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

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A new hardware-in-the-loop simulator for CNC machine applications 一种用于数控机床应用的新型硬件在环模拟器
2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6519120
Serdar Usenmez, B. Mutlu, U. Yaman, E. Kiliç, M. Dolen, A. Koku
{"title":"A new hardware-in-the-loop simulator for CNC machine applications","authors":"Serdar Usenmez, B. Mutlu, U. Yaman, E. Kiliç, M. Dolen, A. Koku","doi":"10.1109/ICMECH.2013.6519120","DOIUrl":"https://doi.org/10.1109/ICMECH.2013.6519120","url":null,"abstract":"This study focuses on an integrated software and hardware platform that is capable of performing (real-time/non-real-time) hardware-in-the-loop simulation of dynamic systems, including electrical machinery, CNC machine tools. In this approach, once the dynamics of the plant to be controlled is defined via C++ language, the resulting code is cross-compiled automatically on a PC. Executable files along with the necessary drivers are downloaded onto the composite hardware platform that consists of a Field Programmable Gate Array (FPGA) along with a powerful DSP board. The paper elaborates the overall performance of this novel hybrid HILS platform on a CNC machine tool application.","PeriodicalId":448152,"journal":{"name":"2013 IEEE International Conference on Mechatronics (ICM)","volume":"97 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":"126948310","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: 3
Parametric identification of PM synchronous motors: A Hammerstein-model approach 永磁同步电机参数辨识:hammerstein模型方法
2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6518531
R. Antonello, M. Carraro, F. Tinazzi, M. Zigliotto
{"title":"Parametric identification of PM synchronous motors: A Hammerstein-model approach","authors":"R. Antonello, M. Carraro, F. Tinazzi, M. Zigliotto","doi":"10.1109/ICMECH.2013.6518531","DOIUrl":"https://doi.org/10.1109/ICMECH.2013.6518531","url":null,"abstract":"In this paper, the problem of estimating the (quadrature) magnetic flux linkage in permanent magnet synchronous motors (PMSM) is solved by using an off-line closed-loop system identification procedure for Hammerstein models recently proposed in [1]. By parametrizing the magnetic flux nonlinearity in terms of a linear combination of triangular basis functions, a standard output error identification problem can be formulated and solved in a pseudo-optimal way using an iterated instrumental variable (IV) method. After discussing some details related to the design of the closed-loop identification experiment, the paper presents some experimental results that highlight the potentials of the proposed method.","PeriodicalId":448152,"journal":{"name":"2013 IEEE International Conference on Mechatronics (ICM)","volume":"9 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":"130557071","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
Contact detection using dither in force sensorless motion control 无力传感器运动控制中使用抖动的接触检测
2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6518545
M. Mizuochi, K. Ohnishi
{"title":"Contact detection using dither in force sensorless motion control","authors":"M. Mizuochi, K. Ohnishi","doi":"10.1109/ICMECH.2013.6518545","DOIUrl":"https://doi.org/10.1109/ICMECH.2013.6518545","url":null,"abstract":"Demand for using robots in unstructured environments has been increasing. When operating robots in unstructured environments, the robots often come into contact with objects intentionally or unintentionally. Since it is necessary to make contact with an object in order to execute complicated tasks, not only contact avoidance but also contact detection and stabilization of contact are required. This paper focuses on detecting contact during operation. A real-time force sensorless contact detection method based on applying dither and time-frequency analysis is proposed. Since the influence of dither on acceleration is attenuated when contact occurs, the proposed method judges the state of contact by monitoring the decrease in the dither frequency component of acceleration. The validity of the proposed method was shown by the improvement in contact detection performance verified through experiments.","PeriodicalId":448152,"journal":{"name":"2013 IEEE International Conference on Mechatronics (ICM)","volume":"431 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":"113998067","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: 3
Motion analysis of interaction mode control using principal component analysis 用主成分分析法分析交互模式控制的运动
2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6519100
Hiroki Nagashima, S. Katsura
{"title":"Motion analysis of interaction mode control using principal component analysis","authors":"Hiroki Nagashima, S. Katsura","doi":"10.1109/ICMECH.2013.6519100","DOIUrl":"https://doi.org/10.1109/ICMECH.2013.6519100","url":null,"abstract":"Recently, robot application has been widely used not only in industry but also human society. Hereafter, in order to extend the range of work and kinds of motion in human society, it is needed to think about what human is and what human motion is. In conventional method for analysis of human motion, visual-based approach has widely researched. However, force adjustment is important information for many kinds of task such as processing technology and surgical operation. In addition, in order to acquire the advanced motion for robots, feature amount of advanced motion is needed to analyze. First step of motion analysis based on position and force information, the condition which has theoretical value is conducted. This paper proposes motion analysis method for interaction mode control systems using principal component analysis(PCA). Using the proposal, the dominant component is directly estimated from the motion information. To confirm the effectiveness of the method, motion data abstracted by automated control is used. Validity of the proposal is confirmed by experiment of interaction mode control. Experimental results in this paper are compared with the theoretical value.","PeriodicalId":448152,"journal":{"name":"2013 IEEE International Conference on Mechatronics (ICM)","volume":"96 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":"122482524","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
A motion control method of dual arm robot based on environmental modes 基于环境模式的双臂机器人运动控制方法
2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6518580
Takuya Kenmochi, N. Motoi, T. Shimono, A. Kawamura
{"title":"A motion control method of dual arm robot based on environmental modes","authors":"Takuya Kenmochi, N. Motoi, T. Shimono, A. Kawamura","doi":"10.1109/ICMECH.2013.6518580","DOIUrl":"https://doi.org/10.1109/ICMECH.2013.6518580","url":null,"abstract":"This paper proposes a motion control method based on environmental mode for a dual arm robot. By controlling mode information, particular features or trends can be given to robot's motion. Then a distinctive complex motion can be realized. In addition, because environmental mode is information based on the coordinate system which is fixed in the environment, environment-based motion can be realized. Because of these two advantages, it is thought that the proposed method makes a contribution to realization of interactive motion between robots and ambient environment like human being's complex motion.","PeriodicalId":448152,"journal":{"name":"2013 IEEE International Conference on Mechatronics (ICM)","volume":"33 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":"128125950","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
Optimal design of a high performance haptic device: A novel approach 高性能触觉装置的优化设计:一种新方法
2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6519102
Q. Dang, A. Dequidt, L. Vermeiren, M. Dambrine
{"title":"Optimal design of a high performance haptic device: A novel approach","authors":"Q. Dang, A. Dequidt, L. Vermeiren, M. Dambrine","doi":"10.1109/ICMECH.2013.6519102","DOIUrl":"https://doi.org/10.1109/ICMECH.2013.6519102","url":null,"abstract":"Stability and transparency are very important performance measures in the design of haptic devices. This paper addresses the design of haptic device in the case of interaction to a virtual wall. A novel optimal design method for high performance (stability and low inertia) haptic devices is presented. In which, the influences of mechanical and command specifications on the performance of haptic devices are studied in the same mechanical pre-design process. An algorithm for optimal design procedure is proposed. As a results, a low inertia haptic device with designed parameters satisfy the desired contact stiffness of virtual wall is archived.","PeriodicalId":448152,"journal":{"name":"2013 IEEE International Conference on Mechatronics (ICM)","volume":"132 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":"131829085","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
Phenomenological modeling and measurement of proportional solenoid with stroke-dependent magnetic hysteresis characteristics 具有行程相关磁滞特性的比例电磁铁的现象学建模与测量
2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6518532
M. Ruderman, Andrey Gadyuchko
{"title":"Phenomenological modeling and measurement of proportional solenoid with stroke-dependent magnetic hysteresis characteristics","authors":"M. Ruderman, Andrey Gadyuchko","doi":"10.1109/ICMECH.2013.6518532","DOIUrl":"https://doi.org/10.1109/ICMECH.2013.6518532","url":null,"abstract":"In this paper, a phenomenological model of stroke-dependent magnetic characteristics of proportional solenoids is proposed. The Discrete Dynamic Preisach hysteresis model is extended so as to map a bivariate hysteresis of the flux linkage depending on both, the coil current and anchor stroke. Moreover an elaborated and hardware implemented method for measuring the magnetic characteristics using the primary excitation coil only is addressed. Is is shown how the model can be identified by a set of quasi-static magnetic measurements. The dynamic measurement with time-varying current and stroke is used to evaluate the model-based flux linkage prediction.","PeriodicalId":448152,"journal":{"name":"2013 IEEE International Conference on Mechatronics (ICM)","volume":"10 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":"133367768","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: 22
A design of an overhead crane tele-operation control system 一种桥式起重机遥控系统的设计
2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6519155
Hiroto Kato, S. Ueki, A. Kaneshige, T. Miyoshi, K. Terashima
{"title":"A design of an overhead crane tele-operation control system","authors":"Hiroto Kato, S. Ueki, A. Kaneshige, T. Miyoshi, K. Terashima","doi":"10.1109/ICMECH.2013.6519155","DOIUrl":"https://doi.org/10.1109/ICMECH.2013.6519155","url":null,"abstract":"This paper presents a design method for a tele-operation controller for an overhead crane system that allows the operator to control the speed of the overhead crane freely and to feel the swing of the rod instinctively through the reaction force. Feeling the reaction force makes it easier for the operator to know about the swing of the rod than simply seeing the rod's movement through cameras. This system can be used via the internet and can be controlled from everywhere. For example, operating in a place such as a nuclear power plant, where it could be dangerous for humans to be in the case of an accident, this tele-control system using the internet as its communication line can be useful, since it allows the operator to control the crane from a safer place. The use of our system is demonstrated by an experiment run jointly by Toyohashi and Toyota.","PeriodicalId":448152,"journal":{"name":"2013 IEEE International Conference on Mechatronics (ICM)","volume":"38 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":"125685886","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
Optimization of the centre of mass position of a racing motorcycle in dry and wet track by means of the “Optimal Maneuver Method” 用“最优机动法”优化赛车干、湿赛道质心位置
2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6518572
V. Cossalter, R. Lot, D. Tavernini
{"title":"Optimization of the centre of mass position of a racing motorcycle in dry and wet track by means of the “Optimal Maneuver Method”","authors":"V. Cossalter, R. Lot, D. Tavernini","doi":"10.1109/ICMECH.2013.6518572","DOIUrl":"https://doi.org/10.1109/ICMECH.2013.6518572","url":null,"abstract":"The “Optimal Maneuver Method” is an application of the optimal control theory that basically simulates an ideal driver and computes the actions and the trajectory to complete a maneuver in the minimum time. As an application of this method a 125 cc motorcycle and a real race circuit, in both dry and wet conditions, have been simulated, and the validation of the results by means of a comparison with real telemetry data is discussed. Afterwards two significant quantities, the height and the longitudinal position of the centre of mass of the vehicle, have been considered. The influence of variation on the minimum lap time, in the two track conditions discussed above, is presented.","PeriodicalId":448152,"journal":{"name":"2013 IEEE International Conference on Mechatronics (ICM)","volume":"7 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":"132373856","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: 10
Closed-loop position control of artificial muscles with a single integral action: Application to robust positioning of McKibben artificial muscle 单积分动作人工肌肉的闭环位置控制:在McKibben人工肌肉鲁棒定位中的应用
2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6519130
B. Tondu
{"title":"Closed-loop position control of artificial muscles with a single integral action: Application to robust positioning of McKibben artificial muscle","authors":"B. Tondu","doi":"10.1109/ICMECH.2013.6519130","DOIUrl":"https://doi.org/10.1109/ICMECH.2013.6519130","url":null,"abstract":"Artificial muscles constitute a large class of non-linear actuators characterized by their own stiffness and damping. We analyze in the case of an axial contraction artificial muscle the relevance of a single integral action closed-loop controller. The basic idea of our approach consists in taking advantage of artificial muscle own stiffness and damping in order to substitute for a classic PID-controller an I-controller with as a consequence only one parameter to tune. Step and tracking responses performed with a pneumatic textile-braided McKibben muscle are reported showing the practical efficiency of the method to combine accuracy and load robustness performances.","PeriodicalId":448152,"journal":{"name":"2013 IEEE International Conference on Mechatronics (ICM)","volume":"18 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":"116742875","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
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