Mechatronics最新文献_第3页

A hybrid task-constrained motion planning for collaborative robots in intelligent remanufacturing 智能再制造中协作机器人的混合任务约束运动规划

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2024-06-27 DOI: 10.1016/j.mechatronics.2024.103222

Wansong Liu , Chang Liu , Xiao Liang , Minghui Zheng

{"title":"A hybrid task-constrained motion planning for collaborative robots in intelligent remanufacturing","authors":"Wansong Liu , Chang Liu , Xiao Liang , Minghui Zheng","doi":"10.1016/j.mechatronics.2024.103222","DOIUrl":"https://doi.org/10.1016/j.mechatronics.2024.103222","url":null,"abstract":"<div><p>Industrial manipulators have extensively collaborated with human operators to execute tasks, e.g., disassembly of end-of-use products, in intelligent remanufacturing. A safety task execution requires real-time path planning for the manipulator’s end-effector to autonomously avoid human operators. This is even more challenging when the end-effector needs to follow a planned path while avoiding the collision between the manipulator body and human operators, which is usually computationally expensive and limits real-time application. This paper proposes an efficient hybrid motion planning algorithm that consists of <span><math><msup><mrow><mi>A</mi></mrow><mrow><mo>∗</mo></mrow></msup></math></span> algorithm and an online manipulator reconfiguration mechanism (OMRM) to tackle such challenges in task and configuration spaces, respectively. <span><math><msup><mrow><mi>A</mi></mrow><mrow><mo>∗</mo></mrow></msup></math></span> algorithm is first leveraged to plan the shortest collision-free path of the end-effector in task space. When the manipulator body is risky to the human operator, our OMRM then selects an alternative joint configuration with minimum reconfiguration effort from a database to assist the manipulator to follow the planned path and avoid the human operator simultaneously. The database of manipulator reconfiguration establishes the relationship between the task and configuration space offline using forward kinematics, and is able to provide multiple reconfiguration candidates for a desired end-effector’s position. The proposed new hybrid algorithm plans safe manipulator motion during the whole task execution. Extensive numerical and experimental studies, as well as comparison studies between the proposed one and the state-of-the-art ones, have been conducted to validate the proposed motion planning algorithm.</p></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":null,"pages":null},"PeriodicalIF":3.1,"publicationDate":"2024-06-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141483838","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

Multi-mode vehicle pose estimation under different GNSS conditions 不同 GNSS 条件下的多模式车辆姿态估计

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2024-06-24 DOI: 10.1016/j.mechatronics.2024.103223

Shouren Zhong, Jian Zhao, Yang Zhao, Zitong Shan, Zijian Cai, Bing Zhu

{"title":"Multi-mode vehicle pose estimation under different GNSS conditions","authors":"Shouren Zhong, Jian Zhao, Yang Zhao, Zitong Shan, Zijian Cai, Bing Zhu","doi":"10.1016/j.mechatronics.2024.103223","DOIUrl":"https://doi.org/10.1016/j.mechatronics.2024.103223","url":null,"abstract":"<div><p>The integrated navigation system combining the global navigation satellite system (GNSS) and inertial navigation system (INS) is a crucial method for pose estimation in the field of autonomous driving technologies. Nevertheless, the accuracy of pose estimation is severely compromised when GNSS signals are obstructed or disrupted. To address this issue, this study introduces a multi-mode pose estimation framework designed to ensure accurate pose estimation even under unstable GNSS conditions. By integrating vehicle kinematics model that considers steering characteristics (VKMSC) and the convolutional neural network-long short-term memory (CNN-LSTM) neural network (NN) model into various estimation modes, the framework enhances the robustness of the integrated navigation system against signal interference. The system dynamically selects the optimal estimation strategy based on the degree of GNSS signal disruption. The proposed method has been validated through real-vehicle experiments, which demonstrate its efficacy in providing precise pose estimation across a spectrum of interference scenarios. Under the multipath and non-line-of-sight (MP/NLOS) mode, compared to the integrated navigation system and the fusion of traditional vehicle kinematic models, the proposed method improved positional estimation accuracy by 61.8 % and 19.7 %, respectively. In GNSS outage mode, the proposed method increased the estimation accuracy by 36.5 % and 12.0 %, respectively, compared to the INS navigation system assisted by the VKMSC and CNN-LSTM network model. The proposed method effectively reduces pose estimation errors in the integrated navigation system during interference and suppresses data fluctuations, thereby enhancing the system's precision and robustness.</p></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":null,"pages":null},"PeriodicalIF":3.1,"publicationDate":"2024-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141486924","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

Reduced-order modeling of modular, position-dependent systems with translating interfaces 具有平移接口的模块化、位置相关系统的低阶建模

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2024-06-24 DOI: 10.1016/j.mechatronics.2024.103224

Robert A. Egelmeers , Lars A.L. Janssen , Rob H.B. Fey , Jasper W. Gerritsen , Nathan van de Wouw

{"title":"Reduced-order modeling of modular, position-dependent systems with translating interfaces","authors":"Robert A. Egelmeers , Lars A.L. Janssen , Rob H.B. Fey , Jasper W. Gerritsen , Nathan van de Wouw","doi":"10.1016/j.mechatronics.2024.103224","DOIUrl":"https://doi.org/10.1016/j.mechatronics.2024.103224","url":null,"abstract":"<div><p>Many complex mechatronic systems consist of multiple interconnected dynamical subsystems, which are designed, developed, analyzed, and manufactured by multiple independent teams. To support such a design approach, a modular model framework is needed to reduce computational complexity and, at the same time, enable multiple teams to develop and analyze the subsystems in parallel. In such a modular framework, the subsystem models are typically interconnected by means of a static interconnection structure. However, many complex dynamical systems exhibit position-dependent behavior (e.g., induced by translating interfaces) which cannot be captured by such static interconnection models. In this paper, a modular model framework is proposed, which allows to construct an interconnected system model, which captures the position-dependent behavior of systems with translating interfaces, such as linear guide rails, through a position-dependent interconnection structure. Additionally, this framework allows to apply model reduction on subsystem level, enabling a more effective reduction approach, tailored to the specific requirements of each subsystem. Furthermore, we show the effectiveness of this framework on an industrial wire bonder. Here, we show that including a position-dependent model of the interconnection structure (1) enables to accurately model the dynamics of a system over the operating range of the system and, (2) modular model reduction methods can be used to obtain a computationally efficient interconnected system model with guaranteed accuracy specifications.</p></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":null,"pages":null},"PeriodicalIF":3.1,"publicationDate":"2024-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S0957415824000898/pdfft?md5=3247f0fc305ab5ccbedb583be71d9b5e&pid=1-s2.0-S0957415824000898-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141483837","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

A heuristic solution-based motion planning framework for redundant manipulators 基于启发式解决方案的冗余机械手运动规划框架

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2024-06-22 DOI: 10.1016/j.mechatronics.2024.103220

Ziyang Wang, Liang Wan, Haibo Zhou, Linjiao Xiao, Lei Kuang, Ji'an Duan

{"title":"A heuristic solution-based motion planning framework for redundant manipulators","authors":"Ziyang Wang, Liang Wan, Haibo Zhou, Linjiao Xiao, Lei Kuang, Ji'an Duan","doi":"10.1016/j.mechatronics.2024.103220","DOIUrl":"https://doi.org/10.1016/j.mechatronics.2024.103220","url":null,"abstract":"<div><p>Motion planning and optimization are the key and challenging problems for redundant manipulators operating in cluttered environments. This paper proposes a motion planning framework based on the heuristic solution that explores the optimal solutions for path planning and kinematic solutions by estimating the cost of target configurations via dynamic programming methods. A heuristic function model based on artificial neural networks (ANN) is constructed in the path planning structure and rapidly trained through the RRT* algorithm, leveraging value iteration concepts to search the state space. This structure can utilize previous experience to guide future exploration behavior with significant improvements in path quality and algorithm efficiency. The kinematic solving structure is unified with path planning by building a global energy optimal heuristic function. K-means is employed to determine the initial policy, avoid ineffective searches in non-critical spaces, and introduce gradient concepts to explore the optimal policy rapidly. The proposed method can obtain better energy optimization results while ensuring solving efficiency. The optimal joint angles of the manipulator are determined through collision detection and posture adjustment methods. Finally, the performance of the proposed framework is simulated and experimentally verified.</p></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":null,"pages":null},"PeriodicalIF":3.1,"publicationDate":"2024-06-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141438076","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

Compliant control of biomimetic parallel torso based on musculoskeletal control 基于肌肉骨骼控制的生物仿生平行躯干顺应性控制

IF 3.3 3区计算机科学

Mechatronics Pub Date : 2024-06-18 DOI: 10.1016/j.mechatronics.2024.103207

Ruyue Li , Yaguang Zhu , Jianwei Zhu , Zhimin He

{"title":"Compliant control of biomimetic parallel torso based on musculoskeletal control","authors":"Ruyue Li , Yaguang Zhu , Jianwei Zhu , Zhimin He","doi":"10.1016/j.mechatronics.2024.103207","DOIUrl":"https://doi.org/10.1016/j.mechatronics.2024.103207","url":null,"abstract":"<div><p>Compliant movement and stress buffering of the torso are particularly important for state transition during high-speed locomotion in quadrupedal mammals. Currently, passive compliant control is commonly used in bionic torsos of quadruped robots, while active compliant control remains rare and immature. In previous research, we developed an active six-Degree-of-Freedom (DoF) bionic parallel torso. In this paper, we establish a muscle model that includes four biomechanical elements representing muscle characteristics (muscle force-fiber length and muscle velocity relationships) from the perspective of biology and physiology. We propose a musculoskeletal model that simulates the biological motion control system to control the compliant movement of each joint of the parallel mechanism. This model includes: 1) a neural equilibrium point controller that represents the transmission of motion commands, 2) activation dynamics that describe the activation of stimulated muscles, 3) contraction dynamics that emphasize the biomechanical characteristics of muscle tendons, 4) skeletal dynamics that describe bone movement. The effects of flexor and extensor stimulation on muscle activation, force, length, and velocity were analyzed. The results showed that both the flexor and extensor muscles will contract after corresponding stimulation. Furthermore, adjusting muscle stimulation through the musculoskeletal model can drive the parallel mechanism to reach the desired position. The musculoskeletal control method based on external force feedback can establish new torque balance in joints and drive the parallel torso to achieve compliant movements. Simulation and experiments have demonstrated the feasibility of the musculoskeletal control method. This method enhances the compliance and environmental adaptability of the parallel torso in practical applications.</p></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":null,"pages":null},"PeriodicalIF":3.3,"publicationDate":"2024-06-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141423890","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

Combining underactuation with vacuum grasping for improved robotic grippers 将欠激励与真空抓取相结合，改进机器人抓手

IF 3.3 3区计算机科学

Mechatronics Pub Date : 2024-06-12 DOI: 10.1016/j.mechatronics.2024.103211

Matteo Maggi, Giacomo Mantriota, Giulio Reina

引用次数: 0

Wave dynamics intrinsic in symmetric four-channel bilateral teleoperation: Mutual impedance-based motion control 对称四通道双边远程操作的内在波动力学：基于相互阻抗的运动控制

IF 3.3 3区计算机科学

Mechatronics Pub Date : 2024-06-05 DOI: 10.1016/j.mechatronics.2024.103209

Kosuke Shikata, Seiichiro Katsura

{"title":"Wave dynamics intrinsic in symmetric four-channel bilateral teleoperation: Mutual impedance-based motion control","authors":"Kosuke Shikata, Seiichiro Katsura","doi":"10.1016/j.mechatronics.2024.103209","DOIUrl":"https://doi.org/10.1016/j.mechatronics.2024.103209","url":null,"abstract":"<div><p>Bilateral teleoperation is a network control system that connects distant locations under force sensation and contributes to task execution. The motivation of this study is to focus on the importance of symmetry in bilateral teleoperation systems and to design controller configurations with symmetry. This study employs the acceleration control-based four-channel bilateral teleoperation (AC4BT). AC4BTs have the regulator to zero in resultant force and the controller in positional difference, which can precisely achieve bidirectional force transmission and position synchronization while maintaining its symmetric structure. However, the coupled design of the force regulator and position controller remains challenging. The mutual impedance-based motion control approach derives and discusses the intrinsic wave dynamics in AC4BT under communication delay. The mutual impedance determines the transmission characteristics of force and position in bilateral teleoperation since it corresponds to the characteristic impedance in distributed-parameter systems. This study proposes the force-proportional-integral (force PI) and position-proportional-derivative (position PD) controllers, with the gain settings canceling the frequency-dependent terms. Without interfering with the realization of the control objectives, this brings the phase relationship between the force and velocity in manipulation closer to that performed in a no-delay situation. Experimental results verify the proposed approach.</p></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":null,"pages":null},"PeriodicalIF":3.3,"publicationDate":"2024-06-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S0957415824000746/pdfft?md5=0b573e6ea7fa8b8b4d951e489c1eeb6d&pid=1-s2.0-S0957415824000746-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141264271","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

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":null,"pages":null},"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":null,"pages":null},"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