conference on Mechatronics (ICM)","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-03-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123776339","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: 1
Position based free-motion data connecting by using minimum force-differential model 利用最小力差模型连接基于位置的自由运动数据
2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7084033
Koei Igarashi, S. Katsura
{"title":"Position based free-motion data connecting by using minimum force-differential model","authors":"Koei Igarashi, S. Katsura","doi":"10.1109/ICMECH.2015.7084033","DOIUrl":"https://doi.org/10.1109/ICMECH.2015.7084033","url":null,"abstract":"Motion-copying system (MCS) enables to preserve and reproduce the human motion faithfully, and various studies about MCS have been accomplished. Thereby, the concept of the motion database is created, and it is considered that preservation and reproduction of the motion data will spread in the various field including the industry, art and medical care. Then, The demand for processing the saved motion data as further utilization is expected. To connect motion data, there is the method which connects the motion data using the third spline function. However, this method isn't suitable for cooperative task of human and robots such as rehabilitation system because the human motion properties are ignored. In this study, the motion data that are saved individually are connected by using minimum-force differential model which contains minimum-jerk model known as a human motion model. Validity is confirmed by the experiments.","PeriodicalId":179621,"journal":{"name":"2015 IEEE International Conference on Mechatronics (ICM)","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-03-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132225805","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: 3
Application of self-sensing technique for position control considering vibration suppression in piezo-driven stage 自感知技术在压电驱动平台位置控制中的应用
2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7083988
K. Seki, M. Iwasaki
{"title":"Application of self-sensing technique for position control considering vibration suppression in piezo-driven stage","authors":"K. Seki, M. Iwasaki","doi":"10.1109/ICMECH.2015.7083988","DOIUrl":"https://doi.org/10.1109/ICMECH.2015.7083988","url":null,"abstract":"This paper presents a position control approach considering vibration suppression using self-sensing techniques in piezoelectric actuators. In order to achieve the high precision positioning using piezoelectric actuators, mechanical vibrations as well as nonlinear properties should be compensated. In this paper, a robust vibration suppression control system against resonant frequency variations is designed, where a minor loop aided by a self-sensing technique is added on the position control system. In the minor loop design, the reduction of sensitivity characteristic at around the vibration frequencies is considered to suppress the residual vibration for the reference and disturbance. Major loop for augmented plant including self-sensing minor loop, on the other hand, is designed by considering system stability and servo characteristic. The proposed approach has been evaluated by experiments using a piezo-driven stage.","PeriodicalId":179621,"journal":{"name":"2015 IEEE International Conference on Mechatronics (ICM)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-03-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130921222","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: 7
Development of an upper limb rehabilitation robot with guidance control by pneumatic artificial muscles 气动人工肌肉引导控制上肢康复机器人的研制
2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7084014
T. Tsuji, Shota Itoh, S. Sakaino, Yuri Hasegawa
{"title":"Development of an upper limb rehabilitation robot with guidance control by pneumatic artificial muscles","authors":"T. Tsuji, Shota Itoh, S. Sakaino, Yuri Hasegawa","doi":"10.1109/ICMECH.2015.7084014","DOIUrl":"https://doi.org/10.1109/ICMECH.2015.7084014","url":null,"abstract":"In recent years, the population of elderly people is increasing rapidly. Rehabilitation training systems using robotics and virtual reality technologies, therefore, attracts attention. This paper introduces the development of an upper limb rehabilitation robot with guidance control. This study investigates how the motor learning effect improves with low stiffness guidance control based on pneumatic artificial muscles.","PeriodicalId":179621,"journal":{"name":"2015 IEEE International Conference on Mechatronics (ICM)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-03-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134117533","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
Offset-free energy-optimal model predictive control for point-to-point motions with high positioning accuracy 高定位精度点对点运动的无偏移能量优化模型预测控制
2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7083949
Xin Wang, J. Swevers
{"title":"Offset-free energy-optimal model predictive control for point-to-point motions with high positioning accuracy","authors":"Xin Wang, J. Swevers","doi":"10.1109/ICMECH.2015.7083949","DOIUrl":"https://doi.org/10.1109/ICMECH.2015.7083949","url":null,"abstract":"This paper discusses Offset-free Energy-optimal Model Predictive Control (offset-free EOMPC) which is a MPC algorithm to realize time-constrained energy-optimal point-to-point motion control with high positioning accuracy for linear time-invariant (LTI) systems. The offset-free EOMPC approach is developed based on our previous research - Energy-optimal Model Predictive Control (EOMPC) - which aims at performing energy-optimal point-to-point motions within a given motion time. A drawback of the EOMPC method is that it cannot achieve high positioning accuracy in the presence of unmodelled disturbances or model-plant mismatch. In order to cope with this problem, a `disturbance model' strategy is adopted: the system state is augmented with disturbance variables. Based on the `disturbance model', the disturbances are estimated and the effect of which is cancelled. Numerical validation of the offset-free EOMPC using a model of a linear motor with coulomb friction and cogging disturbances has been performed and the results show that time-constrained energy-optimal point-to-point motion with high positioning accuracy is achieved.","PeriodicalId":179621,"journal":{"name":"2015 IEEE International Conference on Mechatronics (ICM)","volume":"14 5","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-03-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114129024","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: 0
Proposal of ultra high efficient energy conversion system (HEECS) for electric vehicle power train 电动汽车动力传动系统超高效率能量转换系统(HEECS)的提出
2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7084063
Yu Tanaka, Y. Tsuruta, T. Nozaki, A. Kawamura
{"title":"Proposal of ultra high efficient energy conversion system (HEECS) for electric vehicle power train","authors":"Yu Tanaka, Y. Tsuruta, T. Nozaki, A. Kawamura","doi":"10.1109/ICMECH.2015.7084063","DOIUrl":"https://doi.org/10.1109/ICMECH.2015.7084063","url":null,"abstract":"Recently, vehicles such as hybrid electric vehicle (HEV) and electric vehicle (EV) are actively researched. This paper focuses on EV with a DC-DC converter. EV is inefficient as the battery supplies all power through the DC-DC converter all the time. This paper proposes a high efficient energy conversion system (HEECS) using two batteries: a main battery and a sub battery. The main battery supplies fundamental power without passing through the DC-DC converter. The sub battery supplies additional power through the DC-DC converter. High efficiency of 99.6 % was experimentally confirmed in this paper. Proposed high efficient energy conversion system (HEECS) makes it possible to improve the running distance per charge of EV.","PeriodicalId":179621,"journal":{"name":"2015 IEEE International Conference on Mechatronics (ICM)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-03-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115837502","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: 9
Prediction error observer for networked predictive control systems with network delay and model error 具有网络延迟和模型误差的网络化预测控制系统的预测误差观测器
2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7084043
Takuya Takahashi, Y. Uchimura
{"title":"Prediction error observer for networked predictive control systems with network delay and model error","authors":"Takuya Takahashi, Y. Uchimura","doi":"10.1109/ICMECH.2015.7084043","DOIUrl":"https://doi.org/10.1109/ICMECH.2015.7084043","url":null,"abstract":"This paper proposes the prediction error observer (PEOB) in the design of networked predictive control systems (NPCSs) with network delays and model errors and proposes stability criteria for closed-loop NPCSs. In the NPCSs, a prediction error occurs due to model errors. Based on a-priori predictions, the PEOB compensates for the prediction error when the controller predicts the current and future states. The proposed method improves the performance of the conventional NPC associated with network delays and model errors. Simulation results illustrate the effectiveness of the proposed control strategies.","PeriodicalId":179621,"journal":{"name":"2015 IEEE International Conference on Mechatronics (ICM)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-03-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116251647","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: 0
Decoupled control of an active magnetic bearing system for a high gyroscopic rotor 高陀螺转子主动磁轴承系统的解耦控制
2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7083976
M. Hutterer, M. Hofer, M. Schrödl
{"title":"Decoupled control of an active magnetic bearing system for a high gyroscopic rotor","authors":"M. Hutterer, M. Hofer, M. Schrödl","doi":"10.1109/ICMECH.2015.7083976","DOIUrl":"https://doi.org/10.1109/ICMECH.2015.7083976","url":null,"abstract":"Control design for coupled MIMO-Systems (Multiple Input and Multiple Output) like a 5-DOF (degree of freedom) AMB (active magnetic bearing) system needs a high knowledge in control theory. This paper describes a model based approach for decoupled control design. To decouple the system an input and an output transformation is used and all control parts are developed in the so called center of gravity (COG) coordinate system. One of the main problems is the stabilization of the rotor for a high speed range. This problem is solved by a parameter variant feedback path, which transforms the linear parameter variant system in a linear parameter invariant system. This feedback path requires the angular velocity and the velocities of the degrees of freedom for calculation. The angular velocity can be used from the motor controller. For the other velocities a Kalman observer is used. This Kalman observer is developed only in the center of gravity coordinates, because in this coordinate system the observer needs less computing power. The stability and robustness of the closed loop system is verified by simulations and experimental results.","PeriodicalId":179621,"journal":{"name":"2015 IEEE International Conference on Mechatronics (ICM)","volume":"286 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-03-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115906804","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: 16
The contact/non-contact thimble haptic device 接触式/非接触式顶针式触觉装置
2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7083964
W. Choi, Sung-moon Hur, Jaeha Kim, Yonghwan Oh
{"title":"The contact/non-contact thimble haptic device","authors":"W. Choi, Sung-moon Hur, Jaeha Kim, Yonghwan Oh","doi":"10.1109/ICMECH.2015.7083964","DOIUrl":"https://doi.org/10.1109/ICMECH.2015.7083964","url":null,"abstract":"This paper presents a new type of the haptic device that give a physical force feedback by contact with the part of the device. The haptic devices for finger have limitation that is contact on the human finger even in no-reaction condition. Because the part of the device contacts with the human body all time, the user feel the disharmony of sense. For these reasons, the proposed device is designed to be moved from the human finger in non-contact conditions. The mechanism of proposed device is explained, and the prototype device is made and the performance of the device is shown.","PeriodicalId":179621,"journal":{"name":"2015 IEEE International Conference on Mechatronics (ICM)","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-03-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116040493","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: 0
GA-based auto-tuning of vibration suppression controller for positioning devices with strain wave gearings 基于ga的应变波齿轮定位装置抑振控制器自整定
2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7084047
Masafumi Yamamoto, Yoshifumi Okitsu, M. Iwasaki
{"title":"GA-based auto-tuning of vibration suppression controller for positioning devices with strain wave gearings","authors":"Masafumi Yamamoto, Yoshifumi Okitsu, M. Iwasaki","doi":"10.1109/ICMECH.2015.7084047","DOIUrl":"https://doi.org/10.1109/ICMECH.2015.7084047","url":null,"abstract":"This paper presents a practical genetic algorithm (GA)-based auto-tuning of vibration suppression controller for positioning devices with strain wave gearings. In the system design for the proposed GA-based tuning, guidelines of the fitness evaluation are set as the response bandwidth of the control system and the gain characteristics of load position for angular transmission error (ATEs) of the strain wave gearing. The proposed function autonomously tunes parameters of a positioning controller by GA, where mechanical vibrations due to the ATEs can be suppressed using resonant and all-pass filters. Effectiveness of the proposed approach has been verified using a prototype.","PeriodicalId":179621,"journal":{"name":"2015 IEEE International Conference on Mechatronics (ICM)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-03-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127683639","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
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