2021 IEEE International Conference on Mechatronics (ICM)最新文献_第5页

The Robust Exact Differentiator Toolbox revisited: Filtering and Discretization Features 鲁棒精确微分器工具箱重访:滤波和离散化特征

2021 IEEE International Conference on Mechatronics (ICM) Pub Date : 2021-03-07 DOI: 10.1109/ICM46511.2021.9385675

Benedikt Andritsch, M. Horn, Stefan Koch, H. Niederwieser, Maximilian Wetzlinger, M. Reichhartinger

引用次数: 5

Internal Sensor Based Kinematic Parameters Estimation using Acceleration/Deceleration Motion 基于内部传感器的加减速运动参数估计

2021 IEEE International Conference on Mechatronics (ICM) Pub Date : 2021-03-07 DOI: 10.1109/ICM46511.2021.9385680

Kaiki Fukutoku, Hirotoshi Masuda, T. Murakami

{"title":"Internal Sensor Based Kinematic Parameters Estimation using Acceleration/Deceleration Motion","authors":"Kaiki Fukutoku, Hirotoshi Masuda, T. Murakami","doi":"10.1109/ICM46511.2021.9385680","DOIUrl":"https://doi.org/10.1109/ICM46511.2021.9385680","url":null,"abstract":"Motion measurement systems play an important role in a wide range of fields such as robot motion control and human motion analysis. Motion measurement methods using a camera, which is an external sensor, have problems such as low sampling rate and limited measurement range. On the other hand, the method using the encoder or inertial sensor, which is an internal sensor, has almost no limitation on the measurement range. Moreover, it can be measured at a high sampling rate. However, when using the internal sensor, it was necessary to use the kinematic model and kinematic parameters of robots and humans. Errors in these parameters lead to reduced accuracy in kinematic calculations. Therefore, the control performance and analysis accuracy are reduced. To solve these problems, we propose a method for estimating kinematic parameters using the inertial sensor. The proposed method uses a kinematic relational expression in the acceleration dimension. Therefore, kinematic parameters can be estimated without using absolute position information. In this paper, the proposed method is applied to the 3-link manipulator and the human body. The effectiveness of the proposed method is evaluated by comparing the estimated link length with the measured value.","PeriodicalId":373423,"journal":{"name":"2021 IEEE International Conference on Mechatronics (ICM)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115374903","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

Vibration suppression and tracking control of a flexure-jointed motion stage mechanism using LTV-FIR command filtering 基于LTV-FIR命令滤波的柔性关节运动平台机构振动抑制与跟踪控制

2021 IEEE International Conference on Mechatronics (ICM) Pub Date : 2021-03-07 DOI: 10.1109/ICM46511.2021.9385651

P. Kuresangsai, M. Cole

引用次数: 0

Motion Control Method Based on Two-link Manipulator Model with Bi-articular Muscle Considering Planetary Gear 考虑行星齿轮的双关节肌肉双连杆机械臂模型运动控制方法

2021 IEEE International Conference on Mechatronics (ICM) Pub Date : 2021-03-07 DOI: 10.1109/ICM46511.2021.9385608

Takumi Nishimura, N. Motoi

引用次数: 0

High-Bandwidth Suspension Resonance Analysis of In-Wheel Motor Vehicle Using Multibody Dynamics 基于多体动力学的轮毂汽车高带宽悬架共振分析

2021 IEEE International Conference on Mechatronics (ICM) Pub Date : 2021-03-07 DOI: 10.1109/ICM46511.2021.9385653

Tomonori Suzuki, F. Chauvicourt, H. Fujimoto

引用次数: 0

Adaptive Robust Motion Control of Series Elastic Actuator with Unmatched Uncertainties 具有不匹配不确定性的串联弹性作动器自适应鲁棒运动控制

2021 IEEE International Conference on Mechatronics (ICM) Pub Date : 2021-03-07 DOI: 10.1109/ICM46511.2021.9385639

Yinjie Lin, Zheng Chen, B. Yao

{"title":"Adaptive Robust Motion Control of Series Elastic Actuator with Unmatched Uncertainties","authors":"Yinjie Lin, Zheng Chen, B. Yao","doi":"10.1109/ICM46511.2021.9385639","DOIUrl":"https://doi.org/10.1109/ICM46511.2021.9385639","url":null,"abstract":"Different from the “stiffer is better” rule in traditional robotic applications, safety and compliance are now drawing more and more attention. Series elastic actuator (SEA), which is an intrinsically safe and compliant actuator, is widely used in robotics. However, compared with the conventional stiff actuators' model, SEA system is high-order nonlinear and simultaneously has unmatched uncertainties owing to the existence of the joint flexibility. These problems make the motion control of SEA more complicated than conventional stiff actuators. To deal with these issues, a precision motion controller is developed in this paper by integrating the adaptive robust control (ARC) and the backstepping design technique. Specifically, the effect of matched and unmatched model uncertainties can be attenuated by the robust law via backstepping design techniques; furthermore, the on-line adaptation law is employed to suppress the parametric uncertainties and further improve the system performance. Theoretically, the tracking performance and stability of the controller are guaranteed. Comparative experiments have been conducted on a designed SEA testbed, and the experimental results validate the effectiveness of the proposed precision motion controller.","PeriodicalId":373423,"journal":{"name":"2021 IEEE International Conference on Mechatronics (ICM)","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114855256","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

Double-Disturbance Compensation Design for Full-Closed Cascade Control of Flexible Robots 柔性机器人全闭串级控制的双扰动补偿设计

2021 IEEE International Conference on Mechatronics (ICM) Pub Date : 2021-03-07 DOI: 10.1109/ICM46511.2021.9385638

T. Trung, M. Iwasaki

引用次数: 2

Achieving Resonance with Piezoelectric Transducers on 2–4 Phase Resonant Electrostatic Induction Motors 用压电换能器在2-4相谐振式静电感应电动机上实现共振

2021 IEEE International Conference on Mechatronics (ICM) Pub Date : 2021-03-07 DOI: 10.1109/ICM46511.2021.9385609

F. Carneiro, M. Osada, Guangwei Zhang, Shunsuke Yoshimoto, A. Yamamoto

引用次数: 1

A Closed-Loop Perspective on Fault Detection for Precision Motion Control: With Application to an Overactuated System 精密运动控制故障检测的闭环视角:在过致动系统中的应用

2021 IEEE International Conference on Mechatronics (ICM) Pub Date : 2021-03-07 DOI: 10.1109/ICM46511.2021.9385700

Koen Hendrik Johan Classens, W. Heemels, T. Oomen

引用次数: 6

Contraction Region Estimate for State-Dependent Riccati Equation-Based Controllers and its Application to a Two-Wheeled Inverted Pendulum 状态相关Riccati方程控制器的收缩域估计及其在两轮倒立摆上的应用

2021 IEEE International Conference on Mechatronics (ICM) Pub Date : 2021-03-07 DOI: 10.1109/ICM46511.2021.9385624

Julio Pérez, Susanne Junghans

{"title":"Contraction Region Estimate for State-Dependent Riccati Equation-Based Controllers and its Application to a Two-Wheeled Inverted Pendulum","authors":"Julio Pérez, Susanne Junghans","doi":"10.1109/ICM46511.2021.9385624","DOIUrl":"https://doi.org/10.1109/ICM46511.2021.9385624","url":null,"abstract":"The state–dependent Riccati equation (SDRE) offers a systematic technique for controller design applicable to a wide range of nonlinear processes, especially to complex systems of higher order with inherently fast dynamics. Despite the numerous benefits of the SDRE technique, an open issue remains in providing stability regions for the regulated system as the closed-loop dynamics are not explicitly known. Standard techniques, such as Lyapunov’s direct method, do not allow to infer global properties from local analysis. However, the recently developed contraction theory enables the study of closed-loop dynamics exclusively known pointwisely, which suggests its applicability to SDRE-controlled systems. Thus, this paper presents a novel technique for computing contraction region estimates for nonlinear stabilisation using SDRE-based controllers. By solving an optimisation problem, the region estimate is generated by a smooth Riemannian metric which assures exponential convergence towards the origin. Moreover, a guaranteed lower bound of the contraction rate is explicitly given. To highlight the benefits of the proposed method, numerical simulations of a Two-wheeled inverted pendulum (TWIP) robot are provided. Thus, this paper presents a novel technique for computing contraction region estimates for nonlinear stabilisation using SDRE-based controllers. By solving an optimisation problem, the region estimate is generated by a smooth Riemannian metric which assures exponential convergence towards the origin. Moreover, a guaranteed lower bound of the contraction rate is explicitly given. To highlight the benefits of the proposed method, numerical simulations of a Two-wheeled inverted pendulum (TWIP) robot are provided.","PeriodicalId":373423,"journal":{"name":"2021 IEEE International Conference on Mechatronics (ICM)","volume":"3586 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127521656","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