Mechatronics最新文献

Efficient avoidance of ellipsoidal obstacles with model predictive control for mobile robots and vehicles 基于模型预测控制的移动机器人和车辆椭球体障碍物有效避障

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2025-07-21 DOI: 10.1016/j.mechatronics.2025.103386

Mario Rosenfelder , Hendrik Carius , Markus Herrmann-Wicklmayr , Peter Eberhard , Kathrin Flaßkamp , Henrik Ebel

{"title":"Efficient avoidance of ellipsoidal obstacles with model predictive control for mobile robots and vehicles","authors":"Mario Rosenfelder , Hendrik Carius , Markus Herrmann-Wicklmayr , Peter Eberhard , Kathrin Flaßkamp , Henrik Ebel","doi":"10.1016/j.mechatronics.2025.103386","DOIUrl":"10.1016/j.mechatronics.2025.103386","url":null,"abstract":"<div><div>In real-world applications of mobile robots, collision avoidance is of critical importance. Typically, global motion planning in constrained environments is addressed through high-level control schemes. However, additionally integrating local collision avoidance into robot motion control offers significant advantages. For instance, it reduces the reliance on heuristics, conservatism, and complexity from additional hyperparameters that can arise from a two-stage approach separating local collision avoidance and control. Moreover, using model predictive control (MPC), a robot’s full potential can be harnessed by considering jointly local collision avoidance, the robot’s dynamics including dynamic constraints (like nonholonomic constraints), and actuation constraints. In this context, the present paper focuses on local obstacle avoidance for wheeled mobile robots, where both the robot’s and obstacles’ occupied volumes are modeled as ellipsoids of arbitrary orientation. To this end, a computationally efficient overlap test, which works for arbitrary ellipsoids, is conducted and novelly integrated into the MPC framework. We propose a particularly efficient implementation tailored to robots moving in the plane. The functionality of the proposed obstacle-avoiding MPC is demonstrated for two exemplary types of kinematics by means of simulations. A hardware experiment using a real-world wheeled mobile robot shows transferability to reality and real-time applicability. Moreover, numerical experiments show that, due to the approach’s general nature, it can be directly applied to dynamic situations like moving obstacles. The general computational approach to ellipsoidal obstacle avoidance can also be applied to other robotic systems and vehicles as well as three-dimensional scenarios.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"110 ","pages":"Article 103386"},"PeriodicalIF":3.1,"publicationDate":"2025-07-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144672214","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Novel design of GFRP beam spring rocker-arm suspension for 6-wheeled mobile robots 6轮移动机器人GFRP梁弹簧摇臂悬架的新设计

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2025-07-16 DOI: 10.1016/j.mechatronics.2025.103388

Gunwoo An, Jaeyoung Kang

{"title":"Novel design of GFRP beam spring rocker-arm suspension for 6-wheeled mobile robots","authors":"Gunwoo An, Jaeyoung Kang","doi":"10.1016/j.mechatronics.2025.103388","DOIUrl":"10.1016/j.mechatronics.2025.103388","url":null,"abstract":"<div><div>Six-wheeled mobile robots (6-WMRs) equipped with rocker-bogie suspension systems are widely used for planetary exploration and search-and-rescue tasks due to their excellent terrain adaptability. However, conventional rocker-bogie-based systems present critical limitations, including tire slip caused by the absence of steering mechanisms, lack of camber control, and increased structural complexity from added components. To overcome these issues, this study introduces the GFRP Beam Spring Rocker-arm Suspension (GBSRS), which integrates a rocker-arm structure with a Glass Fiber Reinforced Polymer (GFRP) beam spring. An independent steering system based on Ackermann geometry is applied to minimize tire slip, while the torsional and vertical compliance of the GFRP beam enables passive camber variation and vibration damping without the use of additional actuators or complex linkages. A 7-degree-of-freedom (7-DOF) vibration model is developed to simulate dynamic behavior, and a bend-twist coupling analysis is conducted to calculate beam deformation and camber response. The design is further optimized by applying Derringer’s desirability function to key parameters such as beam thickness, damper position, and camber adjuster angle. Simulation and experimental results—including tests over single obstacles and rough terrain—demonstrate that the GBSRS reduces RMS acceleration by up to 16.3% and peak acceleration by up to 40.6% compared to conventional solid-arm systems. These results confirm that the GBSRS effectively improves vibration isolation and camber adaptability while maintaining structural simplicity, offering a practical suspension solution for 6-WMRs in challenging environments.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"110 ","pages":"Article 103388"},"PeriodicalIF":3.1,"publicationDate":"2025-07-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144634104","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Digital human model and training task planning-based adaptive assist-as-needed control for upper limb exoskeleton 基于数字人体模型和训练任务规划的上肢外骨骼自适应辅助控制

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2025-07-12 DOI: 10.1016/j.mechatronics.2025.103381

Jiazhen Xu, Haoping Wang, Yang Tian

{"title":"Digital human model and training task planning-based adaptive assist-as-needed control for upper limb exoskeleton","authors":"Jiazhen Xu, Haoping Wang, Yang Tian","doi":"10.1016/j.mechatronics.2025.103381","DOIUrl":"10.1016/j.mechatronics.2025.103381","url":null,"abstract":"<div><div>To address the challenges of diminished motivation and increased fatigue observed in participants during active rehabilitation training, this study proposes a digital human model-based adaptive assist-as-needed (DHM-AAAN) control for an upper limb exoskeleton. This control framework consists of two main sub-controller loops: an outer sub-controller loop that determines the necessary assistive force, and an inner sub-controller loop which enables the exoskeleton to accurately replicate target movements while applying the assistive force derived from the outer sub-controller loop. Within the outer sub-controller loop, a strategy known as the digital human model and task performance evaluation (DHM-TPE) is employed to evaluate participants’ mobility capabilities and overall condition. Based on the assessment results, parameters such as radius, frequency, and assistive force are dynamically adjusted for multi-period trajectory tracking tasks through the implementation of an adaptive frequency oscillator (AFO) algorithm integrated with a digital human model. In the inner sub-controller loop, a barrier Lyapunov function-based hybrid force/position control with shifting error constraints (BLF-HCS) controller is introduced. This controller utilizes radial basis function neural networks (RBFNN) and error offset functions initialized with random values. The BLF constrains the exoskeleton’s tracking error, considering potential deviations from the desired initial position during the early phases of movement. To validate the effectiveness of the proposed controller, this study presents joint simulation results of the rehabilitation training cycle for circular task trajectories, experimental results from individual participants, and the average results from 6 participants.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"110 ","pages":"Article 103381"},"PeriodicalIF":3.1,"publicationDate":"2025-07-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144605502","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

3D coordinate sensing with nonsmooth friction dynamical discontinuities compensation in laser scanning system 激光扫描系统中非光滑摩擦动态不连续补偿的三维坐标传感

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2025-07-10 DOI: 10.1016/j.mechatronics.2025.103382

Oleg Sergiyenko , José A. Núñez-López , Vera Tyrsa , Rubén Alaniz-Plata , Oscar M. Pérez-Landeros , César Selpúlveda-Valdez , Wendy Flores-Fuentes , Julio C. Rodríguez-Quiñonez , Fabian N. Murrieta-Rico , Vladimir Kartashov , Marina Kolendovska

{"title":"3D coordinate sensing with nonsmooth friction dynamical discontinuities compensation in laser scanning system","authors":"Oleg Sergiyenko , José A. Núñez-López , Vera Tyrsa , Rubén Alaniz-Plata , Oscar M. Pérez-Landeros , César Selpúlveda-Valdez , Wendy Flores-Fuentes , Julio C. Rodríguez-Quiñonez , Fabian N. Murrieta-Rico , Vladimir Kartashov , Marina Kolendovska","doi":"10.1016/j.mechatronics.2025.103382","DOIUrl":"10.1016/j.mechatronics.2025.103382","url":null,"abstract":"<div><div>This study aimed to address the issue of laser ray spatial positioning to mitigate discontinuities in the dynamics caused by nonsmooth friction effects by the direct application of control theory with improved friction compensation. Analyzing physical phenomena on micro-relieved surfaces through SEM methods, the obtained data about surface characteristics helps synthesize a corresponding control law for the laser positioner and conduct its stability analysis. This work considers a patented laser scanning system incorporating a laser positioning mechanism with inherent friction. SEM micrograph analysis of the friction zone was conducted to compare microscopic imperfections of steel surfaces, which helped infer the dynamics of an internal variable ‘z’ in the friction model and determine a reference value for control synthesis. A nonlinear control algorithm was proposed to compensate for friction to enhance positioning accuracy. The global asymptotic stability of the system was proven using Lyapunov’s direct method and Barbalat’s lemma. Experimental implementation on an STM32 board demonstrated a significant reduction in the uncertainty associated with sensing 3D coordinates using the friction-compensated laser scanning system.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"110 ","pages":"Article 103382"},"PeriodicalIF":3.1,"publicationDate":"2025-07-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144588654","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Construction of hierarchical health indicators for explainable monitoring in multi-component mechatronic systems 多部件机电系统可解释监测的分层健康指标构建

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2025-07-10 DOI: 10.1016/j.mechatronics.2025.103379

Duc-An Nguyen , Diego Dominguez , Khanh T.P. Nguyen , Marcos Orchard , Kamal Medjaher

{"title":"Construction of hierarchical health indicators for explainable monitoring in multi-component mechatronic systems","authors":"Duc-An Nguyen , Diego Dominguez , Khanh T.P. Nguyen , Marcos Orchard , Kamal Medjaher","doi":"10.1016/j.mechatronics.2025.103379","DOIUrl":"10.1016/j.mechatronics.2025.103379","url":null,"abstract":"<div><div>The development of explainable health indicators (HIs) for multi-component mechatronic systems is vital for monitoring their performance, ensuring their reliability, and optimizing their operational efficiency across a wide range of industries. These indicators play a pivotal role in detecting and diagnosing faults, assessing system health, and guiding maintenance decisions. However, achieving explainability in HIs poses significant challenges, including the selection of the most relevant sensors, the accurate modeling of degradation trends influenced by maintenance activities, and the integration of component dynamics into a system-level representation. To address these challenges, we propose a novel methodology for constructing hierarchical HIs — a two-level structure where component-level degradation signals are first modeled individually, then systematically aggregated to form a comprehensive system-level health representation. The proposed approach, named TRSAE, incorporates an automated sensor selection process to identify the most important sensors, reducing redundancy while improving interpretability. Furthermore, maintenance and downtime effects are explicitly integrated into the modeling process to ensure a more realistic and reliable assessment of system health. By tackling these challenges, our methodology improves transparency in system behavior, strengthens diagnostic capabilities, and builds trust in predictive maintenance decisions. The proposed methodology is validated through a case study in an iron mining system, an environment characterized by extreme operating conditions and continuous heavy loads that accelerate the degradation of critical components. The case study demonstrates how hierarchical HIs can capture complex degradation dynamics, optimize sensor usage, and improve remaining useful life (RUL) predictions, offering actionable insights for proactive maintenance planning and reliable system operation.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"110 ","pages":"Article 103379"},"PeriodicalIF":3.1,"publicationDate":"2025-07-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144588653","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Kinematic optimal design and rehabilitation performance evaluation of an upper-limb bilateral end-effector mechanism 上肢双侧末端执行器机构运动学优化设计及康复性能评价

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2025-07-08 DOI: 10.1016/j.mechatronics.2025.103380

Mingjie Dong , Shuaibang Wang , Shiping Zuo , Zugan Du , Wenjie Liu , Jianfeng Li

{"title":"Kinematic optimal design and rehabilitation performance evaluation of an upper-limb bilateral end-effector mechanism","authors":"Mingjie Dong , Shuaibang Wang , Shiping Zuo , Zugan Du , Wenjie Liu , Jianfeng Li","doi":"10.1016/j.mechatronics.2025.103380","DOIUrl":"10.1016/j.mechatronics.2025.103380","url":null,"abstract":"<div><div>Limb disabilities caused by stroke can severely impact activities of daily living (ADLs), and upper limb rehabilitation training plays a crucial role in promoting the recovery of motor functions. Currently, the studies of upper limb rehabilitation robots have several drawbacks, such as bulkiness, high costs, and the lack of integrated rehabilitation performance evaluation. This study, building on the previously proposed upper limb end-effector bilateral rehabilitation robotic system (EBReRS), derives its forward and inverse kinematics, calculates the Jacobian matrix, plots singularity analysis and performance atlases, and optimizes link dimensions to enhance operational performance, enabling it to carry out rehabilitation tasks more effectively. Based on surface electromyography (sEMG) signals, muscle activation levels were obtained. Utilizing the evaluation data, customized muscle training was introduced by establishing a mapping between muscles and training modes. Experimental results indicate that correct mode mapping during training can enhance muscle activation levels by a factor of 1 to 5. In the future, EBReRS is expected to be utilized for more widespread home rehabilitation, and the proposed rehabilitation evaluation strategy has the potential to be applied to other rehabilitation robots.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"110 ","pages":"Article 103380"},"PeriodicalIF":3.1,"publicationDate":"2025-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144571234","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Fast switching and dynamic characteristics preservation of water hydraulic high-speed on-off valve using pressure-adaptive multistage voltage and sliding mode control 基于压力自适应多级电压滑模控制的水力高速开关阀的快速开关和动态特性保持

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2025-07-05 DOI: 10.1016/j.mechatronics.2025.103384

Xing Yang, Boyang Zhang, Defa Wu, Yinshui Liu

{"title":"Fast switching and dynamic characteristics preservation of water hydraulic high-speed on-off valve using pressure-adaptive multistage voltage and sliding mode control","authors":"Xing Yang, Boyang Zhang, Defa Wu, Yinshui Liu","doi":"10.1016/j.mechatronics.2025.103384","DOIUrl":"10.1016/j.mechatronics.2025.103384","url":null,"abstract":"<div><div>Water hydraulic high-speed on-off valves (WHSVs) are crucial for managing fluid flow in water hydraulic manipulator systems. As the ambient pressure changes, the dynamic characteristics of WHSVs are affected, which reduces the overall control accuracy of the manipulator. To simultaneously achieve rapid switching and maintain consistent dynamic behavior of WHSVs under variable ambient pressure, a pressure-adaptive multistage voltage and sliding mode control (PMVS) algorithm is proposed. A sliding mode controller is utilized to precisely regulate the coil current at the pre-opening and holding current levels, significantly shortening the switching time of the WHSV. By optimizing the controller’s operation time and modifying the duty cycle of the excitation voltage, the switching time remains stable across different pressures. Based on the structure of the designed WHSV group, an innovative method combining a pressure sensor and a vibration sensor is proposed to capture the dynamic characteristics of the WHSV. Experimental validation demonstrates that the PMVS method efficiently controls the switching delay and regulates the excitation voltage. Dynamic characteristic tests of WHSVs under different pressures are conducted. The results show that PMVS effectively reduces the switching time of WHSVs. Comparative tests reveal that WHSVs driven by PMVS achieve an 86.3 % reduction in opening time and an 87.5 % reduction in closing time compared to conventional pulse width modulation (CPWM). Furthermore, PMVS ensures consistent dynamic characteristics within an ambient pressure range of 0 to 20 MPa, with an opening time deviation of 7.94 % and a closing time deviation of 3.03 %. The PMVS algorithm enables the WHSV to rapidly switch and preserve dynamic characteristics under variable ambient pressures.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"110 ","pages":"Article 103384"},"PeriodicalIF":3.1,"publicationDate":"2025-07-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144563671","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Practical and robust incremental model predictive control for flexible-joint robots 柔性关节机器人实用鲁棒增量模型预测控制

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2025-06-26 DOI: 10.1016/j.mechatronics.2025.103364

Yongchao Wang , Tian Zheng , Maged Iskandar , Marion Leibold , Jinoh Lee

{"title":"Practical and robust incremental model predictive control for flexible-joint robots","authors":"Yongchao Wang , Tian Zheng , Maged Iskandar , Marion Leibold , Jinoh Lee","doi":"10.1016/j.mechatronics.2025.103364","DOIUrl":"10.1016/j.mechatronics.2025.103364","url":null,"abstract":"<div><div>This article proposes an optimization-based method for robust yet efficient control of flexible-joint robots by using the model predictive control approach. The time-delay estimation (TDE) technique is used to approximate uncertain and nonlinear dynamic equations, where neither concrete knowledge of mathematical system model parameters is required in the approximation, thus granting the model-free property for dynamics compensation and real-time system linearization. TDE is integrated with model predictive control, which is designated as the incremental model predictive control (IMPC) framework. This approach guarantees the tracking performance of the flexible joint robot with input and output constraints, such as motor torque and joint states. Moreover, the proposed controller can practically circumvent high-order derivatives in implementation while providing robust tracking, a capability that conventional methods for flexible joint robots often face challenges due to the inherent nature of their high-order dynamics. The input-to-state stability of IMPC in a local region around the reachable reference trajectory is theoretically proven, and the high approximation accuracy of the resulting incremental system is analyzed. Finally, a series of experiments is conducted on a flexible-joint robot to verify the practical effectiveness of IMPC, and superior performance in terms of high accuracy, high computational efficiency, and constraint admissibility is demonstrated.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"110 ","pages":"Article 103364"},"PeriodicalIF":3.1,"publicationDate":"2025-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144481057","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Matrix-sensitivity-based active disturbance rejection control for hydraulic servo positioning systems with friction compensation 基于矩阵灵敏度的摩擦补偿液压伺服定位系统自抗扰控制

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2025-06-25 DOI: 10.1016/j.mechatronics.2025.103378

Kaixian Ba , Ning Liu , Jinbo She , Yuan Wang , Guoliang Ma , Bin Yu , Xiangdong Kong

{"title":"Matrix-sensitivity-based active disturbance rejection control for hydraulic servo positioning systems with friction compensation","authors":"Kaixian Ba , Ning Liu , Jinbo She , Yuan Wang , Guoliang Ma , Bin Yu , Xiangdong Kong","doi":"10.1016/j.mechatronics.2025.103378","DOIUrl":"10.1016/j.mechatronics.2025.103378","url":null,"abstract":"<div><div>Accurate position regulation in hydraulic servo systems (HDU) plays a critical role in ensuring system stability, operational efficiency, and achieving high-accuracy performance. However, friction-induced nonlinearities, including Stribeck effects and internal friction dynamics, significantly impact tracking accuracy. This paper introduces a matrix-sensitivity-based active disturbance rejection control (MSADRC) method that compensates for friction without requiring an explicit friction model. By leveraging matrix sensitivity, MSADRC effectively decouples system dynamics and enhances control accuracy, particularly in suppressing frictional effects. A third-order extended state observer (ESO) first estimates total system disturbances, while a model predictive mechanism converts nonlinear time-varying disturbances into a feedforward compensation term. The resulting matrix sensitivity-based compensation optimally adjusts system response, ensuring improved performance. Experimental results show that MSADRC effectively mitigates nonlinear disturbances, reducing peak error by up to 55 % compared to conventional ADRC methods. This approach provides a reliable and efficient strategy to address adaptive friction compensation issues in hydraulic control systems.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"110 ","pages":"Article 103378"},"PeriodicalIF":3.1,"publicationDate":"2025-06-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144470701","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Active compensation of position dependent flexible dynamics in high-precision mechatronics 高精度机电一体化中位置相关柔性动力学的主动补偿

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2025-06-25 DOI: 10.1016/j.mechatronics.2025.103377

Yorick Broens , Hans Butler , Ramidin Kamidi , Koen Verkerk , Siep Weiland

引用次数: 0