2013 IEEE International Conference on Mechatronics (ICM)最新文献

Multi-accelerometer-based method for environmental vibration compensation in load cell measurements 基于多加速度计的称重传感器环境振动补偿方法

2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6518529

G. Boschetti, R. Caracciolo, D. Richiedei, A. Trevisani

引用次数: 0

Controller design for dual-stage actuator-driven load devices considering suppression of vibration due to input saturation 考虑输入饱和抑制振动的双级执行器驱动负载装置控制器设计

2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6519134

Yusaku Shinohara, K. Seki, M. Iwasaki, Hiroshi Chinda, Masaki Takahashi

引用次数: 1

A controller design method for multirobot systems based on task projection matrix 基于任务投影矩阵的多机器人系统控制器设计方法

2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6518538

T. Nozaki, T. Mizoguchi, K. Ohnishi

{"title":"A controller design method for multirobot systems based on task projection matrix","authors":"T. Nozaki, T. Mizoguchi, K. Ohnishi","doi":"10.1109/ICMECH.2013.6518538","DOIUrl":"https://doi.org/10.1109/ICMECH.2013.6518538","url":null,"abstract":"Future motion systems should interact with other systems and unstructured environments. Therefore, a realization of multirobot systems and impedance control systems is necessary in order to adapt to various environments. This paper proposes a task projection control in an attempt to achieve a unified control of multirobot systems. First, the interactions are abstracted by using a quarry matrix. Then, the center of the motion is changed based on a task projection matrix. The task projection matrix consists of a quarry matrix, normalization matrix, and a projection matrix. Each desired motion can be designed and achieved independently, though the target object is an entirely-unknown object. This paper also proposes a novel control index named “hybrid angle”. The hybrid angle is defined as a ratio of an effect of a position control system and a force control system. The relationship between the hybrid angle and the control stiffness is clarified in this paper. The proposed task projection control is applied for grasping motion by multirobot systems. Two kinds of experiments are conducted. One is a motion division based on the task projection matrix, and the other is an impedance control based on the hybrid angle. The experimental results show the viability of the proposed method.","PeriodicalId":448152,"journal":{"name":"2013 IEEE International Conference on Mechatronics (ICM)","volume":"93 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127062664","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: 11

Pressure estimation of pneumatic anti-vibration apparatuses using an identity observer 用同一性观测器估计气动减振装置的压力

2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6518516

Daigo Hotta, Yukinori Nakamura, S. Wakui

引用次数: 4

Experimental modal analysis and shaking test of an absolute displacement sensor for suppression of high frequency dynamics 一种抑制高频动态的绝对位移传感器的模态分析与振动试验

2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6518527

T. Uemoto, T. Kai, Yukinori Nakamura, S. Wakui

{"title":"Experimental modal analysis and shaking test of an absolute displacement sensor for suppression of high frequency dynamics","authors":"T. Uemoto, T. Kai, Yukinori Nakamura, S. Wakui","doi":"10.1109/ICMECH.2013.6518527","DOIUrl":"https://doi.org/10.1109/ICMECH.2013.6518527","url":null,"abstract":"In the field of vibration control, accelerometers are widely used as feedback sensors. However, it is desirable to use a velocity sensor or a displacement sensor without integral operators. Effects of damping and a skyhook spring are obtained by velocity and displacement feedback, respectively. Therefore, an absolute displacement sensor has proposed to be utilized as feedback sensors of semiconductor exposure apparatuses. The proposed displacement sensor has the same mechanical structured having a detector and pendulum as a commercial velocity sensor. In previous works, the proposed sensor is applied as feedback and feedforward sensors. However, detection bandwidth is limited due to mechanical resonances called high frequency dynamics. In this paper, causes of the resonances are identified and we carry out to suppress the resonances. At first, control structure and operating principle of the proposed sensor are described. Next, we carry out experimental modal analysis and suppress the resonances by using viscoelastic materials. Finally, we try addition of mass damper in consideration of vibration mode and suppress the same resonances, which are appeared in shaking test.","PeriodicalId":448152,"journal":{"name":"2013 IEEE International Conference on Mechatronics (ICM)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125060623","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

Disturbance-attenuation characteristic of a structure of time-delay system with communication disturbance observer 具有通信干扰观测器的时延系统结构的扰动衰减特性

2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6519157

K. Natori, K. Ohnishi

{"title":"Disturbance-attenuation characteristic of a structure of time-delay system with communication disturbance observer","authors":"K. Natori, K. Ohnishi","doi":"10.1109/ICMECH.2013.6519157","DOIUrl":"https://doi.org/10.1109/ICMECH.2013.6519157","url":null,"abstract":"In this paper, we study disturbance-attenuation characteristic of a structure of time-delay system with communication disturbance observer (CDOB). A time-delay compensation method based on network disturbance (ND) concept and CDOB has been proposed and used in various kinds of time-delay systems and the effectiveness has been verified theoretically and experimentally. The advantage is that it works even when a time-delay value is unknown or a time-delay model is unavailable, since it does not need a time-delay model. However, it has been pointed out that the system-model error seriously affects the steady-state characteristics and causes steady-state error. Then, some approaches to handle such a problem have been proposed so far. It has turned out that one of those proposed approaches overcomes such a problem and achieves zero steady-state error in case that there are system-model errors. However, the robustness against disturbance, or the disturbance-attenuation characteristic has not been studied. Therefore, in this paper, the disturbance-attenuation characteristic of the structure is studied. The characteristic is studied compared with that of the conventional structure.","PeriodicalId":448152,"journal":{"name":"2013 IEEE International Conference on Mechatronics (ICM)","volume":"74 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122611969","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: 5

Switching operation mode resonance ratio control for flexible robot system 柔性机器人系统的切换工作模式谐振比控制

2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6519105

C. Mitsantisuk, Kiyoshi Ohishi, Y. Yokokura

引用次数: 4

Dynamic modeling and adaptable control of the CompAct™ arm CompAct™手臂的动态建模和自适应控制

2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6518583

Navvab Kashiri, M. Laffranchi, N. Tsagarakis, I. Sardellitti, D. Caldwell

{"title":"Dynamic modeling and adaptable control of the CompAct™ arm","authors":"Navvab Kashiri, M. Laffranchi, N. Tsagarakis, I. Sardellitti, D. Caldwell","doi":"10.1109/ICMECH.2013.6518583","DOIUrl":"https://doi.org/10.1109/ICMECH.2013.6518583","url":null,"abstract":"The introduction of physical compliance in robotic actuation systems has attracted increasing attention during recent years, due to the considerable benefits it can provide with respect to interaction safety, mechanical robustness and energy efficiency. However, the incorporation of passive compliant elements also results in systems with more complex dynamics, oscillations and limited bandwidth, requiring the development of sophisticated control strategies. Recently, variable damping mechanisms have been proposed to improve the performance of robots driven by compliant actuators. This study presents the dynamic modeling of the CompActTM actuator, a series elastic actuator equipped with a semi-active friction damper named Variable Physical Damping Actuator (VPDA) and the extension of this model to the multi-DOF case. Based on the analysed model, a control strategy is designed to modulate the clutch normal force in order to adapt the system dynamics with the task requirements; to make the system “stiff” when a precise motion is needed, and to exploit the passive compliance of the actuator to make it “soft” in the case the flexibility of the system is desirable. Finally, simulation of the arm is performed to verify the effectiveness of the proposed control scheme.","PeriodicalId":448152,"journal":{"name":"2013 IEEE International Conference on Mechatronics (ICM)","volume":"54 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129467712","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: 16

Nonlinear function approximation based on fuzzy algorithms with parameterized conjunctors 基于参数化连接点模糊算法的非线性函数逼近

2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6518515

A. C. Aras, O. Kaynak, I. Batyrshin

引用次数: 1

A sensor and actuator placement technique for active vibration control using H2 norm 一种基于H2范数的振动主动控制的传感器和执行器放置技术

2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6518522

P. Ambrosio, F. Ripamonti, F. Resta, F. Braghin

引用次数: 2