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

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Time-optimal parking and flying: Solving path following problems efficiently 最优停车与飞行:有效解决路径跟随问题
2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6519150
W. V. Loock, S. Bellens, G. Pipeleers, J. Schutter, J. Swevers
{"title":"Time-optimal parking and flying: Solving path following problems efficiently","authors":"W. V. Loock, S. Bellens, G. Pipeleers, J. Schutter, J. Swevers","doi":"10.1109/ICMECH.2013.6519150","DOIUrl":"https://doi.org/10.1109/ICMECH.2013.6519150","url":null,"abstract":"Path following deals with the problem of following a geometric path without any preassigned timing information and constitutes an important step in solving the general motion planning problem. The current paper considers path following for differentially flat systems. In this case the dynamics of the system can be projected along the path to a single input system, resulting in a free end-time optimal control problem. We propose to rewrite the problem in terms of the velocity along the path and the path itself. This way, we arrive at a fixed end-time optimal control problem that can be solved efficiently by interior-point solvers. Two challenging examples, a truck-trailer parking simulation and a quadrotor mission, illustrate the efficiency of the problem formulation and the practicality of the developed software.","PeriodicalId":448152,"journal":{"name":"2013 IEEE International Conference on Mechatronics (ICM)","volume":"1 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":"129186400","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
On-road measurements of high speed bicycle shimmy, and comparison to structural resonance 高速自行车摆振的路面测量及与结构共振的比较
2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6518570
G. Magnani, Nicola Maria Ceriani, J. Papadopoulos
{"title":"On-road measurements of high speed bicycle shimmy, and comparison to structural resonance","authors":"G. Magnani, Nicola Maria Ceriani, J. Papadopoulos","doi":"10.1109/ICMECH.2013.6518570","DOIUrl":"https://doi.org/10.1109/ICMECH.2013.6518570","url":null,"abstract":"This paper first presents original data records of the linear accelerations, along with angular velocities and forward velocity, for a high-speed hands-on bicycle shimmy. These describe the oscillation in terms of duration, magnitude, correlation with forward speed, and related danger for the rider. Then additional experimental data are reported which support the conjecture that the shimmy while riding occurs essentially at the same frequency as the lateral resonance of the head tube when the saddle of a stationary bicycle is laterally constrained.","PeriodicalId":448152,"journal":{"name":"2013 IEEE International Conference on Mechatronics (ICM)","volume":"8 22","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113990082","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: 8
Posture stabilization for a personal mobility robot using feedback compensation with an unstable pole 基于不稳定极点反馈补偿的个人移动机器人姿态稳定
2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6519144
N. Hirose, R. Tajima, K. Sukigara, Y. Tsusaka
{"title":"Posture stabilization for a personal mobility robot using feedback compensation with an unstable pole","authors":"N. Hirose, R. Tajima, K. Sukigara, Y. Tsusaka","doi":"10.1109/ICMECH.2013.6519144","DOIUrl":"https://doi.org/10.1109/ICMECH.2013.6519144","url":null,"abstract":"The present paper introduces a novel posture control approach using feedback compensation with an unstable pole. A narrow and small personal mobility robot (PMR) requires control of its posture in order to achieve quick turning and high acceleration. However, in the conventional control approach that uses the posture angle as a controlled variable, the zero moment point (ZMP) cannot be set to the desired point if an unknown disturbance force acts on the PMR, if the center of gravity of the PMR fluctuates, or if the conditions between the tires and the road surface change. In the present paper, a novel control method using feedback compensation with an unstable pole is proposed in order to achieve the desired ZMP at the steady state. The proposed controller changes the control input for the actuator of the posture control to zero in order to achieve the desired posture angle. The effectiveness of the proposed approach is verified experimentally using a prototype PMR.","PeriodicalId":448152,"journal":{"name":"2013 IEEE International Conference on Mechatronics (ICM)","volume":"41 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":"132135126","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
Robust resonance suppression control based on self resonance cancellation disturbance observer and application to humanoid robot 基于自共振对消扰动观测器的鲁棒谐振抑制控制及其在仿人机器人中的应用
2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6519114
Motonobu Aoki, H. Fujimoto, Y. Hori, Taro Takahashi
{"title":"Robust resonance suppression control based on self resonance cancellation disturbance observer and application to humanoid robot","authors":"Motonobu Aoki, H. Fujimoto, Y. Hori, Taro Takahashi","doi":"10.1109/ICMECH.2013.6519114","DOIUrl":"https://doi.org/10.1109/ICMECH.2013.6519114","url":null,"abstract":"In this paper, a robust control method for two-inertia systems is proposed based on the self resonance cancellation control (SRC) and the self resonance cancellation disturbance observer (SRCDOB). The SRCDOB proposed in this paper improves the robustness of control system by rejecting disturbances and compensating for deviation of plant dynamics. The feedback controller for two-inertia systems is designed based on a nominalized plant model by SRCDOB and its effectiveness is verified through simulation study. In addition, the proposed robust resonance suppression control method is applied to a humanoid robot control system and experimental results demonstrate the effectiveness of the proposed robust resonance suppression control method.","PeriodicalId":448152,"journal":{"name":"2013 IEEE International Conference on Mechatronics (ICM)","volume":"106 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":"131897984","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: 14
A design method of scaling bilateral control with drift 一种带漂移的双边控制标度设计方法
2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6518588
Kento Watanabe, K. Ohnishi
{"title":"A design method of scaling bilateral control with drift","authors":"Kento Watanabe, K. Ohnishi","doi":"10.1109/ICMECH.2013.6518588","DOIUrl":"https://doi.org/10.1109/ICMECH.2013.6518588","url":null,"abstract":"In this paper, a scaling bilateral control method with drift is proposed. The control targets of the general bilateral control are simply defined as the each position difference and the each force sum. On the other hand, the different control targets are defined in scaling bilateral control. In the proposed method, by introducing the drift function, the form of these control targets are unified. Then, the precision of position control is improved. In addition, the proposed one enables to realize some complex scaling bilateral control methods. In this paper, the proposed one is applied to micro-macro bilateral control and dimensional scaling bilateral control. When the proposed one is not utilized, the form of the these control targets are defined differently. Therefore, according to scaling bilateral control, the controllers need to be designed one by one. Utilizing the proposed one, the drift function only needs to be derived with the same controllers. In the experiments, it validated that the proposed one could be implemented. Moreover, it also validated that the precision of position control was improved with the proposed one.","PeriodicalId":448152,"journal":{"name":"2013 IEEE International Conference on Mechatronics (ICM)","volume":"34 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":"116007707","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
Regeneration of LIPM bipedal walking trajectories for minimum energy consumption 以最小能量消耗为目标的LIPM双足行走轨迹再生
2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6519113
A. C. Amran, N. Motoi, A. Kawamura
{"title":"Regeneration of LIPM bipedal walking trajectories for minimum energy consumption","authors":"A. C. Amran, N. Motoi, A. Kawamura","doi":"10.1109/ICMECH.2013.6519113","DOIUrl":"https://doi.org/10.1109/ICMECH.2013.6519113","url":null,"abstract":"This paper introduces a method that is able to regenerate joint trajectories based on LIPM walking trajectories for minimal energy consumption during a single support phase. Using variational approach and B-spline curve, this method is able to solve for new set of joint configurations that consumes lower energy while keeping the center of mass almost at the same position in x, y and z direction. From simulation results, it is verified that the proposed method is effective.","PeriodicalId":448152,"journal":{"name":"2013 IEEE International Conference on Mechatronics (ICM)","volume":"208 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":"116426750","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: 2
Improvement of trajectory tracking performance using pseudo feedforward control 利用伪前馈控制改进轨迹跟踪性能
2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6519138
Kazuaki Ito, M. Iwasaki, H. Hirai
{"title":"Improvement of trajectory tracking performance using pseudo feedforward control","authors":"Kazuaki Ito, M. Iwasaki, H. Hirai","doi":"10.1109/ICMECH.2013.6519138","DOIUrl":"https://doi.org/10.1109/ICMECH.2013.6519138","url":null,"abstract":"This paper presents a novel design framework of feedback controllers in the trajectory tracking control system. In order to improve tracking performance, model-based pseudo feedforward controllers are introduced as a part of feedback system, where the target trajectory is estimated using the target trajectory observer and the estimated trajectory applies as reference for pseudo feedforward controllers. The pseudo feedforward controllers are designed based on a coprime factorization description for a mathematical model of control system. Thus trajectory tracking performance is drastically improved. The effectiveness of the proposed control system has been verified by the experiments using a prototype of tracking control systems.","PeriodicalId":448152,"journal":{"name":"2013 IEEE International Conference on Mechatronics (ICM)","volume":"14 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":"123639466","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
Towards performance improvement of motion reproduction based on motion-copying system 基于运动复制系统的运动再现性能改进研究
2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6519107
Shunsuke Yajima, S. Katsura
{"title":"Towards performance improvement of motion reproduction based on motion-copying system","authors":"Shunsuke Yajima, S. Katsura","doi":"10.1109/ICMECH.2013.6519107","DOIUrl":"https://doi.org/10.1109/ICMECH.2013.6519107","url":null,"abstract":"This paper proposes a novel motion-copying system for performance improvement of motion reproduction. For storage and reproduction of human motion information, a motion-copying system was proposed previously. The motion-copying system is based on the bilateral control, and the stored motions which are obtained by the master-slave system can be reproduced by the slave. In the conventional method, however, precise motion reproduction can not be always attained because the slave reproduces the motion data which are acquired at the master. On the other hand, the proposed method stores the motion data at the slave, and the slave reproduces this data. In the proposed method, force, position, and acceleration reference at the slave are stored and reproduced. Furthermore, this paper analyzes the performances of the conventional method and the proposed method, and reveals that the proposed method shows the better performance with respect to motion reproduction than the conventional method. Finally, the validity of the proposed method is verified by some experiments.","PeriodicalId":448152,"journal":{"name":"2013 IEEE International Conference on Mechatronics (ICM)","volume":"22 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":"117193766","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
Anti-sway control of crane system by equivalent force feedback of load 基于载荷等效力反馈的起重机系统防摇控制
2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6519125
Ken-ichi Suzuki, T. Murakami
{"title":"Anti-sway control of crane system by equivalent force feedback of load","authors":"Ken-ichi Suzuki, T. Murakami","doi":"10.1109/ICMECH.2013.6519125","DOIUrl":"https://doi.org/10.1109/ICMECH.2013.6519125","url":null,"abstract":"In this paper, assist-control of crane system for human operator is considered. The objective of this paper is to achieve easy operating with less sway. In previous work, it is proved that force feedback is effective to operate crane system. To improve the previous work, force feedback system with Lyapunov based controller is proposed. The effectiveness of Lyapunov based controller was proved in automatic control. Assisted force is inserted in the master system, therefore operator can feel how to control master system to reduce oscillation. Experimental results shows that better design of the automatic anti-sway control improve human-machine interaction.","PeriodicalId":448152,"journal":{"name":"2013 IEEE International Conference on Mechatronics (ICM)","volume":"1 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":"129605117","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
Changeability of requirements — Usable indicators for product development 要求的可变性。产品开发的可用指示器
2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6518561
Michel Mamrot, Stefan Marchlewitz, P. Winzer
{"title":"Changeability of requirements — Usable indicators for product development","authors":"Michel Mamrot, Stefan Marchlewitz, P. Winzer","doi":"10.1109/ICMECH.2013.6518561","DOIUrl":"https://doi.org/10.1109/ICMECH.2013.6518561","url":null,"abstract":"The reuse of information and knowledge is an established principle for designing variants of a mechatronic product subject to changing requirements. To assist in the application of this principle a new way of classifying requirements into changeable and unchangeable is introduced. This approach focuses on those requirements that remain unchanged and are therefore associated with design knowledge that can be reused. From the set of changeable and unchangeable requirements indicators are derived to assess the effort needed for the development of a new variant. This, in turn, aids in choosing an appropriate product variant as the starting point for the development of a new variant, such that the development, production and service effort is reduced.","PeriodicalId":448152,"journal":{"name":"2013 IEEE International Conference on Mechatronics (ICM)","volume":"1 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":"130117218","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
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