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2009 IEEE International Conference on Mechatronics最新文献

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Development of an actively adaptable in-pipe robot 主动适应管道机器人的研制
2009 IEEE International Conference on Mechatronics Pub Date : 2009-04-14 DOI: 10.1109/ICMECH.2009.4957174
Jungwan Park, Tae-Hyun Kim, Hyunseok Yang
{"title":"Development of an actively adaptable in-pipe robot","authors":"Jungwan Park, Tae-Hyun Kim, Hyunseok Yang","doi":"10.1109/ICMECH.2009.4957174","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957174","url":null,"abstract":"This paper proposes an in-pipe robot adaptable to pipe diameter change. The robot can adapt to 400 to 700 mm diameter piping. A pantograph mechanism provides the adaptability and the robot drives using tracks. One track module consists of front and rear tracks connected by an active joint with structural compliance. Its passive foldable characteristics provide information of the frontal space and help keeping contact with the surface on which it travels. This paper also suggests two control algorithms. One is a method to keeping proper normal force without pressure sensors. The other is a posture control to move in curved pipe by pantograph angle detection. These algorithms are verified by experiment.","PeriodicalId":414967,"journal":{"name":"2009 IEEE International Conference on Mechatronics","volume":"595 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-04-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123182496","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: 36
A dead reckoning sensor system and a tracking algorithm for mobile robots 一种移动机器人航位推算传感器系统及跟踪算法
2009 IEEE International Conference on Mechatronics Pub Date : 2009-04-14 DOI: 10.1109/ICMECH.2009.4957155
D. Hyun, Hyun S. Yang, Gyung-Hwan Yuk, H. S. Park
{"title":"A dead reckoning sensor system and a tracking algorithm for mobile robots","authors":"D. Hyun, Hyun S. Yang, Gyung-Hwan Yuk, H. S. Park","doi":"10.1109/ICMECH.2009.4957155","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957155","url":null,"abstract":"We have developed a dead reckoning sensor system and a tracking algorithm for mobile robots to estimate the path when a mobile robot explores an unknown, enclosed region where GPS access or landmarks are unavailable. A dead reckoning sensor system consists of a low-cost MEMS IMU and a navigation sensor (used in laser mice), which provide complementary functions. The IMU has benefits such as compact size, a self-contained system, and an extremely low failure rate but has a bias drift problem, which can accumulate substantial error over time. A navigation sensor measures the motion of a mobile robot directly without the slip error in the case of a wheel-type odometer, but it often fails to read a surface. A tracking algorithm consists of an extended Kalman filter (EKF) to fuse data from the IMU and the navigation sensor and a least-squares method to estimate acceleration bias in the EKF. We obtained experimental data by driving a radio-controlled car equipped with the sensor system in a 3D pipeline and compared the path estimated by the tracking algorithm with the path of the pipeline. The tracking algorithm combined data from the IMU and the navigation sensor and correctly estimated the path of the radio-controlled car. Our study can be applied to estimate position or path of mobile robots without external aids such as GPS, landmarks, and beacons.","PeriodicalId":414967,"journal":{"name":"2009 IEEE International Conference on Mechatronics","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-04-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131321345","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: 18
Iterative state feedback control and its application to robot control 迭代状态反馈控制及其在机器人控制中的应用
2009 IEEE International Conference on Mechatronics Pub Date : 2009-04-14 DOI: 10.1109/ICMECH.2009.4957228
Hassan Adloo, M. Deghat, P. Karimaghaee
{"title":"Iterative state feedback control and its application to robot control","authors":"Hassan Adloo, M. Deghat, P. Karimaghaee","doi":"10.1109/ICMECH.2009.4957228","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957228","url":null,"abstract":"In this paper, a new iterative learning algorithm is proposed for repetitive nonlinear systems. The control system employs a combination of state feedback and iterative learning control (ILC) in which the coefficients of states are learned similar to ILC methods. The control system is in a closed loop format both in iteration domain (because of ILC) and in time domain (because of feedback control) which improves the robustness of the conventional ILC. The convergence of the control algorithm is also proved. Finally, simulation results for a 5-DOF manipulator have been presented to illustrate that the proposed algorithm is more robust than a first order P type ILC method at the presence of white Gaussian noise as a nonrepeating disturbance.","PeriodicalId":414967,"journal":{"name":"2009 IEEE International Conference on Mechatronics","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-04-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127416312","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
Transportation of a thin sheet metal disk using magnetic levitation and tilt control 利用磁悬浮和倾斜控制运输金属薄板
2009 IEEE International Conference on Mechatronics Pub Date : 2009-04-14 DOI: 10.1109/ICMECH.2009.4957175
E. van West, A. Yamamoto, T. Higuchi
{"title":"Transportation of a thin sheet metal disk using magnetic levitation and tilt control","authors":"E. van West, A. Yamamoto, T. Higuchi","doi":"10.1109/ICMECH.2009.4957175","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957175","url":null,"abstract":"With magnetic levitation, ferromagnetic objects such as sheet metal can be handled without any contact. This has the beneficial properties of no contamination and no direct contact forces to the object, which can be important for sheet metal to keep the surface quality high. Levitation is realized by actively controlling the magnetic field depending on a measured gap between object and levitator, so that the attractive magnetic force balances the gravitational force. For levitating thin sheet metal, magnetic actuators can be placed at the top surface to control the gap, roll, and pitch motions, but the area of the side surface is not large enough to realize active control for horizontal motions. However, these horizontal motions are passive stable as there is a natural restoring force that will keep the object aligned with the levitator. Unfortunately, this passive force is far weaker than the controlled levitation force. This can be a problem for manipulation of the levitated sheet metal as horizontal accelerations have to be restrained in order to prevent loosing the object. This paper discusses a solution using a feed-forward tilt control strategy in which, similar to how a waiter tilts a tray of beverages during motion, both levitator and object are tilted during motion. In theory, significant improvements can be realized and a preliminary experiment verified that the feed-forward tilt control strategy is indeed very effective and that improvements could be realized.","PeriodicalId":414967,"journal":{"name":"2009 IEEE International Conference on Mechatronics","volume":"113 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-04-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124146966","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
Optimized design of a four discrete positions electromagnetic actuator 四分立位置电磁执行器的优化设计
2009 IEEE International Conference on Mechatronics Pub Date : 2009-04-14 DOI: 10.1109/ICMECH.2009.4957180
L. Petit, C. Prelle, E. Dore, F. Lamarque, Maxence Bigerelle
{"title":"Optimized design of a four discrete positions electromagnetic actuator","authors":"L. Petit, C. Prelle, E. Dore, F. Lamarque, Maxence Bigerelle","doi":"10.1109/ICMECH.2009.4957180","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957180","url":null,"abstract":"A four discrete positions electromagnetic actuator was designed, manufactured and tested. The design was optimized in performances and size. This actuator is composed of a mobile permanent magnet, four fixed permanent magnets and two orthogonal wires. Each wire is used to switch independently in two orthogonal directions. The displacement of the mobile magnet is limited by two stops in each direction. The mobile part can then reach four discrete positions. The fixed permanent magnets ensure a holding of each discrete position. This paper presents the principle, the optimized design, the modelling, an experimental device and experimental results of this actuator.","PeriodicalId":414967,"journal":{"name":"2009 IEEE International Conference on Mechatronics","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-04-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114976582","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: 6
Vibration reduction in a flexible link mechanism through the synthesis of an MPC controller 通过合成MPC控制器实现柔性连杆机构的减振
2009 IEEE International Conference on Mechatronics Pub Date : 2009-04-14 DOI: 10.1109/ICMECH.2009.4957182
P. Boscariol, A. Gasparetto, V. Zanotto
{"title":"Vibration reduction in a flexible link mechanism through the synthesis of an MPC controller","authors":"P. Boscariol, A. Gasparetto, V. Zanotto","doi":"10.1109/ICMECH.2009.4957182","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957182","url":null,"abstract":"The modeling and the control of flexible link robots have received a great deal of attention in the last decades due to the wide prospective industrial and space applications of ultra-light and high-speed mechanisms. This paper introduces a general and practical procedure for the design of effective control schemes for the position and vibration control of flexible links mechanisms. In particular, an innovative controller based on MPC (Model-based Predictive Control) is proposed. So far the MPC controllers have been employed almost exclusively in slow industrial processes. Nevertheless, this work shows that the MPC approach can be successfully adapted to plants whose dynamics are both nonlinear and fast changing as well. The performances of this approach will be evaluated for a single link mechanism and compared to those obtained with a standard PID position controller.","PeriodicalId":414967,"journal":{"name":"2009 IEEE International Conference on Mechatronics","volume":"59 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-04-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122111668","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: 12
To avoid unmoving and moving obstacles using MKBC algorithm Path planning 利用MKBC算法对不动障碍物和移动障碍物进行路径规划
2009 IEEE International Conference on Mechatronics Pub Date : 2009-04-14 DOI: 10.1109/ICMECH.2009.4957117
R. Kulic, Z. Vukic
{"title":"To avoid unmoving and moving obstacles using MKBC algorithm Path planning","authors":"R. Kulic, Z. Vukic","doi":"10.1109/ICMECH.2009.4957117","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957117","url":null,"abstract":"The problem of path planning for the autonomous vehicle in environment with moving and stationary obstacles is considered. An algorithm based on modified Kohonen rule and behavioural cloning (MKBC) is developed. The MKBC algorithm, as improvement of RBF neural network, uses the training values as weighting values, rather then values from the previous time instance. This enables an intelligent system to learn from examples (operator's demonstrations) to control a robot vehicle, in this case, to avoid stationary or moving obstacle. Important characteristic of the MKBC algorithm is polynomial complexity, while most other path planning algorithms are exponential. Experiments determined that it is robust to parameter change and suitable for real time application.","PeriodicalId":414967,"journal":{"name":"2009 IEEE International Conference on Mechatronics","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-04-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127382247","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
Image stabilization, determining the structure of the camera movement by means of an additional line-scan 图像稳定，通过额外的线扫描来确定相机运动的结构
2009 IEEE International Conference on Mechatronics Pub Date : 2009-04-14 DOI: 10.1109/ICMECH.2009.4957158
C. Luna, M. Mazo, J. Lázaro, A. Cano, P. Fernández
{"title":"Image stabilization, determining the structure of the camera movement by means of an additional line-scan","authors":"C. Luna, M. Mazo, J. Lázaro, A. Cano, P. Fernández","doi":"10.1109/ICMECH.2009.4957158","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957158","url":null,"abstract":"This work presents a novel method of images stabilization, which is based on determining the structure of the movement of the camera by means of an additional line-scan camera. In the proposed method the camera and the line-scan most be strongly united and is necessary to know the relative position between then by mean of a priori calibration process. In this paper a mathematical model of the system is introduced and some results obtained in the image stabilization experiments, using a 2 k line-scan sensor, are discussed.","PeriodicalId":414967,"journal":{"name":"2009 IEEE International Conference on Mechatronics","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-04-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129987366","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
High performance robot motion control based on zero phase error notch filter and D-PD control 基于零相位误差陷波滤波器和D-PD控制的高性能机器人运动控制
2009 IEEE International Conference on Mechatronics Pub Date : 2009-04-14 DOI: 10.1109/ICMECH.2009.4957196
S. Kumagai, K. Ohishi, T. Miyazaki
{"title":"High performance robot motion control based on zero phase error notch filter and D-PD control","authors":"S. Kumagai, K. Ohishi, T. Miyazaki","doi":"10.1109/ICMECH.2009.4957196","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957196","url":null,"abstract":"This paper proposes a new motion control strategy for industrial robots. It is important for industrial robots to regulate the motion of robot on condition of high speed and high accuracy. However, an industrial robot often has the vibration phenomenon which is generated by the resonant frequency and the nonlinear interference force from the other joints of robot. In order to overcome these problems, at first, this paper proposes a new zero phase error notch filter which has no phase error for the fast path tracking reference. Next, this paper proposes a new fast position control method based on D-PD control with dynamic torque compensation. Using these methods, this paper realizes the fast accurate robot motion control without vibration phenomenon and overshoot. The experimental results confirm that the proposed control method well regulates the fast accurate path tracking control smoothly and rapidly.","PeriodicalId":414967,"journal":{"name":"2009 IEEE International Conference on Mechatronics","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-04-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130974251","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: 18
On the inverse dynamics problem of general parallel robots 一般并联机器人的逆动力学问题
2009 IEEE International Conference on Mechatronics Pub Date : 2009-04-14 DOI: 10.1109/ICMECH.2009.4957202
T. Thanh, J. Kotlarski, B. Heimann, T. Ortmaier
{"title":"On the inverse dynamics problem of general parallel robots","authors":"T. Thanh, J. Kotlarski, B. Heimann, T. Ortmaier","doi":"10.1109/ICMECH.2009.4957202","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957202","url":null,"abstract":"In the present paper we introduce a general solution of the inverse dynamics problem of any parallel robot including mechanisms with reduced mobility as well as redundant structures. Starting from the Denavit-Hartenberg and physical parameters we derive the robot's dynamics equation using the subsystems method and the Lagrangian formalism. After choosing the minimal coordinates the obtained equations are reduced to the minimal form based on the coordinate partitioning method. A main advantage is that the equations of motion are derived exclusively in an analytical form which allows the implementation into symbolic computation software, e.g. Maple. As a result, we automatically obtain the inverse dynamics solution which can directly be translated to optimized C-code and therefore be used in real-time applications. Several examples demonstrate the effectiveness of the proposed method.","PeriodicalId":414967,"journal":{"name":"2009 IEEE International Conference on Mechatronics","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-04-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130433613","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: 24
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