Mechatronics最新文献_第2页

Language-driven closed-loop grasping with model-predictive trajectory optimization 基于模型预测轨迹优化的语言驱动闭环抓取

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2025-05-12 DOI: 10.1016/j.mechatronics.2025.103335

H.H. Nguyen , M.N. Vu , F. Beck , G. Ebmer , A. Nguyen , W. Kemmetmueller , A. Kugi

{"title":"Language-driven closed-loop grasping with model-predictive trajectory optimization","authors":"H.H. Nguyen , M.N. Vu , F. Beck , G. Ebmer , A. Nguyen , W. Kemmetmueller , A. Kugi","doi":"10.1016/j.mechatronics.2025.103335","DOIUrl":"10.1016/j.mechatronics.2025.103335","url":null,"abstract":"<div><div>Combining a vision module inside a closed-loop control system for the <em>seamless movement</em> of a robot in a manipulation task is challenging due to the inconsistent update rates between utilized modules. This task is even more difficult in a dynamic environment, e.g., objects are moving. This paper presents a <em>modular</em> zero-shot framework for language-driven manipulation of (dynamic) objects through a closed-loop control system with real-time trajectory replanning and an online 6D object pose localization. We segment an object within <span><math><mrow><mtext>0.5</mtext><mspace></mspace><mtext>s</mtext></mrow></math></span> by leveraging a vision language model via language commands. Then, guided by natural language commands, a closed-loop system, including a unified pose estimation and tracking and online trajectory planning, is utilized to continuously track this object and compute the optimal trajectory in real time. Our proposed zero-shot framework provides a smooth trajectory that avoids jerky movements and ensures the robot can grasp a non-stationary object. Experimental results demonstrate the real-time capability of the proposed zero-shot modular framework to accurately and efficiently grasp moving objects. The framework achieves update rates of up to 30Hz for the online 6D pose localization module and 10Hz for the receding-horizon trajectory optimization. These advantages highlight the modular framework’s potential applications in robotics and human–robot interaction; see the video at <span><span>language-driven-grasping.github.io</span><svg><path></path></svg></span>.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"109 ","pages":"Article 103335"},"PeriodicalIF":3.1,"publicationDate":"2025-05-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143935648","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

Parameter-varying feedforward control: A kernel-based learning approach 参数变化前馈控制：一种基于核的学习方法

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2025-05-09 DOI: 10.1016/j.mechatronics.2025.103337

Max van Haren , Lennart Blanken , Tom Oomen

引用次数: 0

Enhancing wide-band trajectory tracking and finite-time control of Dielectric Elastomer Actuators using Nonsingular terminal sliding mode control scheme 采用非奇异终端滑模控制方案增强介质弹性体作动器的宽带轨迹跟踪和有限时间控制

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2025-05-08 DOI: 10.1016/j.mechatronics.2025.103336

Shakiru Olajide Kassim , Jiang Zou , Vahid Behnamgol , Vahid Vaziri , Sumeet S. Aphale

{"title":"Enhancing wide-band trajectory tracking and finite-time control of Dielectric Elastomer Actuators using Nonsingular terminal sliding mode control scheme","authors":"Shakiru Olajide Kassim , Jiang Zou , Vahid Behnamgol , Vahid Vaziri , Sumeet S. Aphale","doi":"10.1016/j.mechatronics.2025.103336","DOIUrl":"10.1016/j.mechatronics.2025.103336","url":null,"abstract":"<div><div>The utilization of Dielectric Elastomer Actuators (DEAs) in soft robotics is becoming increasingly popular due to their distinctive properties. However, controlling these actuators is challenging due to their nonlinear nature. This study addresses precise control of DEAs while minimizing nonlinear effects over a wide frequency range using a Sliding Mode Control (SMC) scheme. Traditional SMC approaches face two main issues: they do not ensure finite-time convergence during the sliding phase and compromise tracking accuracy due to approximations used to reduce chattering. This work presents a non-singular terminal sliding mode control combined with an enhanced boundary layer switching function to improve precision and finite-time stability. Using stability analysis, extensive MATLAB/SIMULINK simulations, and experimental validation on a conical DEA across diverse reference trajectories and its resilience against uncertainties, the proposed scheme demonstrates superior performance in trajectory tracking compared to PID-based and conventional SMC schemes. The results highlight the scheme’s effectiveness in high-frequency trajectory tracking and its robustness to possible uncertainties and disturbances, offering a robust theoretical framework for dielectric elastomer actuator control and a promising approach for advancing soft robotic technologies.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"109 ","pages":"Article 103336"},"PeriodicalIF":3.1,"publicationDate":"2025-05-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143922975","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

Velocity control of actuators in hydraulic manipulators based on a pressure-independent model with application to a telescopic handler 基于压力无关模型的液压机械臂执行器速度控制，并在伸缩式机械手中的应用

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2025-05-07 DOI: 10.1016/j.mechatronics.2025.103331

Christos Parlapanis , Matthias Frontull , Oliver Sawodny

{"title":"Velocity control of actuators in hydraulic manipulators based on a pressure-independent model with application to a telescopic handler","authors":"Christos Parlapanis , Matthias Frontull , Oliver Sawodny","doi":"10.1016/j.mechatronics.2025.103331","DOIUrl":"10.1016/j.mechatronics.2025.103331","url":null,"abstract":"<div><div>Hydraulic cylinders are critical components in industrial machinery, providing the large actuation forces required for lifting and positioning of heavy loads. Reliable control of hydraulic actuators is a core objective for realization of full automation as well as implementation of assistance functions enhancing efficiency, energy conservation and operational safety. Model-based approaches address the inherent challenges of nonlinear dynamics and varying external influences. However, complex models increase computational effort and the number of required sensors while giving up generality. This work presents the design of a cylinder velocity controller that incorporates a simplified model approximating the highly dynamic hydraulic system behavior. The proposed control scheme requires only cylinder position signals and consists of a feed-forward component effectively compensating the simplified system dynamics in combination with an online implementation of the Linear Quadratic Regulator for state feedback. Desired trajectories for the states of each individual cylinders result from generation of S-curves and are compared to estimated states from an Extended Kalman Filter. The resulting pressure-independent, model-based velocity control method is validated through measurements with a telescopic handler. However, the approach can be expanded and adapted to various hydraulic machinery.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"109 ","pages":"Article 103331"},"PeriodicalIF":3.1,"publicationDate":"2025-05-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143911753","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

Design of an intelligent vibration damping fixture for robotic machining of thin-walled parts 薄壁零件机器人加工智能减振夹具的设计

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2025-05-05 DOI: 10.1016/j.mechatronics.2025.103333

Yang Li , Bo Li , Wei Zhao , Wei Tian , Wenhe Liao

引用次数: 0

Active damping control of higher-order resonance mode in positioning systems: Application to prototype compliant dual positioning stage 定位系统中高阶共振模式的主动阻尼控制：在原型柔性双定位台上的应用

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2025-05-05 DOI: 10.1016/j.mechatronics.2025.103315

N.J. Dee, A.M. Natu, S.H. HosseinNia

{"title":"Active damping control of higher-order resonance mode in positioning systems: Application to prototype compliant dual positioning stage","authors":"N.J. Dee, A.M. Natu, S.H. HosseinNia","doi":"10.1016/j.mechatronics.2025.103315","DOIUrl":"10.1016/j.mechatronics.2025.103315","url":null,"abstract":"<div><div>In precision positioning systems, lightly damped higher-order resonance modes can induce undesirable vibrations that degrade system performance and accuracy. These resonances pose additional challenges in non-collocated dual-stage positioning systems, where they significantly limit control bandwidth. Although conventional notch filters are commonly used alongside tracking controllers to enhance bandwidth, they lack robustness when faced with system parameter uncertainties. Moreover, the effects of the delimiting resonance on disturbance rejection remain. Active damping control has been successfully used to mitigate issues related to the primary resonance mode, but its application to higher-order modes has not been explored. This paper introduces a novel control strategy, High-Pass Positive Position Feedback (HP-PPF), inspired by existing methods but designed specifically for active damping of higher-order, non-collocated modes in positioning systems. The proposed method incorporates a second-order high-pass filter within a positive feedback loop, effectively attenuating the delimiting resonance. Integrated with a PID tracking controller in a dual-loop configuration, this method enhances disturbance rejection and robustness against model uncertainties, overcoming limitations of traditional notch filter-based methods while achieving comparable bandwidth improvements. The proposed control architecture is validated through a proof-of-concept experimental setup that demonstrates the effectiveness of the underlying mathematical framework.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"109 ","pages":"Article 103315"},"PeriodicalIF":3.1,"publicationDate":"2025-05-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143903772","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

Global kinodynamic motion planning for an underactuated timber crane with stochastic trajectory optimization 基于随机轨迹优化的欠驱动木起重机整体运动规划

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2025-04-29 DOI: 10.1016/j.mechatronics.2025.103319

Marc-Philip Ecker , Bernhard Bischof , Minh Nhat Vu , Christoph Fröhlich , Tobias Glück , Wolfgang Kemmetmüller

引用次数: 0

Data-driven frequency-domain iterative learning control with transfer learning 基于迁移学习的数据驱动频域迭代学习控制

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2025-04-27 DOI: 10.1016/j.mechatronics.2025.103327

Yu-Hsiu Lee, Yu-Hsiang Chin, Chun-Yuan Hsueh

{"title":"Data-driven frequency-domain iterative learning control with transfer learning","authors":"Yu-Hsiu Lee, Yu-Hsiang Chin, Chun-Yuan Hsueh","doi":"10.1016/j.mechatronics.2025.103327","DOIUrl":"10.1016/j.mechatronics.2025.103327","url":null,"abstract":"<div><div>Data-driven iterative learning control (ILC) can achieve improved tracking performance over model-based ILC by eliminating the fitting error from parametric system representations. Existing data-driven approaches in frequency domain take advantage of the affordability and speed associated with acquiring non-parametric frequency response function data for effective learning. However, the quality of data significantly influences the achievable performance. Additionally, a notable drawback is that learning is reset whenever the tracked trajectory changes, despite having learned similar frequency contents before. Extending these approaches to multivariate systems with non-negligible coupling is also not straightforward. This paper aims to address the aforementioned challenges in data-driven ILC by employing spectral analysis (SA), which improves the learned data-driven inversion by mitigating the measurement noise. Fast and robust convergence is made possible through an iteration-varying learning gain. Also proposed is a transfer learning strategy in the frequency domain, wherein the inversion learned in specific frequency bin(s) will be preserved and utilized to expedite convergence in subsequent tasks. The presented ILC algorithm based on SA naturally extends to the multi-input multi-output (MIMO) framework, and the convergence can be ensured by complex-valued matrix analysis. The methodology is experimentally validated on a galvanometer for the SISO case and an H-type dual-drive gantry system for the MIMO case, demonstrating enhanced performance, transfer learning capabilities, and applicability to MIMO systems.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"108 ","pages":"Article 103327"},"PeriodicalIF":3.1,"publicationDate":"2025-04-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143877344","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

CAOC: Cooperative adaptive optimal control algorithm for networked direct current servo systems 网络直流伺服系统的协同自适应最优控制算法

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2025-04-27 DOI: 10.1016/j.mechatronics.2025.103312

Loi Ho Thai-Dai, Luy Nguyen Tan, Dung Nguyen Le, Lam Phan Huynh, Giap Nguyen Hoang

{"title":"CAOC: Cooperative adaptive optimal control algorithm for networked direct current servo systems","authors":"Loi Ho Thai-Dai, Luy Nguyen Tan, Dung Nguyen Le, Lam Phan Huynh, Giap Nguyen Hoang","doi":"10.1016/j.mechatronics.2025.103312","DOIUrl":"10.1016/j.mechatronics.2025.103312","url":null,"abstract":"<div><div>This letter proposes a novel cooperative adaptive optimal control (CAOC) algorithm for networked direct current servo (DCS) systems to achieve tracking synchronization in a cooperative system, where the leader generates the desired speed and the DCS followers track its output and synchronize with their own neighbors according to the communication graph topology in real time. As consensus tracking error dynamics is affected by the control inputs of the neighboring agents, the cost function for each agent includes not only its consensus tracking error and energy, but also the energies of the neighbors. Firstly, based on the Lyapunov theory and backstepping techniques, we design feedforward controllers that generate augmented control inputs to transform local consensus tracking dynamics in strict feedback form into affine form. Secondly, based on adaptive dynamic programming (ADP), we design the CAOC algorithm to minimize the performance index function. Finally, we conduct the simulation and experiment on the STM32F103 microcontrollers to validate the effectiveness of the proposed algorithm.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"108 ","pages":"Article 103312"},"PeriodicalIF":3.1,"publicationDate":"2025-04-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143877343","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

Mass flow control using estimated output feedback in semiconductor processes 半导体过程中使用估计输出反馈的质量流控制

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2025-04-26 DOI: 10.1016/j.mechatronics.2025.103320

Kotaro Takijiri, Kazuki Nakata, Daisuke Hayashi

引用次数: 0