{"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}
T. Nakano, Seiji Uozumi, Rolf Johansson, K. Ohnishi
{"title":"A quantization method for haptic data lossy compression","authors":"T. Nakano, Seiji Uozumi, Rolf Johansson, K. Ohnishi","doi":"10.1109/ICMECH.2015.7083960","DOIUrl":"https://doi.org/10.1109/ICMECH.2015.7083960","url":null,"abstract":"In this paper, a quantization scheme for haptic data compression is proposed and the results of its application to a motion copying system are described. The data compression of image and audio data has been researched a lot. However, the data compression of haptic data has not been much researched yet although the amount of haptic data is large in general. The discrete cosine transform (DCT) is used for the lossy compression of haptic data in this paper. A new quantization scheme using characteristics of DCT is proposed. By using a proposed method, a larger signal-to-noise ratio compared to conventional method is achieved. In the experiment, the validity of the proposed method was verified.","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":"131153500","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}
{"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}
{"title":"Optimal design of length factor for cross-coupled 2-DOF motor with Halbach magnet array","authors":"Shodai Tanaka, T. Shimono, Y. Fujimoto","doi":"10.1109/ICMECH.2015.7084032","DOIUrl":"https://doi.org/10.1109/ICMECH.2015.7084032","url":null,"abstract":"This paper introduces an optimal design for a cross-coupled two-degree-of-freedom (2-DOF) motor. Generally, Halbach magnet array can realize high magnetic loading. Therefore, higher thrust force and torque will be obtained by employing Halbach magnet array. The proposed motor has a shaft, the permanent magnets, helical windings, and two bobbins. This structure can independently realize linear and rotary motions. Also, the mover part is constituted of the shaft and the permanent magnets which are segment shape and magnetized to the radial or the axial direction. Two kinds of magnets (magnetizations of axial and radial directions) are alternately placed at the shaft to axial direction. By determining the length factor which is the ratio between lengths of two kinds of magnets, the maximum thrust force and maximum torque will be found. In this paper, the optimal design is verified by varying the length factor of these magnets and performing the finite element analysis (FEA).","PeriodicalId":179621,"journal":{"name":"2015 IEEE International Conference on Mechatronics (ICM)","volume":"31 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":"133238536","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}
{"title":"Consideration on function mode design for motion construction","authors":"Seiji Uozumi, K. Yu, K. Ohnishi","doi":"10.1109/ICMECH.2015.7083945","DOIUrl":"https://doi.org/10.1109/ICMECH.2015.7083945","url":null,"abstract":"With the development of robot technology, the activities of robots are expected to enter the human environment. Robots in human environment need the large-scale system with multi-degrees-of freedom for environmental adaptation. Therefore, it is necessary to design a large-scale system efficiently and simply. Tsuji et al. proposed function based control method. This method decouples a large control system into small independent components called “function” extracted by the “function mode”. However, design method of function mode has not been clarified. Therefore, this paper considers the design method of function modes by fragmentation of the function mode. By using this method, independent control of complex tasks can be achieved. This method can be a guide for designing complex functions and improve the adaptability to a designer's intention and unknown environment. Proposed method is implemented in hybrid control system using three robot arms and each robot arm has two degrees of freedom. The validity of proposed method is verified by the experimental results.","PeriodicalId":179621,"journal":{"name":"2015 IEEE International Conference on Mechatronics (ICM)","volume":"18 7 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":"131847647","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}
{"title":"Estimation and control of lateral displacement of electric vehicle using WPT information","authors":"Pakorn Sukprasert, B. Nguyen, H. Fujimoto","doi":"10.1109/ICMECH.2015.7083997","DOIUrl":"https://doi.org/10.1109/ICMECH.2015.7083997","url":null,"abstract":"This work proposes a method to estimate lateral displacement of an electric vehicle from wireless power transfer information and vehicles motion measurement through the Un-scented Kalman filter. By using the estimated lateral displacement as a feedback variable, the trajectory of vehicle is controlled to the area of high performance transmission. The proposed method is validated by simulation and experiment.","PeriodicalId":179621,"journal":{"name":"2015 IEEE International Conference on Mechatronics (ICM)","volume":"2 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":"114054588","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}
{"title":"Inverse kinematics with knee extension walking pattern for bipedal fast walking","authors":"Hirokazu Mori, C. Zhu","doi":"10.1109/ICMECH.2015.7084008","DOIUrl":"https://doi.org/10.1109/ICMECH.2015.7084008","url":null,"abstract":"Up so far, many biped robots have been developed, but almost all of their walking trajectories are not to try to extend the knee joint of the robot. The main reason is their inverse kinematics can not be calculated because of the singularity when the knee joint of biped robot is completely extended. In this paper, we propose a non-linear programming approach to solve the inverse kinematics with knee extension for fast bipedal walking. The proposed approach is verified by a 3D simulator of biped robot.","PeriodicalId":179621,"journal":{"name":"2015 IEEE International Conference on Mechatronics (ICM)","volume":"73 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":"115342714","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}
Koutaro Taniguchi, Yong Yu, T. Noma, R. Hayashi, S. Matsumoto, M. Shimodozono, K. Kawahira
{"title":"Research of training and evaluation aid device with DOF selective constraint mechanism for hemiplegic upper limbs rehabilitation","authors":"Koutaro Taniguchi, Yong Yu, T. Noma, R. Hayashi, S. Matsumoto, M. Shimodozono, K. Kawahira","doi":"10.1109/ICMECH.2015.7084018","DOIUrl":"https://doi.org/10.1109/ICMECH.2015.7084018","url":null,"abstract":"As sequelae of stroke, hemiplegia is a typical symptom, where paralysis occurs in the half the body because of brain damage. In this study, we have developed selectable constraint mechanism for hemiplegic upper limb training. By using this mechanism, it became possible to separate synergic movement while flexion-extension training of shoulder and elbow by constraining each individual joints. As the clinical trial result, the shoulder-elbow UE-FMA sub-scores improved significantly. In addition, we proposed NMES timing control system and evaluation method for sensing the flexion-extension movement of the elbow and shoulder joints.","PeriodicalId":179621,"journal":{"name":"2015 IEEE International Conference on Mechatronics (ICM)","volume":"50 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":"116246282","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}
{"title":"On event-triggered and self-triggered control using online optimization","authors":"Koichi Kobayashi, K. Hiraishi","doi":"10.1109/ICMECH.2015.7084042","DOIUrl":"https://doi.org/10.1109/ICMECH.2015.7084042","url":null,"abstract":"Event-triggered control and self-triggered control are an important control strategy in networked control systems. Event-triggered control is a control method that determines transmissions of the control input and the measured signal depending on measurement information. Self-triggered control is a control method that the control input and the (non-uniform) sampling interval are computed simultaneously. In this paper, we propose a new method of event-triggered control and self-triggered control from the viewpoint of optimal control. In self-triggered control, the control input and the sampling interval are obtained by solving a pair of a quadratic programming (QP) problem and a mixed integer linear programming (MILP) problem. In event-triggered control, the triggering condition is given by two QP problems. The effectiveness of the proposed methods is presented by numerical examples.","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":"122940817","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}
N. Konishi, H. Fujimoto, Yasumasa Watanabe, Kojiro Suzuki, Hiroshi Kobayashi, A. Nishizawa
{"title":"Lift control of electric airplanes by using propeller slipstream for safe landing","authors":"N. Konishi, H. Fujimoto, Yasumasa Watanabe, Kojiro Suzuki, Hiroshi Kobayashi, A. Nishizawa","doi":"10.1109/ICMECH.2015.7083998","DOIUrl":"https://doi.org/10.1109/ICMECH.2015.7083998","url":null,"abstract":"Aircrafts are desired to be more energy efficient and safer due to the increasing demand for air transportations. However, generally speaking, nowadays commercial airplanes tend to loss stability under wind disturbances, especially during landing. On the other hand, electric airplanes (EAs) are believed to satisfy the two demands because electric motors are used for the propulsion. Especially, as the actuators, electric motors can improve the control performances of EAs compared with internal combustion engines (ICEs). In this paper, by utilizing electric motors' advantages, lift control method using propeller slipstream is proposed for safe landing, which might be a key technology to innovate the design of EAs. Moreover, simulations and experiments are conducted to verify the effectiveness of the proposed method.","PeriodicalId":179621,"journal":{"name":"2015 IEEE International Conference on Mechatronics (ICM)","volume":"164 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":"123511007","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}