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Mechatronics, IEEE/ASME Transactions on

Issue 1 • Date March 1999

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Displaying Results 1 - 14 of 14
  • Guest Editorial

    Publication Year: 1999 , Page(s): 1 - 2
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    Freely Available from IEEE
  • Motion control in an electric vehicle with four independently driven in-wheel motors

    Publication Year: 1999 , Page(s): 9 - 16
    Cited by:  Papers (88)  |  Patents (1)
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    We study methods of motion control for an electric vehicle (EV) with four independently driven in-wheel motors. First, we propose and simulate a novel robust dynamic yaw-moment control (DYC). DYC is a vehicle attitude control method that generates yaw from torque differences between the right and left wheels. The results of simulations, however, identify a problem with instability on slippery, low μ roads. To solve this problem, a new skid detection method is proposed that will be a part of traction control system (TCS) for each drive wheel. The experimental results show that this method can detect a skidding wheel, without any information on chassis velocity. Therefore, this method will be of great help during cornering or braking in a TCS. These methods will be integrated and tested in our new experimental EV View full abstract»

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  • Neural-network-based variable structure control of electrohydraulic servosystems subject to huge uncertainties without persistent excitation

    Publication Year: 1999 , Page(s): 50 - 59
    Cited by:  Papers (20)
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    A novel scheme investigating a radial-basis-function neural network (RBFNN) with variable structure control (VSC) for electrohydraulic servosystems subject to huge uncertainties is presented. Although the VSC possesses some advantages (e.g., fast response, less sensitive to uncertainties, and easy implementation), the chattering control input often occurs. The reason for a chattering control input is that the switching control in the VSC is used to cope with the uncertainties. The larger the uncertainties which arise, the larger switching control occurs. In this paper, an RBFNN is employed to model the uncertainties caused by parameter variations, friction, external load, and controller. A new weight updating law using a revision of e-modification by a time varying dead zone can achieve an exponential stability without the assumption of persistent excitation for the uncertainties or radial basis function. Then, an RBFNN-based VSC is constructed such that some part of uncertainties are tackled, that the tracking performance is improved, and that the level of chattering control input is attenuated. Finally, the stability of the overall system is verified by the Lyapunov stability criterion View full abstract»

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  • Nonlinear adaptive control of direct-drive brushless DC motors and applications to robotic manipulators

    Publication Year: 1999 , Page(s): 71 - 81
    Cited by:  Papers (15)
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    Robust adaptive nonlinear control of brushless DC (BLDC) motors is considered. A controller is designed for the plant that is robust to parametric and dynamic uncertainties in the entire electromechanical system. These uncertainties are shown to be bounded by polynomials in the states. In addition, the controller can reject any bounded unmeasurable disturbances entering the system. A model for the motor incorporating magnetic saturation is used to design voltage-level control inputs for the motor. The design methodology is based on our earlier work on adaptive control of nonlinear systems. The overall stability of the system is shown using Lyapunov techniques. The tracking error is shown to be globally uniformly bounded. The design procedure is shown to be also applicable to multilink manipulators actuated by BLDC motors. The performance of the controller is verified through simulations and comparisons with a proportional-integral-derivative-type controller are made View full abstract»

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  • Force oscillations in contact motion of industrial robots: an experimental investigation

    Publication Year: 1999 , Page(s): 86 - 91
    Cited by:  Papers (10)
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    Describes the results of research on the oscillatory behavior that has been systematically experienced in the force measured during contact motion of an industrial robot. Two phenomena have been found to be mainly responsible for it, namely, the arm structural elasticity due to the torsional flexibility of the joints and the torque ripple of the brushless motors. The structural elasticity is characterized by a resonance frequency which varies with the arm configuration, while the torque ripple has harmonics of frequency proportional to the motor velocity. Most severe oscillations, and even loss of the contact, arise when the resonance and ripple frequency values come closer or match, so that elasticity and ripple excite each other View full abstract»

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  • Modeling and analysis of electrostatic force for robot handling of fabric materials

    Publication Year: 1999 , Page(s): 39 - 49
    Cited by:  Papers (3)
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    Electrostatic force has received considerable interest in recent years for handling small objects in microsystems and microengineering applications, but little work has been carried out to study its use in handling large-size objects. This paper discusses the principles of a robotic electrostatic gripping device for the handling of large-size fabric plies. A theory is derived to describe the dynamic behavior of the charging/discharging processes of the gripping surface. Mathematical equations are developed to relate the dynamic performance of the gripping force to the device's design parameters and the properties of materials being handled. An automated experimental process is employed to validate the theory. The theoretical modeling and analysis of the gripping force has allowed optimization of the gripper's design parameters for practical materials handling applications. The design and construction of an electrostatic gripper for fabric handling in aerospace applications are discussed View full abstract»

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  • Comparative structural analysis of 2-DOF semi-direct-drive linkages for robot arms

    Publication Year: 1999 , Page(s): 82 - 86
    Cited by:  Papers (8)
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    Reports the first direct structural comparison of a family of two-degrees-of-freedom semi-direct-drive linkages for robot arms. One novel and three previously reported linkage designs were optimized and compared using finite-element analysis. The results quantify structural properties of the four optimized designs under variations in joint position and payload. Several frequently overlooked issues essential for fair comparison of disparate linkages are identified and addressed View full abstract»

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  • Mechanical construction and computer architecture of the four-legged walking machine BISAM

    Publication Year: 1999 , Page(s): 32 - 38
    Cited by:  Papers (23)
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    Presents a biologically inspired design of a four-legged walking machine. It offers the possibility to investigate reptile- and mammal-like walking with one mechanical concept. A flexible spinal column will support walking with better stability. For the control of the machine, a hierarchical organized computer architecture and a modular software concept are presented View full abstract»

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  • Vibration acceleration control of an inverter-fed electrodynamic shaker

    Publication Year: 1999 , Page(s): 60 - 70
    Cited by:  Papers (16)
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    Concerns control of an electrodynamic shaker for vibration-proof testing of electronic products. An acceleration controller for such a shaker fed by a switching-mode power amplifier is presented in this paper. First, the dynamic model of the shaker system is found and a high-performance current-controlled pulsewidth modulated inverter is designed and implemented. Then, a sophisticated acceleration control scheme being capable of waveform and magnitude regulation controls is proposed to lessen the undesired harmonic vibration caused by switching-mode driven power. In acceleration waveform control, the feedback controller is augmented with a feedforward controller and robust controller for obtaining excellent waveform tracking performance over a wide frequency range. As to the magnitude regulation control, the amplitude of the sinusoidal acceleration is accurately controlled to be equal to the setting value. Theoretical basis, practical consideration, and implementation of the proposed controllers are described in detail. Good current and acceleration control characteristics of the designed shaker are demonstrated by some measured results View full abstract»

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  • Precise, fault-tolerant pointing using a Stewart platform

    Publication Year: 1999 , Page(s): 91 - 95
    Cited by:  Papers (38)
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    Presents a precision pointing strategy. The principal contribution is the development of a fault-tolerant control which allows active pointing to continue despite multiple failures. A six-axes active platform is utilized to reject disturbances from a vibrating base to a precision payload. A decentralized controller is proposed which converts desired rotations into corresponding strut lengths via a decoupling transformation. The decoupling approach allows for simple single-input-single-output compensator design and for the incorporation of fault-tolerant strategies. The proposed strategy was evaluating on the microprecision interferometer testbed (a full-scale model of a future spaceborne optical interferometer) at the Jet Propulsion Laboratory, Pasadena, CA. Experimental pointing results demonstrate 50 dB of disturbance rejection at low frequency. In the laboratory ambient disturbance environment, this corresponds to a 1-μrad rms pointing error View full abstract»

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  • Multimotor electronic line shafts for rotary offset printing presses: a revolution in printing machine techniques

    Publication Year: 1999 , Page(s): 25 - 31
    Cited by:  Papers (5)
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    In rotary offset printing presses, mechanical line shafts are being replaced by electronic shafts which consist of synchronized position and speed-controlled AC motors driving the complete printing units or single printing cylinders. The dynamic stiffness of the multimotor system to satisfy the requirements of high printing accuracy can be achieved by high-dynamic, cascaded current, speed and position control of the the drives, which can be combined with disturbance observers in critical cases, or by direct drive technology View full abstract»

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  • Disturbance-observer-based nonlinear friction compensation in table drive system

    Publication Year: 1999 , Page(s): 3 - 8
    Cited by:  Papers (54)
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    Presents a disturbance-observer-based high-accuracy trajectory control algorithm for nonlinear friction compensation in table drive systems. In order to design an effective compensator, dynamic characteristics of the friction are examined and, as a result, a simple but high-accuracy disturbance observer can be designed on the basis of the analyzed friction characteristic. Using the observer-based compensation, the precise velocity/position control can be attained without the response delay which is caused by the restricted control bandwidth in conventional compensation algorithms. Experimental results show the significant performance improvement of the proposed algorithm in trajectory control with low feed rate and velocity reversal motion View full abstract»

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  • Two-degree-of-freedom control with robust feedback control for hard disk servo systems

    Publication Year: 1999 , Page(s): 17 - 24
    Cited by:  Papers (56)  |  Patents (1)
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    A two-degree-of freedom (2 DOF) control structure is proposed for read/write head servo systems of hard disk drives (HDDs). This structure is applied to both track seeking and track following, and makes mode switches found in conventional HDD servo systems unnecessary. Two innovative features introduced in the paper are: 1) a new method for generating the reference signal for track seeking and 2) two robust feedback control schemes for rejection of disturbances; one scheme uses a disturbance observer (DOB), and the other uses adaptive robust control (ARC). Simulation results show that the 2 DOF structure with ARC provides better performance than either the conventional servo system with mode switches or the 2 DOF structure with DOB. Experimental results show the advantage of the new reference generation method and the use of the DOB-based robust controller View full abstract»

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  • The 5th International Workshop on AMC'98 - Coimbra

    Publication Year: 1999 , Page(s): 0_1 - 0_3
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    First Page of the Article
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Aims & Scope

IEEE/ASME Transactions on Mechatronics encompasses all practical aspects of the theory and methods of mechatronics, the synergetic integration of mechanical engineering with electronic and intelligent computer control in the design and manufacture of industrial products and processes.

Full Aims & Scope

Meet Our Editors

Editor-in-Chief
Okyay Kaynak
Department of Electrical and Electronic Engineering
Bogazici University
34342 Istanbul, Turkey
okyay.kaynak@boun.edu.tr