Mechatronics最新文献_第10页

Generating stable periodic motion in underactuated systems in the presence of parameter uncertainty: Theory and experiments 在参数不确定的情况下，在欠驱动系统中产生稳定的周期性运动：理论与实验

IF 3.3 3区计算机科学

Mechatronics Pub Date : 2024-06-05 DOI: 10.1016/j.mechatronics.2024.103208

Nilay Kant, Ranjan Mukherjee

{"title":"Generating stable periodic motion in underactuated systems in the presence of parameter uncertainty: Theory and experiments","authors":"Nilay Kant, Ranjan Mukherjee","doi":"10.1016/j.mechatronics.2024.103208","DOIUrl":"https://doi.org/10.1016/j.mechatronics.2024.103208","url":null,"abstract":"<div><p>Virtual holonomic constraints (VHCs) are extensively used in robotic applications such as bipedal walking. Although it is well-known that VHCs result in periodic motion of underactuated systems, achieving the same is challenging in physical systems due to parameter uncertainty. VHCs are typically imposed using feedback linearization and simulations show and experiments confirm that the internal dynamics can become unstable in the presence of parameter uncertainty. To address the challenging problem of generating stable periodic motion, we propose an extended high-gain observer (EHGO) based controller to enforce the VHCs. The proposed solution successfully recovers marginal stability of the internal dynamics. To stabilize a desired periodic orbit, we use the impulse controlled Poincaré map (ICPM) approach, where impulsive inputs are intermittently applied on a Poincaré section. Experimental results demonstrate that the model-based VHC controller and discrete ICPM controller together fail to stabilize the desired periodic motion but the EHGO-based VHC controller and ICPM controller successfully achieve stable periodic motion.</p></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"102 ","pages":"Article 103208"},"PeriodicalIF":3.3,"publicationDate":"2024-06-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141264272","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

Robust internal model control approach for position control of systems with sandwiched backlash 采用鲁棒内部模型控制方法实现带夹层反向间隙系统的位置控制

IF 3.3 3区计算机科学

Mechatronics Pub Date : 2024-06-04 DOI: 10.1016/j.mechatronics.2024.103195

Yoav Vered , Stephen J. Elliott

{"title":"Robust internal model control approach for position control of systems with sandwiched backlash","authors":"Yoav Vered , Stephen J. Elliott","doi":"10.1016/j.mechatronics.2024.103195","DOIUrl":"https://doi.org/10.1016/j.mechatronics.2024.103195","url":null,"abstract":"<div><p>This paper describes the design of a robust controller for position control in systems with sandwiched backlash. The backlash, which is nonsmooth and nonlinear, is inevitable in the operation of many systems, but it can have destructive effects on the stability and performance of feedback systems. In this work, a robust controller is designed using a modified linear internal model control framework. Different controller architectures are considered and compared based on an experimental case study. The experimental testbased is composed of a three-platform structure driven by a stepper motor. The backlash is introduced into the system in a non-destructive and controllable manner by closing an internal nonlinear feedback loop around the stepper motor. The robustness of the designed controller to a large amount of backlash is verified experimentally, and while the stability is maintained, some residual vibrations are observed. The effects on the residual vibration levels of including nonlinear elements in the controller and changing the controller's settling time are also examined experimentally. The robustness to changes and mismodelling of the linear system, with and without the backlash, is described, as is the tracking of a smooth sinusoidal command signal with a growing amount of backlash. Based on the case study, it is concluded that combining the linear internal model control design method with a small dead zone results in a highly robust controller both with respect to the backlash and to changes in the linear system, which ensure stability and good performance. The required robustness is achieved by tuning the controller's settling time and the dead zone width parameters.</p></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"102 ","pages":"Article 103195"},"PeriodicalIF":3.3,"publicationDate":"2024-06-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S0957415824000606/pdfft?md5=8d9fe83f13805d368401b4c0050205af&pid=1-s2.0-S0957415824000606-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141264270","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Development of a novel cable-driven parallel robot for full-cycle ankle rehabilitation 开发用于全周期踝关节康复的新型电缆驱动并联机器人

IF 3.3 3区计算机科学

Mechatronics Pub Date : 2024-06-02 DOI: 10.1016/j.mechatronics.2024.103210

Ye Huo , Muhammad Niaz Khan , Zhu Feng Shao , Yu Pan

引用次数: 0

Multi-objective cooperative transportation for reconfigurable robot using isomorphic mapping multi-agent reinforcement learning 利用同构映射多代理强化学习实现可重构机器人的多目标协同运输

IF 3.3 3区计算机科学

Mechatronics Pub Date : 2024-05-21 DOI: 10.1016/j.mechatronics.2024.103206

Ruqing Zhao, Fusheng Li, Xin Lu, Shubin Lyu

{"title":"Multi-objective cooperative transportation for reconfigurable robot using isomorphic mapping multi-agent reinforcement learning","authors":"Ruqing Zhao, Fusheng Li, Xin Lu, Shubin Lyu","doi":"10.1016/j.mechatronics.2024.103206","DOIUrl":"https://doi.org/10.1016/j.mechatronics.2024.103206","url":null,"abstract":"<div><p>In this paper, we propose an Isomorphic Mapping Reconfigurable Multi-Agent Reinforcement Learning (IM-RMARL) framework, which is suitable for decision-making scenarios in reconfigurable multi-agent reinforcement learning. This method holds promising applications in fields such as logistics transportation systems and disaster relief. Classical multi-agent frameworks typically assume that the number of agents is fixed and remains constant throughout the training process. However, in practical applications involving reconfigurable robots, the number of agents may vary over time or according to task requirements. Additionally, classical frameworks often assume easy access to abundant experience data for training and optimization. However, in reconfigurable robot clusters, this assumption may not hold true as not all combinations exist within a single episode. Our approach effectively addresses these challenges by integrating agent mapping mechanisms and similar type of intelligent agents’ experience sharing mechanisms, which aid in handling dynamic agent counts and limited experience data. Our experimental results demonstrate the effectiveness of the proposed framework, the Utilization Rate of Transport Capacity of the IM-RMARL group reaches 0.82, and the Task Completion Rate reaches 0.92.</p></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"101 ","pages":"Article 103206"},"PeriodicalIF":3.3,"publicationDate":"2024-05-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141077966","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

A self-tuning dual impedance control architecture for collaborative haptic training 用于协作式触觉训练的自调整双阻抗控制架构

IF 3.3 3区计算机科学

Mechatronics Pub Date : 2024-05-20 DOI: 10.1016/j.mechatronics.2024.103205

Mohammad Motaharifar , Keyvan Hashtrudi-Zaad , Seyed Farzad Mohammadi , Alireza Lashay , Hamid D. Taghirad

{"title":"A self-tuning dual impedance control architecture for collaborative haptic training","authors":"Mohammad Motaharifar , Keyvan Hashtrudi-Zaad , Seyed Farzad Mohammadi , Alireza Lashay , Hamid D. Taghirad","doi":"10.1016/j.mechatronics.2024.103205","DOIUrl":"https://doi.org/10.1016/j.mechatronics.2024.103205","url":null,"abstract":"<div><p>Collaborative haptic training systems offer numerous benefits, including enhanced safety, streamlined training processes, and improved maneuverability. These systems typically involve an expert user (the trainer) and a novice user (the trainee) engaging in collaborative operations. One of the primary challenges in designing controllers for such systems is ensuring task stability and maintaining stable interaction between the operators and the system, while also achieving satisfactory task performance. However, existing control schemes often overlook the need for supervision and intervention by the trainer during the operation, along with a comprehensive stability analysis. This article aims to address the above issues for a system in which the trainee conducts the operation and the trainer is provided with the capability to intervene and modify the incorrect actions of the trainee. This is accomplished through the implementation of impedance controllers at each haptic interface and dynamic adjustment of the target impedance on both ends based on the trainer’s estimated impedance gain. The Input-to-State Stability approach and the small gain theorem are employed to analyze the stability of the closed-loop system. The effectiveness of the proposed approach is demonstrated through simulation and experimental results, showcasing the ability of the proposed scheme to enhance the collaborative training process and ensure stable interaction between the trainer and the trainee.</p></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"101 ","pages":"Article 103205"},"PeriodicalIF":3.3,"publicationDate":"2024-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141073340","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

Getting from a 3D, dexterous, single-port workspace to a one-segment continuum robot 从三维、灵巧、单端口工作空间到单段连续机器人

IF 3.3 3区计算机科学

Mechatronics Pub Date : 2024-05-14 DOI: 10.1016/j.mechatronics.2024.103194

Sven Fritsch, Dirk Oberschmidt

{"title":"Getting from a 3D, dexterous, single-port workspace to a one-segment continuum robot","authors":"Sven Fritsch, Dirk Oberschmidt","doi":"10.1016/j.mechatronics.2024.103194","DOIUrl":"https://doi.org/10.1016/j.mechatronics.2024.103194","url":null,"abstract":"<div><p>Given the limited availability of off-the-shelf continuum robots (CRs), researchers and engineers must design their own and tailor them to their specific use case requirements. Questions such as the following arise: What is the minimum length of the CR needed to achieve the desired dexterous workspace? And where should the robot be ideally located with respect to the workspace? These questions are answered for a single-port setup in this paper. A projection-based method is introduced that maps the dimensionality of the required workspace from 3D to 1D, exploiting the remaining degrees of freedom preserved in a single-port procedure. Then, a set of equations for the most critical point in the workspace is described, representing the geometry of both the CR and the workspace. A bounded, non-linear optimization approach is implemented, computing the global minimum of this set of equations. This method is simulated and tested for a length-extensible, multi-backbone CR. To the best of the authors’ knowledge, this is the first time a desired dexterous workspace has been empirically verified for a CR. Furthermore, the prototype features novel design elements that solve relevant mechanical challenges in the state-of-the-art</p></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"101 ","pages":"Article 103194"},"PeriodicalIF":3.3,"publicationDate":"2024-05-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S095741582400059X/pdfft?md5=0aabc9ccd98fcf110daf5b1d8090e29f&pid=1-s2.0-S095741582400059X-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140948560","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Path planning of micromanipulators inside an SEM and 3D nanomanipulation of CNTs for nanodevice construction 扫描电子显微镜内微型机械手的路径规划和用于构建纳米器件的 CNT 三维纳米机械手

IF 3.3 3区计算机科学

Mechatronics Pub Date : 2024-05-13 DOI: 10.1016/j.mechatronics.2024.103196

Ujjal Dey , Supriti Sen , Cheruvu Siva Kumar , Chacko Jacob

{"title":"Path planning of micromanipulators inside an SEM and 3D nanomanipulation of CNTs for nanodevice construction","authors":"Ujjal Dey , Supriti Sen , Cheruvu Siva Kumar , Chacko Jacob","doi":"10.1016/j.mechatronics.2024.103196","DOIUrl":"https://doi.org/10.1016/j.mechatronics.2024.103196","url":null,"abstract":"<div><p>The concept of a nano-laboratory inside an SEM involves performing a sequence of tasks in a continuous pattern. Robotic systems with nanoscale motion resolution facilitate in-situ manipulation and characterization of nanomaterials to assemble nanodevices inside SEMs. Precise motion control of micromanipulators is required at both macro and micro-nano scales to effectively execute multiple sequential experimental tasks in nanofabrication. However, managing the entire nanomanipulation setup is challenging due to the constricted workspace inside an SEM and the lack of proper process feedback information at that scale. This study explores the application of path planning algorithms to generate a collision-free motion path for the micromanipulators operating within the confined space of an SEM. A MATLAB-based computational tool is first developed using PRM and Dijkstra's path planning algorithms. Considering environmental constraints, the program generates an optimal motion path for the micromanipulators, facilitating automatic configuration changes within the SEM chamber. It ensures a seamless workflow and facilitates the smooth integration of additional experimental tools within the existing setup. Manipulation strategies using the nanorobotic setup are established based on the application of the developed path planning module. A pick-and-place 3D nanomanipulation technique of CNTs using cooperative control of dual micromanipulators has been demonstrated for nanodevice construction. Additionally, the electrical response of individually manipulated CNTs is recorded using a two-probe measurement technique.</p></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"101 ","pages":"Article 103196"},"PeriodicalIF":3.3,"publicationDate":"2024-05-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140918205","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

Improving the stability of a planar tape-spring hyper-redundant manipulator 提高平面胶带弹簧超冗余机械手的稳定性

IF 3.3 3区计算机科学

Mechatronics Pub Date : 2024-05-09 DOI: 10.1016/j.mechatronics.2024.103193

Yushu Yu , Hu Liu , Tonghuan Ding , Yi Yang

{"title":"Improving the stability of a planar tape-spring hyper-redundant manipulator","authors":"Yushu Yu , Hu Liu , Tonghuan Ding , Yi Yang","doi":"10.1016/j.mechatronics.2024.103193","DOIUrl":"https://doi.org/10.1016/j.mechatronics.2024.103193","url":null,"abstract":"<div><p>The planar tape-spring hyper-redundant manipulator presented in this paper is mainly constructed from tape springs, fixed-drive components, and mobile-drive components. It not only has high robustness and excellent transformability, but also high packaging efficiency. However, when the manipulator extends to a long range in motion experiments, some segments of the tape springs buckle. To address this drawback, a kinematic model of the planar tape-spring hyper-redundant manipulator is established, and, a configuration planning method based on a virtual spring model is proposed to solve the inverse kinematics problem. To enhance stability, the column stability is then incorporated into the configuration planning model. This approach relies on only configuration planning to prevent buckling. An alternative approach of adding auxiliary rods into the manipulator is also proposed. With this method, extra intermediate supports have been added to the manipulator. The effective column length of some segments is shortened, which effectively increases the critical buckling load of those segments of the tape spring. Finally, a prototype was subjected to motion and stability experiments to validate the presented approaches and analysis.</p></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"101 ","pages":"Article 103193"},"PeriodicalIF":3.3,"publicationDate":"2024-05-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140909945","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

Development of a linear decoupling cable-driven manipulator with independent driving joints, 开发具有独立驱动关节的线性去耦电缆驱动机械手、

IF 3.3 3区计算机科学

Mechatronics Pub Date : 2024-04-27 DOI: 10.1016/j.mechatronics.2024.103192

Fengxu Wang , Haodai Dong , Lei Yan , Wenfu Xu , Bin Liang

{"title":"Development of a linear decoupling cable-driven manipulator with independent driving joints,","authors":"Fengxu Wang , Haodai Dong , Lei Yan , Wenfu Xu , Bin Liang","doi":"10.1016/j.mechatronics.2024.103192","DOIUrl":"https://doi.org/10.1016/j.mechatronics.2024.103192","url":null,"abstract":"<div><p>A cable-driven manipulator demonstrates significant application in cramped environments, such as space maintenance and equipment monitoring, owing to its slender body and excellent flexibility. However, in traditional designs, the mapping between the operational space and the joint space is nonlinear and non-consistent, and the driving cables are also coupled. Consequently, the kinematics and dynamics become highly complex, posing challenges in enhancing efficiency and precision in trajectory planning and control. This paper introduces a novel linear decoupling cable-driven manipulator with independent driving joints. Two sets of nonlinear transmission mechanisms are designed and serially connected to form an equivalent linear transmission mechanism. This arrangement establishes a proportional relationship between the motor angle and joint angle, with the proportionality coefficient representing the equivalent transmission ratio. Moreover, a two-way wire-pulling mechanism is designed to achieve one-to-one driving between the motor and the joint. The nonlinear coupling problem between driving cables is solved by connecting the driving cable to the target joint through a constant-length cable sleeve. Based on the aforementioned design, the linear and consistent mapping between the operational space and the joint space is realized, significantly simplifying the kinematic model. Prototype experiments validate the manipulator's extensive range of motion and high motion accuracy.</p></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"100 ","pages":"Article 103192"},"PeriodicalIF":3.3,"publicationDate":"2024-04-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140807258","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

Visual control for robotic 3D printing on a moving platform 移动平台上机器人 3D 打印的可视化控制

IF 3.3 3区计算机科学

Mechatronics Pub Date : 2024-04-26 DOI: 10.1016/j.mechatronics.2024.103191

M.S. Chaudhry , A. Czekanski

{"title":"Visual control for robotic 3D printing on a moving platform","authors":"M.S. Chaudhry , A. Czekanski","doi":"10.1016/j.mechatronics.2024.103191","DOIUrl":"https://doi.org/10.1016/j.mechatronics.2024.103191","url":null,"abstract":"<div><p>In recent years, there has been significant progress in developing specialized 3D printing techniques that cater to various demanding applications. However, the current state of this technology is challenged when it comes to complex in situ printing scenarios, which require a controlled printing platform. The lack of a stable printing platform is a fundamental limitation of its use in in situ applications. To address this issue, we present a novel platform-independent 3D fabrication process that enables printing on platforms with non-cooperative movement. The process overcomes the challenge of high-speed tracking, motion compensation, and real-time printing by developing a closed-loop visual feedback-controlled robotic printing process. The proposed process incorporates a marker-based visual detection and tracking controller setup, which is discussed in detail. The algorithm consists of two loops running asynchronously: a high-speed inner control loop and an outer measurement loop. This setup enables precise and accurate tracking of the printing platform, compensating for any disturbances during the printing process. Our experimental results demonstrate the successful printing of simple linear geometries, even with low-disturbing platform velocities. Moreover, the tracking controllers' ability to handle measurement occlusion is validated, showing the proposed process's robustness and effectiveness. Our work provides a significant step towards enabling 3D printing in complex in situ printing scenarios.</p></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"100 ","pages":"Article 103191"},"PeriodicalIF":3.3,"publicationDate":"2024-04-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S0957415824000564/pdfft?md5=1147dcc9e0a38748f6f9768811eda691&pid=1-s2.0-S0957415824000564-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140650439","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0