2015 IEEE International Conference on Mechatronics (ICM)最新文献_第5页

Impact of hysteresis lost motion on the sensorless torsion control of elastic robotic joints 运动滞后对弹性机器人关节无传感器扭转控制的影响

2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7084054

M. Ruderman, M. Iwasaki

引用次数: 4

Robust attitude tracking control of hexarotor MAVs using plug-in gain scheduling robust compensator technique 基于增益调度鲁棒补偿技术的六旋翼飞行器鲁棒姿态跟踪控制

2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7083953

Nurul Dayana Salim, Dafizal Derawi, H. Zamzuri, Mohd Azizi Abdul Rahman, S. Abdullah

引用次数: 1

Common zeros in synchronization of high-precision stage systems 高精度舞台系统同步中的公共零

2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7084045

M. O. Navarrete, M. Heertjes, R. M. Schmidt

引用次数: 4

Hardware-assisted direction estimation for mobile robot target tracking applications 移动机器人目标跟踪的硬件辅助方向估计

2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7083970

Geunho Lee, Kazutaka Tatara, N. Chong

引用次数: 2

Reproduction of motion obtained in bilateral control considering environment position 考虑环境位置的双边控制运动再现

2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7083963

Seinan Kyo, K. Ohnishi

引用次数: 0

Adaptive backstepping controller with Kalman state estimator for stabilisation and manoeuvre of pedestrian controlled uniaxial transport vehicles 基于卡尔曼状态估计的自适应反步控制器用于行人控制的单轴运输车辆的稳定和机动

2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7083994

M. Brüning, Gregor Thiele, W. Schonewolf, J. Krüger

{"title":"Adaptive backstepping controller with Kalman state estimator for stabilisation and manoeuvre of pedestrian controlled uniaxial transport vehicles","authors":"M. Brüning, Gregor Thiele, W. Schonewolf, J. Krüger","doi":"10.1109/ICMECH.2015.7083994","DOIUrl":"https://doi.org/10.1109/ICMECH.2015.7083994","url":null,"abstract":"Pedestrian controlled uniaxial vehicles for goods transport such as hand trucks offer intuitive manoeuvrability with little space requirements. The disadvantage of this class of statically underdetermined vehicles is the need for the user to apply force for both stabilisation and propulsion. Removing this disadvantage is the key to enable their use for convenient transportation of heavy goods over long distances. For this our solution approach is to equip the vehicle with controlled drives providing force for both balancing and propulsion. Different to uniaxial vehicles without payload or for passenger transportation controller's adaptation to kinematic and dynamic parameters is required here after every reload. The frame's pitch angle must be adapted with every change of load whereby the COG's position is not measurable with acceptable effort. Dynamic parameters vary in a wide range. We applied an adaptive controller based on backstepping combined with Kalman state estimation for stable balancing with adaptation to changed payload without need for external support from the user. The manoeuvre concept based on low interaction forces applied from the user to the vehicle frame is taking advantage of the underconstrained dynamics of the vehicle, and offers similar driving behaviour to the user with different load situations. Operating control levers for setting speed is not required. To allow for cheap production a design goal was not requiring sensor information of both load's absolute weight and user interaction forces. The adaptive control and state estimation concept was simulated based on the kinematic and dynamic model of our new uniaxial vehicle system designed for urban parcel distribution on foot. Simulation results show the correct operation of the approach.","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":"130291078","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

Extended lumped parameter electromechanical model of piezoelectric actuators 压电作动器的扩展集总参数机电模型

2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7083990

M. Ruderman, Yuki Kamiya, M. Iwasaki

引用次数: 4

Modulated potential field for position adjusting with human interaction for implant surgery 用于植入手术中人机交互位置调节的调制势场

2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7083980

K. Yu, T. Nakano, K. Ohnishi, S. Usuda, T. Nakagawa, H. Kawana

引用次数: 1

Reaction-torque-based reflected wave rejection for vibration suppression of integrated resonant and time-delay system 基于反应转矩的反射波抑制谐振-时滞集成系统的振动抑制

2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7084056

E. Saito, S. Katsura

{"title":"Reaction-torque-based reflected wave rejection for vibration suppression of integrated resonant and time-delay system","authors":"E. Saito, S. Katsura","doi":"10.1109/ICMECH.2015.7084056","DOIUrl":"https://doi.org/10.1109/ICMECH.2015.7084056","url":null,"abstract":"The vibration suppression on a resonant system, based on the reflected wave rejection, has been recently proposed. In the method, the resonant system is modeled through a wave equation, in order to consider high order vibrations and vibration suppression is achieved by eliminating a reflected wave. However, it is difficult to implement such method when there are input and output time-delays, because it requires the implementation of the inverse of a time delay. Under such background, vibration suppression on the integrated resonant and time-delay system by using a modified reflected wave rejection has been proposed. However, a problem still remains, which is to need to use load-position information. Therefore, this paper proposes a novel vibration suppression method for systems including time delays by using a reaction-torque-based reflected wave rejection, which does not use the load position information. The novel reflected wave rejection can estimate and compensate the reflected wave by using motor position and reaction-torque information which is estimated by a reaction-torque observer. The validity of the proposed method is confirmed by experimental results.","PeriodicalId":179621,"journal":{"name":"2015 IEEE International Conference on Mechatronics (ICM)","volume":"23 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":"114029283","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

Sensorless pedaling torque estimation by front and rear wheels independently driven power assist bicycle 前后轮独立驱动助力自行车无传感器踏板扭矩估算

2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7084003

Hiroyuki Kawajiri, S. Sakaino, H. Mizoguchi, T. Tsuji

{"title":"Sensorless pedaling torque estimation by front and rear wheels independently driven power assist bicycle","authors":"Hiroyuki Kawajiri, S. Sakaino, H. Mizoguchi, T. Tsuji","doi":"10.1109/ICMECH.2015.7084003","DOIUrl":"https://doi.org/10.1109/ICMECH.2015.7084003","url":null,"abstract":"It is important to decrease cost of power assist bicycles for their wide spread. Because force sensors for pedaling torque estimation are expensive, torque sensorless pedaling torque estimation is a good way to reduce cost. Therefore, in this paper, a pedaling torque estimation method for power assist bicycles is proposed. It can be implemented only in front and rear wheel independently driven type power assist bicycles, which were also proposed by the authors. In the proposed method, front and rear wheels are controlled to be the same velocity. Owing to this, a friction coefficient between a front wheel and the ground is equal to a friction coefficient between a rear wheel and the ground. Hence, we can eliminate one unknown parameter, a friction coefficient, from motion equations. In addition, because the proposed power assist bicycles have two motors, both external torques of front and rear wheels can be estimated. Together with data from acceleration sensor and the two estimated external torques, pedaling torque, normal forces on each wheel, and running resistance, can be estimated in real-time by using an iterative least square method. The validity of the proposed method is verified by simulations and experiments.","PeriodicalId":179621,"journal":{"name":"2015 IEEE International Conference on Mechatronics (ICM)","volume":"4 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":"116051133","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