2013 IEEE International Conference on Mechatronics (ICM)最新文献_第8页

Vibration suppression feedback control on angular transmission error of cycloid gear for industrial robot 工业机器人摆线轮角传动误差的抑振反馈控制

2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6519153

Shouta Kawahara, Kiyoshi Ohishi, T. Miyazaki, Y. Yokokura

引用次数: 5

Contouring accuracy improvement of parametric free-form curves — A Fuzzy Logic-based Disturbance Compensation approach 参数自由曲线轮廓精度的提高——一种基于模糊逻辑的扰动补偿方法

2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6519132

Ke-Han Su, M. Cheng, Yu-Chen Chang

{"title":"Contouring accuracy improvement of parametric free-form curves — A Fuzzy Logic-based Disturbance Compensation approach","authors":"Ke-Han Su, M. Cheng, Yu-Chen Chang","doi":"10.1109/ICMECH.2013.6519132","DOIUrl":"https://doi.org/10.1109/ICMECH.2013.6519132","url":null,"abstract":"In high-precision manufacturing, the paramount issue is to diminish contour error regarding multi-axis contour following tasks. In particular, machining problems such as large contouring errors will likely occur in a complex shape machining task due to the inherent friction force and/or external disturbances. Among the possible solutions to dealing with this difficulty, the Cross-Coupled Controller (CCC) is arguably the most commonly used approach for contouring accuracy improvement in multi-axis contouring control systems. Therefore, to attain satisfactory contouring accuracy, this paper exploits the CCC approach for control of free-form contour following tasks in biaxial motion control systems. Additionally, a Fuzzy Logic-based Disturbance Compensator (FLDC) is presented to enhance tracking performance as well as contouring accuracy. Moreover, an integrated motion control structure consisting of a modified version of CCC and two proposed FLDCs is further developed in this paper to improve contouring performance. Several experiments on free-form contour following tasks have been performed on an X-Y table driven by two linear motors. Experimental results validate the feasibility of the proposed approach.","PeriodicalId":448152,"journal":{"name":"2013 IEEE International Conference on Mechatronics (ICM)","volume":"116 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":"121444340","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

Proposal of roll angle control method using positive and negative anti-dive force for electric vehicle with four in-wheel motors 提出了采用正负抗俯冲力控制四轮电机电动汽车侧倾角的方法

2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6519146

Naoya Ochi, H. Fujimoto, Y. Hori

{"title":"Proposal of roll angle control method using positive and negative anti-dive force for electric vehicle with four in-wheel motors","authors":"Naoya Ochi, H. Fujimoto, Y. Hori","doi":"10.1109/ICMECH.2013.6519146","DOIUrl":"https://doi.org/10.1109/ICMECH.2013.6519146","url":null,"abstract":"Electric vehicles (EVs) have been gaining a lot of attention due to its environmental friendliness. EVs can be controlled precisely with the quick response of the motor. Moreover, using in-wheel motors, several types of motion controls can be performed. Therefore, such motion control of EVs have been intensely researched. This paper focuses on the control of roll angle which occurs during cornering. If this roll angle becomes large, steering response will be deteriorated, and also stability will decrease. Therefore, it is necessary to appropriately control the roll angle. In this paper, roll angle control method using positive and negative anti-dive force for EVs with four in-wheel motors has been proposed. Using positive and negative anti-dive force, the number of necessary actuators such as active suspensions can be reduced. The proposed method is also considering workload control of each wheel based on least square method. By estimating the roll moment disturbance using the roll moment observer, roll angle control has become a robust control system against disturbances. Thus, the proposed method allows improvement of vehicle's stability, safety and riding comfort during cornering. The effectiveness of the proposed method is verified by simulation and experimental results. Results of the roll angle control system without workload consideration and results of the case with workload consideration are also compared.","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":"115256198","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

Design and control of high tech systems 设计和控制高科技系统

2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6518502

M. Steinbuch

{"title":"Design and control of high tech systems","authors":"M. Steinbuch","doi":"10.1109/ICMECH.2013.6518502","DOIUrl":"https://doi.org/10.1109/ICMECH.2013.6518502","url":null,"abstract":"Advanced motion systems like pick-and-place machines used in the semiconductor industry challenge the frontiers of mechatronic design, systems and control theory and practice. In the design phase, control oriented design of the electro-mechanics is necessary in order to achieve the tight performance specifications. Once realized, and since experimentation is fast, a machine in the loop procedure can be explored to close the design loop from experiment, experimental model building, model based control design, implementation and performance evaluation. Nevertheless, reliable numerical tools are required to meet the challenges posed with respect to dimensionality and model complexity. Extension of linear modeling techniques towards some classes of nonlinear systems is relevant for improved control of specific motion systems, such as with friction. Finally, medical robotics can greatly benefit from the experiences in high tech motion systems, and an eye surgical robot with haptics will be shown as an example. Other challenging applications in need for advanced design, modeling and control are fuel-efficient vehicles, including ultra-clean engines, vehicle electric and hybrid power trains, and control of plasma fusion.","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":"125064737","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

Looking at cars 100 years in the future 展望100年后的汽车

2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6518506

Y. Hori

{"title":"Looking at cars 100 years in the future","authors":"Y. Hori","doi":"10.1109/ICMECH.2013.6518506","DOIUrl":"https://doi.org/10.1109/ICMECH.2013.6518506","url":null,"abstract":"One hundred years from now, vehicles will be powered by a combination of motor, capacitor, and wireless technologies. Electric-motor-driven vehicles (EVs) will be widely used and will be linked to the electric power system infrastructure. The vehicles will operate through frequent electric charging, as is the case with electric trains. Long-life super-capacitors will play an important role in the future for charging of EVs. Wireless power transfer based on magnetic resonance is an extremely important technique. In a laboratory experiment, this technique enabled a power transfer with more than 95% efficiency at a distance of 1 m. One hundred years from now, this technique will be greatly improved; e.g., it could be possible to have a 10 kW power transfer over a distance as long as 10 m. This level of improvement will drastically change how cars are powered. In addition, to improve the energy efficiency and safety of future EVs, the implementation of novel motion control techniques is crucial. These techniques would be based on the excellent controllability of electric motor. The combination of electric motors, super-capacitors, and wireless power transfer eliminates the requirement for engines, high-performance Li-ion batteries, and large, quick charging stations. This approach is also achievable and suitable for large-scale development of future vehicles.","PeriodicalId":448152,"journal":{"name":"2013 IEEE International Conference on Mechatronics (ICM)","volume":"48 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":"130289670","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

IMU-based image stabilization in a HSM-driven camera positioning unit hsm驱动的相机定位单元中基于imu的图像稳定

2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6518528

R. Antonello, R. Oboe, Davide Pilastro, Simone Viola, Kazuaki Ito, A. Cenedese

{"title":"IMU-based image stabilization in a HSM-driven camera positioning unit","authors":"R. Antonello, R. Oboe, Davide Pilastro, Simone Viola, Kazuaki Ito, A. Cenedese","doi":"10.1109/ICMECH.2013.6518528","DOIUrl":"https://doi.org/10.1109/ICMECH.2013.6518528","url":null,"abstract":"Camera positioning units are widely used in surveillance and they are sometimes mounted on floating supports, e.g. on patrolling ships or buoys. The support motion, in turn, induces an apparent motion in the image plane, which can create troubles to the image processing, especially when a specific feature must be tracked (e.g. a distant ship, getting close to a forbidden area). Low cost devices are often characterized by low frame rate and low image resolution, for which traditional image stabilization techniques usually results to be rather ineffective. Additionally, low-end camera units are usually driven by hybrid stepper motors and, being conceived to work in an harsh environment, they do not mount any optical image stabilization (OIS) system, either in the camera lenses or in the image sensor. In this paper, the image acquired by a pan-tilt camera positing unit mounted on a moving support is stabilized by exploiting the camera attitude information provided by a MEMS-based IMU with an embedded magnetometer. In particular, two independent integral control loops are designed for the pan and tilt motors in order to compensate for the yaw and pitch motions of the support. As for the roll motion, since it relates to an unavailable degree of freedom in the positioning unit, it can be compensated only on the captured image. The proposed solution is experimentally tested on a real device mounted on a moving table actuated by a 6 degrees-of-freedom pneumatic hexapod. Realistic motions are recreated by using the data recordings taken aboard of a patrolling ship and a costal buoy. Experimental results show that the proposed solution is capable of keeping the camera pointing at a fixed target with a good accuracy, thus making higher-level image processing easier and more effective.","PeriodicalId":448152,"journal":{"name":"2013 IEEE International Conference on Mechatronics (ICM)","volume":"24 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":"130309561","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

Suppression of resonant vibration due to angular transmission errors of reduction gearing in industrial robots 工业机器人减速器角传动误差引起的共振振动抑制

2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6519149

K. Seki, Hiroyuki Nakamura, M. Iwasaki, Mirko Zanetti, R. Oboe

引用次数: 0

Reaction force estimation of piezoelectric actuator by charge observation 基于电荷观测的压电作动器反作用力估计

2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6518534

Shinnosuke Yamaoka, K. Ohnishi

引用次数: 1

Development of pneumatic control system for walking assist using dual On/Off valves 双开/关阀行走辅助气动控制系统的研制

2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6518525

Kenta Takanaka, Taro Nakamura

引用次数: 3

A model-based trajectory planning approach for flexible-link mechanisms 基于模型的柔性连杆机构轨迹规划方法

2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6518539

P. Boscariol, A. Gasparetto, R. Vidoni, Armando Romano

{"title":"A model-based trajectory planning approach for flexible-link mechanisms","authors":"P. Boscariol, A. Gasparetto, R. Vidoni, Armando Romano","doi":"10.1109/ICMECH.2013.6518539","DOIUrl":"https://doi.org/10.1109/ICMECH.2013.6518539","url":null,"abstract":"In this paper the problem of trajectory planning for flexible-links mechanisms is dealt with. The method proposed here is suitable for the determination of model-based optimal point-to-point trajectories with bounds on kinematic and dynamic characteristics of the mechanism. An open-loop optimal control strategy is applied to an accurate dynamic model of flexible multi-body planar mechanisms. The model, which has already benn fully validated through experimental tests, is based on finite element discretization and accounts for the main geometric and inertial nonlinearities of the linkage. Exploiting an indirect or variational solution method, the necessary optimality conditions deriving from the Pontryagin's minimum principle are imposed, and lead to a differential Two-Point Boundary Value Problem (TPBVP); numerical solution of the latter is accomplished by means of collocation techniques. Considering a lightweight RR robot, simulation results are provided for rest-to-rest trajectories with bounded speed and bounded elastic deformation. However, the strategy under investigation has general validity and can be applied to other types of machanisms, as well as with different objective functions and boundary conditions.","PeriodicalId":448152,"journal":{"name":"2013 IEEE International Conference on Mechatronics (ICM)","volume":"89 5 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":"132623175","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