Actuators最新文献_第10页

Proxy-Based Sliding Mode Force Control for Compliant Grinding via Diagonal Recurrent Neural Network and Prandtl-Ishlinskii Hysteresis Compensation Model 通过对角线递归神经网络和 Prandtl-Ishlinskii 磁滞补偿模型实现基于代理的顺应性磨削滑模力控制

IF 2.6 3区工程技术

Actuators Pub Date : 2024-02-21 DOI: 10.3390/act13030083

Zhiyuan Li, Lei Sun, Jidong Liu, Yanding Qin, Ning Sun, Lu Zhou

{"title":"Proxy-Based Sliding Mode Force Control for Compliant Grinding via Diagonal Recurrent Neural Network and Prandtl-Ishlinskii Hysteresis Compensation Model","authors":"Zhiyuan Li, Lei Sun, Jidong Liu, Yanding Qin, Ning Sun, Lu Zhou","doi":"10.3390/act13030083","DOIUrl":"https://doi.org/10.3390/act13030083","url":null,"abstract":"Traditional industrial robots often face challenges in achieving a perfectly polished surface on a workpiece because of their high mechanical rigidity. The active compliance force control device installed at the robotic arm’s end enables high-precision contact force control between the grinding tool and the workpiece. However, the complex hysteresis nonlinearity between cylinder air pressure and output force, as well as various random disturbances during the grinding process, can affect the accuracy of the contact force and potentially impact the grinding effect of the workpiece, even causing irreversible damage to the surface of the workpiece. Given the complex random variation of cylinder output force in the actual grinding process, a rate-dependent hysteresis model based on diagonal recurrent neural network and Pradtl–Ishlinskii models named dRNN-PI is designed to compensate for the complex nonlinear hysteresis of the cylinder and calculate the desired air pressure to maintain a steady contact force on the workpiece. The proxy-based sliding mode control (PSMC) is utilized to quickly track the desired air pressure without overshooting. This paper also proves the controller’s stability using the Lyapunov-based methods. Finally, the accuracy of the proposed hysteresis compensation model and the effectiveness and robustness of the PSMC are verified by experiment results.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":null,"pages":null},"PeriodicalIF":2.6,"publicationDate":"2024-02-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140443484","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A Study on Robust Finite-Time Visual Servoing with a Gyro-Stabilized Surveillance System 带陀螺稳定监视系统的鲁棒有限时间视觉伺服研究

IF 2.6 3区工程技术

Actuators Pub Date : 2024-02-21 DOI: 10.3390/act13030082

Thinh Huynh, Young-Bok Kim

引用次数: 0

Anthropomorphic Soft Hand: Dexterity, Sensing, and Machine Learning 拟人软手：灵巧、传感和机器学习

IF 2.6 3区工程技术

Actuators Pub Date : 2024-02-21 DOI: 10.3390/act13030084

Yang Wang, Tianze Hao, Yibo Liu, Huaping Xiao, Shuhai Liu, Hongwu Zhu

{"title":"Anthropomorphic Soft Hand: Dexterity, Sensing, and Machine Learning","authors":"Yang Wang, Tianze Hao, Yibo Liu, Huaping Xiao, Shuhai Liu, Hongwu Zhu","doi":"10.3390/act13030084","DOIUrl":"https://doi.org/10.3390/act13030084","url":null,"abstract":"Humans possess dexterous hands that surpass those of other animals, enabling them to perform intricate, complex movements. Soft hands, known for their inherent flexibility, aim to replicate the functionality of human hands. This article provides an overview of the development processes and key directions in soft hand evolution. Starting from basic multi-finger grippers, these hands have made significant advancements in the field of robotics. By mimicking the shape, structure, and functionality of human hands, soft hands can partially replicate human-like movements, offering adaptability and operability during grasping tasks. In addition to mimicking human hand structure, advancements in flexible sensor technology enable soft hands to exhibit touch and perceptual capabilities similar to humans, enhancing their performance in complex tasks. Furthermore, integrating machine learning techniques has significantly promoted the advancement of soft hands, making it possible for them to intelligently adapt to a variety of environments and tasks. It is anticipated that these soft hands, designed to mimic human dexterity, will become a focal point in robotic hand development. They hold significant application potential for industrial flexible gripping solutions, medical rehabilitation, household services, and other domains, offering broad market prospects.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":null,"pages":null},"PeriodicalIF":2.6,"publicationDate":"2024-02-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140445406","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Vibration Control of Car Body and Wheel Motions for In-Wheel Motor Vehicles Using Road Type Classification 利用道路类型分类对轮内机动车的车身和车轮运动进行振动控制

IF 2.6 3区工程技术

Actuators Pub Date : 2024-02-18 DOI: 10.3390/act13020080

Young-Jun Kim, Youngil Sohn, Sehyun Chang, Seung-Bok Choi, Jong-Seok Oh

{"title":"Vibration Control of Car Body and Wheel Motions for In-Wheel Motor Vehicles Using Road Type Classification","authors":"Young-Jun Kim, Youngil Sohn, Sehyun Chang, Seung-Bok Choi, Jong-Seok Oh","doi":"10.3390/act13020080","DOIUrl":"https://doi.org/10.3390/act13020080","url":null,"abstract":"In-wheel motor vehicles are gaining attention as a new type of electric vehicle due to their efficient power units located inside each wheel hub. However, they are more susceptible to wheel resonance due to the increase in unsprung mass caused by the weight of the motor. This can result in both decreased ride comfort and driving stability. To resolve this issue, in this study, we aim to apply an optimal switching controller with a semi-active actuator—a magnetorheological (MR) damper. For the implementation of the optimal switching controller, road type classification is also carried out. An acceleration sensor is used for the road type classification, and the control logics include a ride comfort controller (the linear quadratic regulator (LQR_Paved Road)) and a wheel motion controller (LQR_Off Road) for improved driving stability. For paved roads, the LQR_Paved Road control input is applied to the MR damper. However, if a road type prone to wheel resonance is detected, the control logic switches to the LQR_Off Road. During the transition, a weighted average of both the LQR_Paved Road and LQR_Off Road control input is applied to the actuator. Computer simulations are performed to evaluate the vibration control performance, including the ride comfort and driving stability on various road profiles.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":null,"pages":null},"PeriodicalIF":2.6,"publicationDate":"2024-02-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140452702","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Structure and Gait Design of a Lunar Exploration Hexapod Robot Based on Central Pattern Generator Model 基于中央模式发生器模型的月球探测六足机器人结构与步态设计

IF 2.6 3区工程技术

Actuators Pub Date : 2024-02-17 DOI: 10.3390/act13020079

Bin-Ming Shu, Yingqing Guo, Wen-Hao Luo, Zhao-Dong Xu, Qiang Xu

{"title":"Structure and Gait Design of a Lunar Exploration Hexapod Robot Based on Central Pattern Generator Model","authors":"Bin-Ming Shu, Yingqing Guo, Wen-Hao Luo, Zhao-Dong Xu, Qiang Xu","doi":"10.3390/act13020079","DOIUrl":"https://doi.org/10.3390/act13020079","url":null,"abstract":"To address the challenges of sinking, imbalance, and complex control systems faced by hexapod robots walking on lunar soil, this study develops an umbrella-shaped foot lunar exploration hexapod robot. The overall structure of the robot is designed to mimic the body structure of insects. By incorporating a four-bar linkage mechanism to replace the commonly used naked joints in traditional hexapod robots, the robot reduces the number of degrees of freedom and simplifies control complexity. Additionally, an extension mechanism is added to the robot’s foot, unfolding into an umbrella shape to provide a larger support area, effectively addressing the issue of foot sinking instability during walking. This study adopts and simplifies the Central Pattern Generator (CPG) model to generate stable periodic control signals for the robot’s legs. Precise control of the extension mechanism’s unfolding period is achieved through mapping functions. A joint simulation platform using Solid Works and Matlab is established to analyze the stability of the robot’s walking. Finally, walking experiments are conducted on the prototype, confirming the smooth walking of the lunar exploration hexapod robot. The results indicate that the designed lunar exploration hexapod robot has a reasonable structure, excellent stability in motion, and the CPG control scheme is feasible.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":null,"pages":null},"PeriodicalIF":2.6,"publicationDate":"2024-02-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140453772","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Coordinated Control for the Trajectory Tracking of Four-Wheel Independent Drive–Four-Wheel Independent Steering Electric Vehicles Based on the Extension Dynamic Stability Domain 基于扩展动态稳定域的四轮独立驱动-四轮独立转向电动汽车轨迹跟踪协调控制

IF 2.6 3区工程技术

Actuators Pub Date : 2024-02-16 DOI: 10.3390/act13020077

Yiran Qiao, Xinbo Chen, Dongxiao Yin

{"title":"Coordinated Control for the Trajectory Tracking of Four-Wheel Independent Drive–Four-Wheel Independent Steering Electric Vehicles Based on the Extension Dynamic Stability Domain","authors":"Yiran Qiao, Xinbo Chen, Dongxiao Yin","doi":"10.3390/act13020077","DOIUrl":"https://doi.org/10.3390/act13020077","url":null,"abstract":"In order to achieve multi-objective chassis coordination control for 4WID-4WIS (four-wheel independent drive–four-wheel independent steering) electric vehicles, this paper proposes a coordinated control strategy based on the extension dynamic stability domain. The strategy aims to improve trajectory tracking performance, handling stability, and economy. Firstly, expert PID and model predictive control (MPC) are used to achieve longitudinal speed tracking and lateral path tracking, respectively. Then, a sliding mode controller is designed to calculate the expected yaw moment based on the desired vehicle states. The extension theory is applied to construct the extension dynamic stability domain, taking into account the linear response characteristics of the vehicle. Different coordinated allocation strategies are devised within various extension domains, providing control targets for direct yaw moment control (DYC) and active rear steering (ARS). Additionally, a compound torque distribution strategy is formulated to optimize driving efficiency and tire adhesion rate, considering the vehicle’s economy and stability requirements. The optimal wheel torque is calculated based on this strategy. Simulation tests using the CarSim/Simulink co-simulation platform are conducted under slalom test and double-lane change to validate the control strategy. The test results demonstrate that the proposed control strategy not only achieves good trajectory tracking performance but also enhances handling stability and economy during driving.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":null,"pages":null},"PeriodicalIF":2.6,"publicationDate":"2024-02-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140454737","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Optimizing Exoskeleton Assistance: Muscle Synergy-Based Actuation for Personalized Hip Exoskeleton Control 优化外骨骼辅助：基于肌肉协同作用的驱动，实现个性化髋关节外骨骼控制

IF 2.6 3区工程技术

Actuators Pub Date : 2024-01-31 DOI: 10.3390/act13020054

Yehao Ma, Dewei Liu, Zehao Yan, Linfan Yu, Lianghong Gui, Canjun Yang, Wei Yang

{"title":"Optimizing Exoskeleton Assistance: Muscle Synergy-Based Actuation for Personalized Hip Exoskeleton Control","authors":"Yehao Ma, Dewei Liu, Zehao Yan, Linfan Yu, Lianghong Gui, Canjun Yang, Wei Yang","doi":"10.3390/act13020054","DOIUrl":"https://doi.org/10.3390/act13020054","url":null,"abstract":"Exoskeleton robots hold promising prospects for rehabilitation training in individuals with weakened muscular conditions. However, achieving improved human–machine interaction and delivering customized assistance remains a challenging task. This paper introduces a muscle synergy-based human-in-the-loop (HIL) optimization framework for hip exoskeletons to offer more personalized torque assistance. Initially, we propose a muscle synergy similarity index to quantify the similarity of synergy while walking with and without the assistance of an exoskeleton. By integrating surface electromyography (sEMG) signals to calculate metrics evaluating muscle synergy and iteratively optimizing assistance parameters in real time, a muscle synergy-based HIL optimized torque configuration is presented and tested on a portable hip exoskeleton. Iterative optimization explores the optimal and suboptimal assistance torque profiles for six healthy volunteers, simultaneously testing zero torque and predefined assistance configurations, and verified the corresponding muscle synergy similarity indices through experimental testing. In our validation experiments, the assistance parameters generated through HIL optimization significantly enhance muscle synergy similarity during walking with exoskeletal assistance, with an optimal average of 0.80 ± 0.04 (mean ± std), marking a 6.3% improvement over prior assistive studies and achieving 96.4% similarity compared with free walking. This demonstrates that the proposed muscle synergy-based HIL optimization can ensure robotic exoskeleton-assisted walking as “natural” as possible.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":null,"pages":null},"PeriodicalIF":2.6,"publicationDate":"2024-01-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140475274","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Environment Aware Friction Observer with Applications to Force Control Benchmarking 环境感知摩擦力观测器在力控制基准测试中的应用

IF 2.6 3区工程技术

Actuators Pub Date : 2024-01-31 DOI: 10.3390/act13020053

Eldison Dimo, Andrea Calanca

引用次数: 0

Fundamental Study on Force-Projecting Bilateral Control for Pneumatically Driven Follower Device 气动驱动随动装置的力投射双边控制基础研究

IF 2.6 3区工程技术

Actuators Pub Date : 2024-01-31 DOI: 10.3390/act13020056

Daisuke Haraguchi, Rin Monden

{"title":"Fundamental Study on Force-Projecting Bilateral Control for Pneumatically Driven Follower Device","authors":"Daisuke Haraguchi, Rin Monden","doi":"10.3390/act13020056","DOIUrl":"https://doi.org/10.3390/act13020056","url":null,"abstract":"This paper proposes the application of force-projecting bilateral control to a master-follower teleoperation system with pneumatic drive on the follower side and evaluates its effectiveness. The proposed method directly projects the operating force on the master side to the driving force on the follower side, eliminating the need for both position control and external force detection on the follower side, thereby solving the problem of low rigidity and response delay of a pneumatic servo system and providing highly stable sensor-less force presentation against variable environments. In this study, dynamic response analyses of a 1-DOF master-follower system were performed by numerical simulation using a linear system model, followed by experimental verification by implementing an actual system with an external force estimator. The results showed that the proposed force-projecting bilateral control has significantly higher positioning rigidity and better force control stability than the conventional force-reflecting bilateral control. A theoretical consideration was also given using the equivalent transformation of force transfer functions to provide evidence of high stability.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":null,"pages":null},"PeriodicalIF":2.6,"publicationDate":"2024-01-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140473380","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Modeling and Control of a Linear Piezoelectric Actuator 线性压电致动器的建模与控制

IF 2.6 3区工程技术

Actuators Pub Date : 2024-01-31 DOI: 10.3390/act13020055

Huaiyong Li, Yujian Tong, Chong Li

{"title":"Modeling and Control of a Linear Piezoelectric Actuator","authors":"Huaiyong Li, Yujian Tong, Chong Li","doi":"10.3390/act13020055","DOIUrl":"https://doi.org/10.3390/act13020055","url":null,"abstract":"To improve the output displacement of piezoelectric actuators, a linear piezoelectric actuator based on a multistage amplifying mechanism with a small volume, large thrust, high resolution, high precision, and fast response speed is proposed. However, inherent nonlinear characteristics, such as hysteresis and creep, significantly affect the output accuracy of piezoelectric actuators and may cause system instability. Therefore, a complex nonlinear hysteresis mathematical model with a high degree of fit was established. A Play operator was introduced into the backpropagation neural network, and a genetic algorithm (GA) was used to reduce the probability of the fitting of the neural network model falling into a local minimum. Moreover, simulation and experimental test platforms were constructed. The results showed that the maximum displacement of the actuator was 558.3 μm under a driving voltage of 150 V and a driving frequency of 1 Hz. The complex GA-BP neural network model of the piezoelectric actuator not only exhibited high modeling accuracy but also solved the problems of strong randomness and slow convergence. Compared with other control algorithms, the GA-BP fuzzy PID control exhibited higher control precision.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":null,"pages":null},"PeriodicalIF":2.6,"publicationDate":"2024-01-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140474194","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0