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Mechatronics, IEEE/ASME Transactions on

Issue 1 • Date Mar 2000

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Displaying Results 1 - 9 of 9
  • Stable visual servoing of camera-in-hand robotic systems

    Page(s): 39 - 48
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (292 KB)  

    In this paper, the control problem of camera-in-hand robotic systems is considered. In this approach, a camera is mounted on the robot, usually at the hand, which provides an image of objects located in the robot environment. The aim of this approach is to move the robot arm in such a way that the image of the objects attains the desired locations. We propose a simple image-based direct visual servo controller which requires knowledge of the objects' depths, but it does not need to use the inverse kinematics and the inverse Jacobian matrix. By invoking the Lyapunov direct method, we show that the overall closed-loop system is stable and, under mild conditions on the Jacobian, local asymptotic stability is guaranteed. Experiments with a two degrees-of-freedom direct-drive manipulator are presented to illustrate the controller's performance View full abstract»

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  • Mechatronic design and control of singly and doubly curved composite mesoscale actuator systems

    Page(s): 49 - 57
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (252 KB)  

    Recently, the design of curved mesoscale actuators (deflections from 1 to 15 mm) has been a topic of study for many researchers. The work in this paper deals with the development of a comprehensive modeling technique for dealing with curved actuators. First, the formulation begins with the equations of motion for a general shell surface. Second, relationships for reducing the equations to those for known actuators are given. The technique can be applied to a broad array of curved actuators. These actuators include but are not limited to rainbow actuators, thunder actuators, and basic C-block actuators. Next, the technique is then experimentally verified on a stack of rainbow actuators. Finally, the system is controlled using both classical and intelligent control techniques. In addition, hardware and circuitry issues are explored View full abstract»

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  • Minimum-time system-inversion-based motion planning for residual vibration reduction

    Page(s): 12 - 22
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (300 KB)  

    In this paper, we present a novel approach, based on system inversion, for the point-to-point motion planning of vibratory servosystems. The idea is to define a suitable parameterized motion law of the load which assures that no oscillations occurs during and at the end of the motion; then, by means of a noncausal system inversion, the command function of the system is determined with a continuous derivative of an arbitrary order. A procedure that minimizes the duration of the movement, taking into account actuator constraints, can then be performed. Comparisons with the well-known input shaping techniques have been performed via both a simulation example and an experimental setup. The proposed method, which is inherently robust to modeling errors, emerges as a very flexible and competitive technique View full abstract»

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  • Adaptive robust motion control of single-rod hydraulic actuators: theory and experiments

    Page(s): 79 - 91
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (404 KB)  

    High-performance robust motion control of single-rod hydraulic actuators with constant unknown inertia load is considered. The two chambers of a single-rod actuator have different areas, so the dynamic equations describing the pressure changes in them cannot be combined into a single load pressure equation. This complicates controller design since it not only increases the system dimension but also brings in the stability issue of the added internal dynamics. A discontinuous projection-based adaptive robust controller (ARC) is constructed. The controller takes into account not only the effect of parameter variations coming from the inertia load and various hydraulic parameters but also the effect of hard-to-model nonlinearities such as uncompensated friction forces and external disturbances. It guarantees a prescribed output tracking transient performance and final tracking accuracy in general while achieving asymptotic output tracking in the presence of parametric uncertainties. In addition, the zero error dynamics for tracking any nonzero constant velocity trajectory is shown to be globally uniformly stable. Experimental results are obtained for the swing motion control of a hydraulic arm and verify the high-performance nature of the proposed strategy. In comparison to a state-of-the-art industrial motion controller, the proposed algorithm achieves more than a magnitude reduction of tracking errors. Furthermore, during the constant velocity portion of the motion, it reduces the tracking errors almost down to the measurement resolution level View full abstract»

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  • Novel reference signal generation for two-degree-of-freedom controllers for hard disk drives

    Page(s): 73 - 78
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (200 KB)  

    This paper considers the determination of reference trajectories for use with a two-degree of-freedom (2-DOF) controller for the head positioning of hard disk drives (HDD). The reference trajectories are designed in two stages-off-line simulation and online reference generation. The HDD model used for the design includes the back electromotive force of the voice coil motor. In the second stage, the idea of structural vibration minimized acceleration trajectory is utilized to adjust the errors at the end of the trajectories. 2-DOF control with the proposed reference trajectory is compared to conventional mode-switching control, and its effectiveness is verified View full abstract»

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  • Multimode vibration control of a flexible structure using H-based robust control

    Page(s): 23 - 31
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (228 KB)  

    This paper presents the experimental results of a robust control scheme to suppress the vibration of a flexible structure. The feedback controller is designed using the H-based robust control theory. For this purpose, a flexible bridge tower connected with a crane structure is considered to control its first five vibration modes using a static state feedback controller. A five-degrees-of-freedom reduced-order lumped parameter mass model is derived by neglecting high-frequency vibration modes. The neglected vibration modes constitute the unstructured system uncertainties. An attempt has been made to reduce the unmodeled uncertainties by placing actuators and/or sensors at the node points of a neglected mode. The H -based control law is able to suppress the low-order vibration modes without any spillover instability due to neglected modes. The proposed control scheme is also shown to be robust against parameter variations. The performance of the control scheme is verified both by simulation and experimental studies View full abstract»

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  • Improved track following in magnetic disk drives using a disturbance observer

    Page(s): 3 - 11
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (236 KB)  

    Improving the position control of the disk drive read/write heads is an important step in increasing the storage capacity of a drive, especially in the presence of internal and external disturbances. To address this problem, the typical feedback loop of a disk drive servo system was augmented with a disturbance observer. The disturbance observer uses the position error signal and a nominal model of the plant to create an estimate of the disturbance. This estimate is then used to compensate for the disturbance effects. No additional sensors are required, which is particularly relevant in products such as disk drives where cost is a major concern. The effectiveness of the disturbance observer in rejecting shock and vibration disturbances is demonstrated in simulation and shake table experiments. The vibration experiments showed a decrease in the position error of 61%-96% at frequencies below 100 Hz. The maximum position error due to an experimental shock disturbance was decreased by 59%. The effects of noise in the position error signal are also discussed View full abstract»

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  • Mechatronic design and control of hybrid electric vehicles

    Page(s): 58 - 72
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (348 KB)  

    The work in this paper presents techniques for design, development, and control of hybrid electric vehicles (HEV). Toward these ends, four issues are explored. First, the development of HEV is presented. This synopsis includes a novel definition of degree of hybridization for automotive vehicles. Second, a load-leveling vehicle operation strategy is developed. In order to accomplish the strategy, a fuzzy logic controller is proposed. Fuzzy logic control is chosen because of the need for a controller for a nonlinear, multidomain, and time-varying plant with multiple uncertainties. Third, a novel technique for system integration and component sizing is presented. Fourth, the system design and control strategy is both simulated and then implemented in an actual vehicle. The controller examined in this study increased the fuel economy of a conventional full-sized vehicle from 40 to 55.7 mi/h and increased the average efficiency over the Federal Urban Driving Schedule from 23% to 35.4%. The paper concludes with a discussion of the implications of intelligent control and mechatronic systems as they apply to automobiles View full abstract»

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  • A sensitivity optimization approach to design of a disturbance observer in digital motion control systems

    Page(s): 32 - 38
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (196 KB)  

    This paper is concerned with a digital design methodology for the disturbance observer. The controller (disturbance observer) is designed such that the system sensitivity function is made to match a chosen target sensitivity function by numerical optimization. One advantage of the proposed design method is that the tradeoff between command following, disturbance suppression, and measurement noise rejection is made transparent in the process of the control system design. This allows the system designer to bypass the effort of obtaining a highly accurate system model. Another aim of this research, relative to previous works, is to study how the design specifications can be best structured in the digital filter (a main component of the disturbance observer) for easy implementation. The robust feedback controller, designed in the velocity loop, is used in conjunction with a feedback controller located in the position loop and a feedforward controller acting on the desired output to construct a control structure for high-speed/high-accuracy motion control. Simulation and experiments applied to a high-speed XY table designed for micro positioning demonstrate the effectiveness of the proposed controller View full abstract»

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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.

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Meet Our Editors

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