2015 IEEE International Conference on Mechatronics (ICM)最新文献_第3页

A nonlinear stability analysis for the robust position control problem of robot manipulators via disturbance observer 基于扰动观测器的机器人鲁棒位置控制问题的非线性稳定性分析

2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7083943

E. Sariyildiz, Haoyong Yu, K. Yu, K. Ohnishi

{"title":"A nonlinear stability analysis for the robust position control problem of robot manipulators via disturbance observer","authors":"E. Sariyildiz, Haoyong Yu, K. Yu, K. Ohnishi","doi":"10.1109/ICMECH.2015.7083943","DOIUrl":"https://doi.org/10.1109/ICMECH.2015.7083943","url":null,"abstract":"In this paper, a new nonlinear stability analysis is proposed for the robust position control problem of robot manipulators via Disturbance Observer (DOb). Although a DOb has long been used in the robust motion control systems, it suffers from the insufficient and impractical analysis and design methods. Nonlinearities of motion control systems are generally ignored to simplify analyses; however, they may significantly influence the stability and performance of motion control systems. The paper shows that a DOb based two degrees of freedom robust position controller equals to a passivity based controller. The error of a DOb based two degrees of freedom robust position control system is uniformly ultimately bounded when it is applied to a trajectory tracking control problem of robot manipulators. The error bound is directly determined by the bandwidth of DOb and nominal inertia matrix. As they are increased, the error bound shrinks. However, the bandwidth of DOb and nominal inertia matrix are limited by the practical constraints such as noise and sampling period; therefore, the error cannot be freely decreased. Asymptotic stability is achieved if the robust position control system is applied into a regulator, i.e., point to point, position control problem of robot manipulators. It is shown that not only the robustness but also the stability of the robust position control system is improved by increasing the bandwidth of DOb. Besides, decreasing nominal inertia may degrade the stability of the robust position control system, drastically. New practical design methods are given by using the proposed analysis method. Simulation results are given to show the validity of the proposals.","PeriodicalId":179621,"journal":{"name":"2015 IEEE International Conference on Mechatronics (ICM)","volume":"117 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":"115638910","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

A quantization method for haptic data lossy compression 触觉数据有损压缩的量化方法

2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7083960

T. Nakano, Seiji Uozumi, Rolf Johansson, K. Ohnishi

引用次数: 10

Qualitative control of soft robotic peristaltic sorting tables 软机器人蠕动分选台的定性控制

2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7083952

M. Stommel, Weiliang Xu

{"title":"Qualitative control of soft robotic peristaltic sorting tables","authors":"M. Stommel, Weiliang Xu","doi":"10.1109/ICMECH.2015.7083952","DOIUrl":"https://doi.org/10.1109/ICMECH.2015.7083952","url":null,"abstract":"Soft robotic peristaltic sorting tables are a new class of industrial robots that move objects on their surface by producing moving surface deformations. To realise such deformations, the surface layer is made of a soft material with an embedded array of actuators. In industrial automation, the array must be controlled in a way that objects on the surface of the table are transported and realigned in a way that solves a given task. The control of a soft robotic peristaltic sorting table is challenging because of the high dimensionality of the control signals, unrestricted degrees of freedom in terms of the robot shape, a lack of parametric and non-parametric models, possibly complex automation tasks with multiple steps, nonlinear material properties, and incomplete knowledge about the state of the robot and the objects on its surface. In this paper, we analyse the feasibility of approaches from artificial intelligence to solve the control problem. We conclude that an automation task can be efficiently subdivided into a sequence of easier subproblems covering a range of basic, repetitive movement patterns. The input signals resulting in certain movement patterns can be optimised by comparing the actual robot shape with the ideal one. The convexity of the optimisation problem depends on the robot design and the used loss function.","PeriodicalId":179621,"journal":{"name":"2015 IEEE International Conference on Mechatronics (ICM)","volume":"17 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":"127809315","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

Optimal design of length factor for cross-coupled 2-DOF motor with Halbach magnet array Halbach磁体阵列交叉耦合二自由度电机长度因子优化设计

2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7084032

Shodai Tanaka, T. Shimono, Y. Fujimoto

引用次数: 18

Consideration on function mode design for motion construction 运动结构功能模式设计的思考

2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7083945

Seiji Uozumi, K. Yu, K. Ohnishi

引用次数: 0

Estimation and control of lateral displacement of electric vehicle using WPT information 基于WPT信息的电动汽车横向位移估计与控制

2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7083997

Pakorn Sukprasert, B. Nguyen, H. Fujimoto

引用次数: 7

Inverse kinematics with knee extension walking pattern for bipedal fast walking 双足快速步行的膝关节伸展步行方式逆运动学研究

2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7084008

Hirokazu Mori, C. Zhu

引用次数: 0

Research of training and evaluation aid device with DOF selective constraint mechanism for hemiplegic upper limbs rehabilitation 具有自由度选择性约束机构的偏瘫上肢康复训练与评价辅助装置的研究

2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7084018

Koutaro Taniguchi, Yong Yu, T. Noma, R. Hayashi, S. Matsumoto, M. Shimodozono, K. Kawahira

引用次数: 2

On event-triggered and self-triggered control using online optimization 基于在线优化的事件触发和自触发控制

2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7084042

Koichi Kobayashi, K. Hiraishi

引用次数: 3

Lift control of electric airplanes by using propeller slipstream for safe landing 利用螺旋桨滑流控制电动飞机安全着陆的升力

2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7083998

N. Konishi, H. Fujimoto, Yasumasa Watanabe, Kojiro Suzuki, Hiroshi Kobayashi, A. Nishizawa

引用次数: 5