Mechatronics最新文献_第7页

Accurate Contour Error Estimation-based robust contour control for dual-linear-motor-driven gantry stages 基于精确轮廓误差估计的双线性电机驱动龙门平台鲁棒轮廓控制

IF 3.3 3区计算机科学

Mechatronics Pub Date : 2024-03-21 DOI: 10.1016/j.mechatronics.2024.103174

Zhuang Kang , Weiyang Lin , Zhitai Liu , Ruiqi Xu

{"title":"Accurate Contour Error Estimation-based robust contour control for dual-linear-motor-driven gantry stages","authors":"Zhuang Kang , Weiyang Lin , Zhitai Liu , Ruiqi Xu","doi":"10.1016/j.mechatronics.2024.103174","DOIUrl":"https://doi.org/10.1016/j.mechatronics.2024.103174","url":null,"abstract":"<div><p>This article presents a novel adaptive contour control scheme for dual-linear-motors-driven gantry stages (DLMDGSs) with time-varying model parameters and disturbances, aiming to realize high-precision contour control. Specifically, a novel adaptive contour controller based on a coupled model is proposed, incorporating powerful projection adaption laws, to achieve the synchronization of multi-axis motors, regression of adaptive parameters, and high-precision contour performance. Additionally, a contour error estimation (CEE) method with four-order convergence rate is designed to ensure estimation accuracy, enhance estimation robustness, and reduce estimation time. Moreover, considering the periodicity of common control contour tasks, an iterative learning control (ILC) reference trajectory compensation structure is adopted to further improve the contour control effect. Finally, the stability and convergence of the closed-loop system are rigorously proven, and comparative experiments are conducted on a DLMDGS platform to demonstrate the superiority of the proposed control strategy.</p></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"100 ","pages":"Article 103174"},"PeriodicalIF":3.3,"publicationDate":"2024-03-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140181343","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

Cooperative compensate register control for mechanical shaft driven roll-to-roll printing system with dancer rolls 带舞动辊的机械轴驱动辊对辊印刷系统的合作补偿套准控制

IF 3.3 3区计算机科学

Mechatronics Pub Date : 2024-03-18 DOI: 10.1016/j.mechatronics.2024.103172

Tao Zhang , Ying Zheng , Zhonghua Deng , Zhihua Chen

{"title":"Cooperative compensate register control for mechanical shaft driven roll-to-roll printing system with dancer rolls","authors":"Tao Zhang , Ying Zheng , Zhonghua Deng , Zhihua Chen","doi":"10.1016/j.mechatronics.2024.103172","DOIUrl":"https://doi.org/10.1016/j.mechatronics.2024.103172","url":null,"abstract":"<div><p>In mechanical shaft driven roll-to-roll (R2R) printing systems, tension propagation caused by the regulation of dancer rolls increase the control difficulty of the whole system. In this paper, a cooperative compensate control (CoComC) method is proposed for the R2R printing systems to attenuate tension fluctuation and reduce the register errors. Specifically, a mechanical model is established to quantify the relationship among the web tension, linear velocity of dancer roll and register error. Based on the model, a well-tuned feedback control law is designed for each dancer roll, and a cooperative matrix is proposed to coordinate the feedback control to attenuate the tension fluctuation and reduce the register error in the corresponding printing unit. Further, the stability and convergence condition of the proposed control system are provided and proved via Lyapunov stability theory. The effectiveness of the proposed control method is demonstrated by experiments. Comparisons of the existing control method are carried out to show the superior performance of CoComC, i.e., higher register accuracy, superior fluctuation attenuation performance and less waste of printing material.</p></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"99 ","pages":"Article 103172"},"PeriodicalIF":3.3,"publicationDate":"2024-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140145252","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 4-DoF wearable hand device for haptic rendering of surfaces and edges 用于表面和边缘触觉渲染的 4-DoF 可穿戴手部设备

IF 3.3 3区计算机科学

Mechatronics Pub Date : 2024-03-18 DOI: 10.1016/j.mechatronics.2024.103173

Lisheng Kuang , Monica Malvezzi , Marco Ferro , Domenico Prattichizzo , Paolo Robuffo Giordano , Francesco Chinello , Claudio Pacchierotti

引用次数: 0

Cross-coupled iterative learning control: A computationally efficient approach applied to an industrial flatbed printer 交叉耦合迭代学习控制：应用于工业平板打印机的高效计算方法

IF 3.3 3区计算机科学

Mechatronics Pub Date : 2024-03-15 DOI: 10.1016/j.mechatronics.2024.103170

Leontine Aarnoudse , Johan Kon , Koen Classens , Max van Meer , Maurice Poot , Paul Tacx , Nard Strijbosch , Tom Oomen

引用次数: 0

Corrigendum to “An alternate drive method for improving the carrying load capacity and displacement smoothness of a vertical piezoelectric platform” [Mechatronics, 2023, 92: 102983] 对 "提高垂直压电平台承载能力和位移平稳性的另一种驱动方法 "的更正 [Mechatronics, 2023, 92: 102983]

IF 3.3 3区计算机科学

Mechatronics Pub Date : 2024-03-13 DOI: 10.1016/j.mechatronics.2024.103167

Qingbing Chang, Jie Deng, Weishan Chen, Yingxiang Liu

引用次数: 0

Hysteresis identification of joint with harmonic drive transmission based on Monte Carlo method 基于蒙特卡洛法的谐波驱动传动接头磁滞识别

IF 3.3 3区计算机科学

Mechatronics Pub Date : 2024-03-07 DOI: 10.1016/j.mechatronics.2024.103166

Qi Wang , Huapeng Wu , Heikki Handroos , Yuntao Song , Ming Li , Jian Yin , Yong Cheng

{"title":"Hysteresis identification of joint with harmonic drive transmission based on Monte Carlo method","authors":"Qi Wang , Huapeng Wu , Heikki Handroos , Yuntao Song , Ming Li , Jian Yin , Yong Cheng","doi":"10.1016/j.mechatronics.2024.103166","DOIUrl":"https://doi.org/10.1016/j.mechatronics.2024.103166","url":null,"abstract":"<div><p>In this study, we analyze the hysteresis behavior of robotic joints equipped with harmonic drivers under various speeds and loads, focusing on a range of hysteresis models including the Bouc–Wen (BW), Fractional Order Bouc–Wen (FOBW), and their integration with the Krasnoselskii–Pokrovskii (KP) model. This integration, which forms the KP-FOBW model, is a novel aspect of our research, offering an enhanced understanding of non-linear and hysteresis behaviors in robotic joints. We employ the Monte Carlo method, particularly focusing on the Stochastic Gradient Hamiltonian Monte Carlo (SGHMC), for precise parameter identification. Our results demonstrate that the FOBW model, especially when combined with the KP model, provides a more accurate representation of the hysteresis curves under varying operating conditions. The KP-FOBW combination emerges as a powerful tool to predict the output torque in robotic joints. This study contributes to a deeper understanding of hysteresis in joints with harmonic drivers, showcasing its potential for complex dynamic modeling in robotics.</p></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"99 ","pages":"Article 103166"},"PeriodicalIF":3.3,"publicationDate":"2024-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S095741582400031X/pdfft?md5=6d5cbdbd0ee811ae8840c8af1375cfc1&pid=1-s2.0-S095741582400031X-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140051994","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

Trajectory tracking control of autonomous space-based simulators for the on-orbit assembly of large space optical telescopes 用于大型空间光学望远镜在轨组装的自主天基模拟器的轨迹跟踪控制

IF 3.3 3区计算机科学

Mechatronics Pub Date : 2024-03-07 DOI: 10.1016/j.mechatronics.2024.103168

Jinhe Yang , Xuewen Wang , Ce Xu , Yi Yu , Tongjian Guo

引用次数: 0

Integration of piezoelectric and electrothermal actuators for high-resolution Atomic Force Microscopy 集成压电和电热致动器，实现高分辨率原子力显微镜检查

IF 3.3 3区计算机科学

Mechatronics Pub Date : 2024-03-05 DOI: 10.1016/j.mechatronics.2024.103165

Hazhir Mahmoodi Nasrabadi , Nastaran Nikooeenejad , K.S. Vikrant , S.O. Reza Moheimani

{"title":"Integration of piezoelectric and electrothermal actuators for high-resolution Atomic Force Microscopy","authors":"Hazhir Mahmoodi Nasrabadi , Nastaran Nikooeenejad , K.S. Vikrant , S.O. Reza Moheimani","doi":"10.1016/j.mechatronics.2024.103165","DOIUrl":"https://doi.org/10.1016/j.mechatronics.2024.103165","url":null,"abstract":"<div><p>The development of ultrasensitive silicon-based microcantilevers has significantly improved the imaging resolution of the Atomic Force Microscope (AFM). However, most of these microcantilevers require one or more external actuators and sensors for imaging, thus increasing the footprint and operational complexity of the instrument. Here we propose a novel active microcantilever that does not require any external actuator apart from the sample positioner to perform high-resolution AFM imaging. The proposed microcantilever is equipped with two different on-chip actuators: a piezoelectric actuator for oscillating the probe at a high frequency and an electrothermal actuator for providing large-range Z-motion. An on-chip differential piezoelectric sensor measures probe oscillation during imaging. To demonstrate the proof of concept, the microcantilever was microfabricated and integrated with an in-house developed AFM setup comprising of sample positioner and drive electronics. Finally, 3 different calibration gratings were imaged with a closed-loop bandwidth of <span><math><mrow><mn>150</mn><mspace></mspace><mspace></mspace><mi>Hz</mi></mrow></math></span>.</p></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"99 ","pages":"Article 103165"},"PeriodicalIF":3.3,"publicationDate":"2024-03-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140030900","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

Embedded model control of networked control systems: An experimental robotic application 网络控制系统的嵌入式模型控制：机器人实验应用

IF 3.3 3区计算机科学

Mechatronics Pub Date : 2024-03-02 DOI: 10.1016/j.mechatronics.2024.103160

Luca Nanu , Luigi Colangelo , Carlo Novara , Carlos Perez Montenegro

{"title":"Embedded model control of networked control systems: An experimental robotic application","authors":"Luca Nanu , Luigi Colangelo , Carlo Novara , Carlos Perez Montenegro","doi":"10.1016/j.mechatronics.2024.103160","DOIUrl":"https://doi.org/10.1016/j.mechatronics.2024.103160","url":null,"abstract":"<div><p>In Networked Control System (NCS), the absence of physical communication links in the loop leads to relevant issues, such as measurement delays and asynchronous execution of the control commands. In general, these issues may significantly compromise the performance of the NCS, possibly causing unstable behaviours. This paper presents an original approach to the design of a complete digital control unit for a system characterized by a varying sampling time and asynchronous command execution. The approach is based on the Embedded Model Control (EMC) methodology, whose key feature is the estimation of the disturbances, errors and nonlinearities affecting the plant to control and their online cancellation. In this way, measurement delays and execution asynchronicity are treated as errors and rejected up to a given frequency by the EMC unit. The effectiveness of the proposed approach is demonstrated in a real-world case-study, where the NCS consists of a differential-drive mobile robot (the plant) and a control unit, and the two subsystems communicate through the web without physical connection links. After a preliminary verification using a high-fidelity numerical simulator, the designed controller is validated in several experimental tests, carried out on a real-time embedded system incorporated in the robotic platform.</p></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"99 ","pages":"Article 103160"},"PeriodicalIF":3.3,"publicationDate":"2024-03-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S0957415824000254/pdfft?md5=663d0d1e97600edf698a0d886c44123c&pid=1-s2.0-S0957415824000254-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140016289","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

Automatic-switching-based teleoperation framework for mobile manipulator with asymmetrical mapping and force feedback 基于自动切换的移动机械手远程操作框架，具有非对称映射和力反馈功能

IF 3.3 3区计算机科学

Mechatronics Pub Date : 2024-02-26 DOI: 10.1016/j.mechatronics.2024.103164

Wenwen Li , Fanghao Huang , Zihao Chen , Zheng Chen

{"title":"Automatic-switching-based teleoperation framework for mobile manipulator with asymmetrical mapping and force feedback","authors":"Wenwen Li , Fanghao Huang , Zihao Chen , Zheng Chen","doi":"10.1016/j.mechatronics.2024.103164","DOIUrl":"https://doi.org/10.1016/j.mechatronics.2024.103164","url":null,"abstract":"<div><p>Teleoperation technology has become a feasible solution for the mobile manipulator to carry out complex tasks in remote environments, with its advantages of mobility and manipulability. However, due to the high redundancy of the mobile manipulator, its application in the field of teleoperation inevitably suffers from the problem of heterogeneity. This paper proposed an automatic-switching-based teleoperation framework with asymmetrical mapping and force feedback. Namely, special coefficients are designed to automatically switch the motion states of the remote robot, so that the traditional manual-based switching strategy can be replaced. Based on these coefficients, the hybrid asymmetrical mapping including the position–velocity and position–position modes can be achieved, as well as the force feedback considering the switching between the remote mobile platform and the manipulator, and thereby accomplishing the automatic switching during the teleoperation of the mobile manipulator. The comparative experiments and user study were carried out on the teleoperation platform. The experimental results show that this proposed teleoperation framework can reduce the time needed to complete the tasks and decrease the decision-making pressure of the operator, thus demonstrating the feasibility of the proposed framework.</p></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"99 ","pages":"Article 103164"},"PeriodicalIF":3.3,"publicationDate":"2024-02-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139986195","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