Mechatronics最新文献_第3页

An iterative algorithm to symbolically derive generalized n-trailer vehicle kinematics 广义n-挂车运动学符号化推导的迭代算法

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2025-05-23 DOI: 10.1016/j.mechatronics.2025.103350

Yuvraj Singh , Adithya Jayakumar , Giorgio Rizzoni

{"title":"An iterative algorithm to symbolically derive generalized n-trailer vehicle kinematics","authors":"Yuvraj Singh , Adithya Jayakumar , Giorgio Rizzoni","doi":"10.1016/j.mechatronics.2025.103350","DOIUrl":"10.1016/j.mechatronics.2025.103350","url":null,"abstract":"<div><div>Articulated multi-axle vehicles are interesting from a control-theoretic perspective due to their peculiar kinematic offtracking characteristics, instability modes, and singularities. Holonomic and nonholonomic constraints affecting the kinematic behavior is investigated in order to develop control-oriented kinematic models representative of these peculiarities. Then, the structure of these constraints is exploited to develop an iterative algorithm to symbolically derive yaw-plane kinematic models of generalized <span><math><mi>n</mi></math></span>-trailer articulated vehicles with an arbitrary number of multi-axle vehicle units. A formal proof is provided for the maximum number of kinematic controls admissible to a large-scale generalized articulated vehicle system, which leads to a generalized Ackermann steering law for <span><math><mi>n</mi></math></span>-trailer systems. Moreover, kinematic data collected from a test vehicle is used to validate the kinematic models and, to understand the rearward yaw rate amplification behavior of the vehicle pulling multiple simulated trailers.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"109 ","pages":"Article 103350"},"PeriodicalIF":3.1,"publicationDate":"2025-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144116384","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

Koopman-based modeling and control of motion systems with hysteresis dynamics using partial state feedback 基于koopman的迟滞运动系统部分状态反馈建模与控制

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2025-05-19 DOI: 10.1016/j.mechatronics.2025.103338

Michael Pumphrey , Almuatazbellah M. Boker , Mohammad Al Janaideh

{"title":"Koopman-based modeling and control of motion systems with hysteresis dynamics using partial state feedback","authors":"Michael Pumphrey , Almuatazbellah M. Boker , Mohammad Al Janaideh","doi":"10.1016/j.mechatronics.2025.103338","DOIUrl":"10.1016/j.mechatronics.2025.103338","url":null,"abstract":"<div><div>Koopman operator theory represents nonlinear dynamical systems as linear systems in an extended state-space. By selecting observable functions composed of derivatives and functions of derivatives derived from the system output, it is possible to model the system without requiring knowledge of its internal states. The Koopman observable functions are iteratively refined to achieve close alignment with the original system dynamics. The resulting linear model in the extended space is then incorporated into a linear quadratic tracker (LQT) framework, enabling the system output to track a desired reference signal. The proposed method is demonstrated on a mechanical motion system with Bouc–Wen hysteresis, where the Koopman-based model and LQT provide robust control of the nonlinear system and can track a smooth trapezoidal step-scan trajectory for wafer scanner machines. The controller was also compared to a traditional PID controller, showing improved performance over the trajectory. Furthermore, simulation results demonstrate the controller’s robustness against varying initial conditions, parameter uncertainties, and external disturbances.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"109 ","pages":"Article 103338"},"PeriodicalIF":3.1,"publicationDate":"2025-05-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144084390","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

Passivity-constrained variable impedance control based on hierarchical decoupling controller for hydraulic manipulators 基于层次解耦控制器的液压机械臂无源约束变阻抗控制

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2025-05-17 DOI: 10.1016/j.mechatronics.2025.103340

Jun Shen , Lizhou Fang , Kun Zhang , Huaizhi Zong , Min Cheng , Ruqi Ding , Junhui Zhang , Bing Xu

{"title":"Passivity-constrained variable impedance control based on hierarchical decoupling controller for hydraulic manipulators","authors":"Jun Shen , Lizhou Fang , Kun Zhang , Huaizhi Zong , Min Cheng , Ruqi Ding , Junhui Zhang , Bing Xu","doi":"10.1016/j.mechatronics.2025.103340","DOIUrl":"10.1016/j.mechatronics.2025.103340","url":null,"abstract":"<div><div>Impedance control makes the manipulator compliant by regulating the dynamic behavior between the environment and itself. As contact-based applications become more complex, variable impedance control has attracted more attention. However, variable impedance control can cause instability when directly switching impedance parameters, which is a conflict between maintaining the passivity and varying impedance parameters. To solve this conflict, a novel passivity-constrained variable impedance controller for hydraulic manipulators is proposed within the framework of model predictive control. With the impedance relationship and the manipulator dynamics integrated into a prediction model, the proposed strategy utilizes the passivity constraint and the impedance error cost to achieve an optimized tradeoff between passivity guarantee and impedance variation. Furthermore, the inner-loop motion of the hydraulic manipulator is controlled by the hierarchical decoupling controller with the manipulator dynamics and the nonlinearity of the valve-controlled cylinder system considered. The effectiveness of this method was verified by experiments on a heavy-duty hydraulic manipulator. Compared with the traditional method, the proposed method can improve the passivity while ensuring the timely modulation of impedance parameters.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"109 ","pages":"Article 103340"},"PeriodicalIF":3.1,"publicationDate":"2025-05-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144072640","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

Real-time visual pose estimation: from BOP objects to custom drone — A journey 实时视觉姿态估计：从防喷器对象自定义无人机-一个旅程

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2025-05-17 DOI: 10.1016/j.mechatronics.2025.103339

Thomas Rey , Julien Moras , Alexandre Eudes , Antoine Manzanera

引用次数: 0

A visco-elastic actuator with linear gas spring and variable damping 一种线性气弹簧可变阻尼粘弹性作动器

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2025-05-14 DOI: 10.1016/j.mechatronics.2025.103334

Florian C. Loeffl , Fabian Beck , Jinoh Lee , MinJun Kim , Manuel Keppler

{"title":"A visco-elastic actuator with linear gas spring and variable damping","authors":"Florian C. Loeffl , Fabian Beck , Jinoh Lee , MinJun Kim , Manuel Keppler","doi":"10.1016/j.mechatronics.2025.103334","DOIUrl":"10.1016/j.mechatronics.2025.103334","url":null,"abstract":"<div><div>Series elastic actuators (SEAs) enhance safety and robustness in robotic joints but sacrifice torque and motion bandwidth compared to rigid actuators. Variable viscoelastic actuators (VVEAs) overcome these limitations by integrating an adjustable damping element with a spring, balancing open-loop torque bandwidth with impact safety and robustness. However, most existing VVEA designs rely on mechanical springs that add significant weight. We introduce a lightweight VVEA based on a pneumatic spring design. This actuator achieves linear, offline-adjustable stiffness using antagonistic gas chambers and provides online-adjustable damping via a hydraulic throttle valve. In our design, the increasing force of one chamber is moderated by the decreasing force of the other, resulting in a measured maximal deviation of 12% from the linear model. Additionally, an elastic silicone cast bladder replaces the conventional ring-shaped piston, significantly reducing breakaway force. To evaluate its benefits over standard actuators, we applied optimal control to periodic rest-to-rest motions typical of pick-and-place tasks. Based on mean tracking error, the VVEA outperforms SEAs in 29.1% of trials and rigid actuators in 89.2% of trials. Although increasing damping improves performance, it compromises safety; our optimization study demonstrates the potential of an online variable damping setpoint to balance these trade-offs. These results suggest that VVEAs hold great promise for applications requiring rapid maneuvers and enhanced impact safety and robustness.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"109 ","pages":"Article 103334"},"PeriodicalIF":3.1,"publicationDate":"2025-05-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143941215","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

Smart infrastructure and autonomous vehicles: Ensuring safety and efficiency in urban traffic with Control Barrier Functions 智能基础设施和自动驾驶汽车：通过控制障碍功能确保城市交通的安全和效率

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2025-05-13 DOI: 10.1016/j.mechatronics.2025.103332

Filippo Bernabei, Cristian Secchi

引用次数: 0

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