发布求助
文献互助 智能选刊 最新文献

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

筛选
英文 中文
Using multicore processors to parallelize 3D point cloud registration with the Coarse Binary Cubes method 采用多核处理器对三维点云配准进行并行化处理
2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6518558
Jorge L. Martínez, A. Reina, J. Morales, A. Mandow, A. García-Cerezo
{"title":"Using multicore processors to parallelize 3D point cloud registration with the Coarse Binary Cubes method","authors":"Jorge L. Martínez, A. Reina, J. Morales, A. Mandow, A. García-Cerezo","doi":"10.1109/ICMECH.2013.6518558","DOIUrl":"https://doi.org/10.1109/ICMECH.2013.6518558","url":null,"abstract":"This paper pursues speeding up 3D point cloud matching, which is crucial for mobile robotics. In previous work, we devised the Coarse Binary Cubes (CBC) method for fast and accurate registration of 3D scenes based on an integer objective function. Instead of point distance calculations, the method optimizes the number of coincident binary cubes between a pair of range images. In this paper, we propose taking advantage of widespread multicore and multithreaded processors to further speed-up CBC by parallel evaluation of prospective solutions in a globalized Nelder-Mead search. A performance analysis on two types of multicore processors is offered for indoor and outdoor scans from a 3D laser rangefinder. The proposed solution achieves a computational time gain close to the number of physical cores.","PeriodicalId":448152,"journal":{"name":"2013 IEEE International Conference on Mechatronics (ICM)","volume":"28 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":"129917982","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: 9
Variable tension control for master-slave tendon-driven robot hand 主从肌腱驱动机械手的变张力控制
2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6519108
T. Nakano, Y. Saito, T. Nozaki, K. Ohnishi
{"title":"Variable tension control for master-slave tendon-driven robot hand","authors":"T. Nakano, Y. Saito, T. Nozaki, K. Ohnishi","doi":"10.1109/ICMECH.2013.6519108","DOIUrl":"https://doi.org/10.1109/ICMECH.2013.6519108","url":null,"abstract":"The teleoperation using a multi-degree of freedom tendon-driven robot hand is suitable for human support because intuitive operations can be conducted. In the teleoperation, bilateral control is used to transmit tactile sensation. It is necessary for bilateral control to achieve high operationality and high resonant frequency of force control at one time. Unfortunately, in the tendon-driven system, operationality and resonant frequency of force control are affected by wire tension. Low tension force is better to get high operationality. On the other hand, resonant frequency of force control becomes higher as the tension force increases. Therefore, in this paper, variable tension control is proposed to improve the performance of the tendon-driven bilateral control. Variable tension commands are derived from the joint torque responses. High operationality can be achieved in free motion and high resonant frequency of force control can be achieved in contact motion. The validity of the proposed method was confirmed through experiments of bilateral control.","PeriodicalId":448152,"journal":{"name":"2013 IEEE International Conference on Mechatronics (ICM)","volume":"17 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":"129508255","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
Optimal robot path following for minimal time versus energy loss trade-off using sequential convex programming 利用序贯凸规划实现最小时间与能量损失权衡的机器人路径优化
2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6518555
Frederik Debrouwere, W. V. Loock, G. Pipeleers, D. Q. Tran, M. Diehl, J. Schutter, J. Swevers
{"title":"Optimal robot path following for minimal time versus energy loss trade-off using sequential convex programming","authors":"Frederik Debrouwere, W. V. Loock, G. Pipeleers, D. Q. Tran, M. Diehl, J. Schutter, J. Swevers","doi":"10.1109/ICMECH.2013.6518555","DOIUrl":"https://doi.org/10.1109/ICMECH.2013.6518555","url":null,"abstract":"This paper focusses on the time-energy optimal path following for robots. This considers the problem of moving along a predetermined geometric path with a minimal trade-off between the motion time and the two major thermal energy losses in electric actuators. Theses losses consist of resistive electrical losses and mechanical friction losses. When only taking into account the electrical losses for a simplified robotic manipulator, a convex reformulation has been derived previously [1]. In this paper we include the dynamic joint friction losses into the objective. This also implies that we have to include the dynamic joint friction into the robot equations of motion, which appear in the torque constraints. Both the resulting objective and torque constraints are non-convex. The present paper proposes an efficient sequential convex programming (SCP) approach to solve the resulting optimal control problem. A key step here is to decompose the non-convex functions involved as a difference of convex functions. Numerical simulations illustrate the fast convergence of the proposed method in only a few SCP iterations, confirming the efficiency of the proposed framework. This high efficiency allows for an efficient tool to investigate the trade off between time-optimality and energy-optimality.","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":"117200230","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
Development of 3-DOF haptic surgical trocar robot using tendon-drive 肌腱驱动三自由度外科触觉套管机器人的研制
2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6519096
Kazuki Tanida, T. Mizoguchi, K. Ohnishi
{"title":"Development of 3-DOF haptic surgical trocar robot using tendon-drive","authors":"Kazuki Tanida, T. Mizoguchi, K. Ohnishi","doi":"10.1109/ICMECH.2013.6519096","DOIUrl":"https://doi.org/10.1109/ICMECH.2013.6519096","url":null,"abstract":"The most construction of conventional forceps robots developed for minimally invasive surgery are arm robots. Due to its configuration and motor alignment, arm robots are effected by large inertia force. These large inertia force make operators to drive robots difficulty. Therefore, in order to operate easily, the moving parts which are effected from gravity force should be small. Arm robots are made to imitate construction of the human. But since the motion is restricted by trocar in minimally invasive surgery, the arm construction may not be suitable. The one of the best way to move forceps is to drive trocar directly. In proposed mechanism, robots move trocar parts directly to make end effector small. Trocar has 3 degrees in one joint and tendon-drive system can realize multi degrees of freedom in one joint. Thus, tendon-drive is applied in proposed mechanism. Experiments show the validity of proposed method.","PeriodicalId":448152,"journal":{"name":"2013 IEEE International Conference on Mechatronics (ICM)","volume":"8 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":"121023340","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
Swing leg control for efficient and repeatable biped walking to emulate biological mechanisms 摆动腿控制有效和可重复的两足步行模拟生物机制
2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6519115
Takayuki Kawabe, T. Honda, T. Koseki
{"title":"Swing leg control for efficient and repeatable biped walking to emulate biological mechanisms","authors":"Takayuki Kawabe, T. Honda, T. Koseki","doi":"10.1109/ICMECH.2013.6519115","DOIUrl":"https://doi.org/10.1109/ICMECH.2013.6519115","url":null,"abstract":"This paper presents a energy efficient swing leg control method based on biological structures in the swing phase. In this method, structural features and the activation pattern of muscles are taken into account. An electromyogram result of human walking indicates that humans use the passive and active mode change and also they have typical activation pattern of muscles, especially hamstrings. Hamstrings are a pair of bi-articular muscles of a lower limb. The straight line relationship connected between hip and ankle joint is derived from structural features of this muscles. This relationship is incorporated into muscle-based landing position control in order to achieve more intuitive and effective control. Finally, the effectiveness of the proposed control method is evaluated by comparison with a conventional walking control in a numerical case study.","PeriodicalId":448152,"journal":{"name":"2013 IEEE International Conference on Mechatronics (ICM)","volume":"178 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":"121051037","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
On the modeling of flexible-link robots: First experimental validation of an ERLS-FEM dynamic model 柔性连杆机器人建模:ERLS-FEM动力学模型的首次实验验证
2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6518552
P. Boscariol, A. Gasparetto, M. Giovagnoni, A. K. Moosavi, R. Vidoni
{"title":"On the modeling of flexible-link robots: First experimental validation of an ERLS-FEM dynamic model","authors":"P. Boscariol, A. Gasparetto, M. Giovagnoni, A. K. Moosavi, R. Vidoni","doi":"10.1109/ICMECH.2013.6518552","DOIUrl":"https://doi.org/10.1109/ICMECH.2013.6518552","url":null,"abstract":"The task of modelling and control of lightweight robots is directly related to a suitable motion planning and control. To achieve such results and increase performances, accurate dynamic models that take into account the usually neglected inertial and elastic terms can be adopted in model-based approaches. In this paper, the experimental validation of an effective method based on an Equivalent Rigid Link System approach has been assessed. To this end, a dynamic simulator implementing the formulation has been exploited and an experimental test-bench has been set-up. The experimental tests carried out with a benchmark L-shape mechanism show a good agreement between the numerical model and the experimental measurements.","PeriodicalId":448152,"journal":{"name":"2013 IEEE International Conference on Mechatronics (ICM)","volume":"68 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":"114264398","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
Development of two types of 2-DOF wrist joint driven by pneumatic artificial muscles 气动人工肌肉驱动两种二自由度腕关节的研制
2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6518582
Daisuke Tanaka, Daichi Kamo, Masanori Maehara, Taro Nakamura
{"title":"Development of two types of 2-DOF wrist joint driven by pneumatic artificial muscles","authors":"Daisuke Tanaka, Daichi Kamo, Masanori Maehara, Taro Nakamura","doi":"10.1109/ICMECH.2013.6518582","DOIUrl":"https://doi.org/10.1109/ICMECH.2013.6518582","url":null,"abstract":"The demand for robots engaged in human activities, such as nursing care and housework, is presently growing. In the vicinity of humans, these robots must operate taking into consideration the human safety. Therefore, the actuator in these robots needs to be soft, light, and powerful. To fulfill these demands, we adopted artificial muscles as actuators of the manipulator. However, the McKibben-type artificial muscle commonly used for this purpose is problematic; therefore, we developed a straight-fiber-type artificial muscle that surpasses the output of the McKibben-type. We also developed two types of wrist joint manipulator for the 7-degree-of-freedom (7-DOF) manipulator. In this paper, we compare and evaluate the performance of the two types of wrist joints. Moreover, we propose a control system for this manipulator regarding the joint angle and stiffness. We used the PI control method to control the joint angle, and the torque feedback control method to control the joint stiffness. Finally, we performed experiments to verify the control system.","PeriodicalId":448152,"journal":{"name":"2013 IEEE International Conference on Mechatronics (ICM)","volume":"19 2 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":"123209683","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
Automatic tuning of a servo drive speed controller for industrial applications 用于工业应用的伺服驱动速度控制器的自动调谐
2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6519127
Joachim Weisbacher, Engelbert Grünbacher, M. Horn
{"title":"Automatic tuning of a servo drive speed controller for industrial applications","authors":"Joachim Weisbacher, Engelbert Grünbacher, M. Horn","doi":"10.1109/ICMECH.2013.6519127","DOIUrl":"https://doi.org/10.1109/ICMECH.2013.6519127","url":null,"abstract":"This paper deals with an automatic tuning approach of a servo drive speed controller for industrial applications. Data driven models of different order are generated during an identification process an yield a low order nominal model with an estimation of a multiplicative uncertainty model. The nominal model and the uncertainy model are then applied to define a mixed sensivity control problem which is solved by standard H∞ control tools. In view of the given fixed controller structure the control problem is defined in such a way that the resulting controller can directly be used without a controller order reduction procedure. The effectiveness of the concept is demonstrated on an industrial application.","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":"130804609","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: 9
A push recovery strategy for a passively compliant humanoid robot using decentralized LQR controllers 基于分散LQR控制器的被动服从人形机器人推恢复策略
2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6518581
Emmanouil Spyrakos-Papastavridis, G. Medrano-Cerda, N. Tsagarakis, J. Dai, D. Caldwell
{"title":"A push recovery strategy for a passively compliant humanoid robot using decentralized LQR controllers","authors":"Emmanouil Spyrakos-Papastavridis, G. Medrano-Cerda, N. Tsagarakis, J. Dai, D. Caldwell","doi":"10.1109/ICMECH.2013.6518581","DOIUrl":"https://doi.org/10.1109/ICMECH.2013.6518581","url":null,"abstract":"This paper presents a control scheme that is directed towards the performance of push recovery on the compliant humanoid robot, COMAN. The novelty offered by this work is related to the use of a decentralized controller based on an initial Limited Quadratic Regulator (LQR) design on a humanoid robot in addition to the regulation of the actual joint positions instead of the motor positions. Moreover, the ankle-knee strategy is examined through the use of a compliant double inverted pendulum model. A key feature of the propounded approach lies in the controller's ability to regulate the system's inherently compliant dynamics through considering not only the motor-related variables but also those of the link-side, appearing after the passive compliant element. Consequently, this leads to a control method that is capable of stabilizing the robot by means of increasing the damping on the link, which is essential given the system's oscillatory behaviour once it has been perturbed.","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":"126848588","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
An adaptive non-model based control logic for vibration suppression in flexible structures 柔性结构振动抑制的自适应非模型控制逻辑
2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6518512
Matteo Morlacchi, F. Resta, F. Ripamonti
{"title":"An adaptive non-model based control logic for vibration suppression in flexible structures","authors":"Matteo Morlacchi, F. Resta, F. Ripamonti","doi":"10.1109/ICMECH.2013.6518512","DOIUrl":"https://doi.org/10.1109/ICMECH.2013.6518512","url":null,"abstract":"During the last decades, in order to reduce the vibrations in flexible structures, many active control strategies have been introduced. Among the other techniques, adaptive active controls are particularly attractive for time-varying and nonlinear systems. The goal of this work is to propose an adaptive version of Direct Velocity Feedback (DVF) using a non model-based identification system, which identifies the parameters of the mechanical system and uses them to set the gain of the control law.","PeriodicalId":448152,"journal":{"name":"2013 IEEE International Conference on Mechatronics (ICM)","volume":"114 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":"128189498","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
首页 上一页 下一页 尾页
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整，为了账户安全，请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
请完成安全验证×
相关产品
×
本文献相关产品
联系我们：info@booksci.cn Book学术提供免费学术资源搜索服务，方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号：604180095
Book学术官方微信