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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
High-level underactuated nonlinear control for rotorcraft machines 旋翼机高阶欠驱动非线性控制
2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6518549
A. Brandão, M. S. Filho, R. Carelli
{"title":"High-level underactuated nonlinear control for rotorcraft machines","authors":"A. Brandão, M. S. Filho, R. Carelli","doi":"10.1109/ICMECH.2013.6518549","DOIUrl":"https://doi.org/10.1109/ICMECH.2013.6518549","url":null,"abstract":"This paper proposes a high-level underactuated nonlinear controller capable to guide a RUAV during a 3D flight. First, it presents a dynamic model to represent the dynamics of the aircraft, explicitly showing its underactuated character. Following, a suitable controller based on partial feedback linearization is designed for stabilizing the rotorcraft dynamics. A proof of the stability of the closed-loop control system in the sense of Lyapunov, including modeled disturbances and parametric errors, is also presented, as well as experimental results obtained with a quadrotor, which validate the proposed model and controller.","PeriodicalId":448152,"journal":{"name":"2013 IEEE International Conference on Mechatronics (ICM)","volume":"21 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":"114449215","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: 39
Optimal synthesis of a cam mechanism for train pantograph 列车受电弓凸轮机构的优化综合
2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6518571
Matteo Giovanni Gritti, H. Giberti, A. Collina
{"title":"Optimal synthesis of a cam mechanism for train pantograph","authors":"Matteo Giovanni Gritti, H. Giberti, A. Collina","doi":"10.1109/ICMECH.2013.6518571","DOIUrl":"https://doi.org/10.1109/ICMECH.2013.6518571","url":null,"abstract":"In this work is developed a method for the project of train pantograph; in particular we focused on the cam mechanism, typical of the railway pantographs; in fact the cam profile affects the whole behavior of the machine, making the link between the actuation system and the rest of the pantograph; which is why we can regulate the functioning of the pantograph acting only on this particular component; will then be shown, in general, the setting of the problem, the method of calculation and optimization of the cam and the results obtained.","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":"123296016","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
Recognition of obstacle distribution via vibrotactile stimulation for the visually disabled 视障人士用振动触觉刺激识别障碍物分布
2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6519104
Kee-Ho Yu, Myoung-Jong Yoon, G. Jeong
{"title":"Recognition of obstacle distribution via vibrotactile stimulation for the visually disabled","authors":"Kee-Ho Yu, Myoung-Jong Yoon, G. Jeong","doi":"10.1109/ICMECH.2013.6519104","DOIUrl":"https://doi.org/10.1109/ICMECH.2013.6519104","url":null,"abstract":"A tactile display is able to help the walking support system of a visually disabled person. A walking guide system must detect an obstacle's distribution in walking space including hanging and/or protruding obstacles, and provide useful feedback for safe walking. In this study, we investigate the applicability of a tactile display to the walking guide. The obstacle information is transmitted to the palm by tactile stimulation. The three dimensional (3D) detection of an obstacle's distribution using ultrasonic sensors, the fabrication of a tactile stimulator using vibration motors, and the mapping of the detected results to an array-type tactile stimulator are proposed. An experiment on the recognition of an obstacle's distribution via tactile stimulation is performed to evaluate the possibility of a walking guide. In the experimental result, the average recognition rate was 95.14 % (5.73, standard error).","PeriodicalId":448152,"journal":{"name":"2013 IEEE International Conference on Mechatronics (ICM)","volume":"145 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":"113977659","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
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