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Mechatronics, IEEE/ASME Transactions on

Issue 1 • Date Mar 2001

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Displaying Results 1 - 11 of 11
  • A stable transition controller for constrained robots

    Publication Year: 2001 , Page(s): 65 - 74
    Cited by:  Papers (21)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (224 KB)  

    This paper addresses the problem of contact transition from free motion to constrained motion for robots. Stability of transition from free motion to constrained motion is essential for successful operation of a robot performing general tasks such as surface following and surface finishing. Uncertainty in the location of the constraint can cause the robot to impact the constraint surface with a nonzero velocity, which may lead to bouncing of the robot end-effector on the surface. A new stable discontinuous transition controller is proposed to deal with contact transition problem. This discontinuous transition control algorithm is used when switching from free motion to constrained motion. Control algorithm for a complete robot task is developed. Extensive experiments with the proposed control strategy were conducted with different levels of constraint uncertainty and impact velocities. Experimental results show much improved transition performance and force regulation with the proposed controller. Details of the experimental platform and typical experimental results are given View full abstract»

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  • Acceleration estimator for low-velocity and low-acceleration regions based on encoder position data

    Publication Year: 2001 , Page(s): 58 - 64
    Cited by:  Papers (21)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (160 KB)  

    Acceleration computation based on simple numerical differentiation from an optical encoder signal may be very erroneous, especially in the low-velocity and low-acceleration regions. To overcome this problem, a novel approach to estimating acceleration in these regions is proposed in this paper. This low-acceleration estimator, which is a computer algorithm, is based on the fact that the displacement signal from the encoder is accurate. Since the bandwidth of this estimator is rather limited, it can be used in combination with the traditional numerical differentiation approach in order to cover a wide velocity range. It was shown in various simulations and experiments that this combined acceleration estimator can yield accurate acceleration estimates over a wide range of velocities. Furthermore, when this estimator is applied to a friction compensation system, the effect of low-velocity friction can be reduced significantly by its capability to detect small changes in acceleration caused by friction View full abstract»

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  • Vision-based active sensor using a flexible beam

    Publication Year: 2001 , Page(s): 7 - 16
    Cited by:  Papers (4)  |  Patents (2)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (236 KB)  

    Proposes a vision-based active sensing system, termed vision-based active antenna. This is composed of a camera, a flexible beam whose force-deformation characteristic is known, and an actuator for rotating the beam. The camera observes the beam deformation, including the contact information, while the beam is in contact with an object. By solving a set of equations based on the information acquired through the camera, the sensor can detect the contact location, the contact force, and the stiffness of the object, even though the contact point is hidden by occlusion. For two particular versions, we show some experimental results to verify the basic idea View full abstract»

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  • A hybrid computed torque controller using fuzzy neural network for motor-quick-return servo mechanism

    Publication Year: 2001 , Page(s): 75 - 89
    Cited by:  Papers (9)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (400 KB)  

    The dynamic response of a hybrid computed torque controlled quick-return mechanism, which is driven by a permanent magnet (PM) synchronous servo motor, is described in this paper. The crank and disk of the quick-return mechanism are assumed to be rigid. First, Hamilton's principle and Lagrange multiplier method are applied to formulate the mathematical model of motion. Then, based on the principle of computed torque control, a position controller is designed to control the position of a slider of the motor-quick-return servo mechanism. In addition, to relax the requirement of the lumped uncertainty in the design of a computed torque controller, a fuzzy neural network (FNN) uncertainty observer is utilized to adapt the lumped uncertainty online. Moreover, a hybrid control system, which combines the computed torque controller, the FNN uncertainty observer, and a compensated controller, is developed based on Lyapunov stability to control the motor-quick-return servo mechanism. The computed torque controller with FNN uncertainty observer is the main tracking controller, and the compensated controller is designed to compensate the minimum approximation error of the uncertainty observer instead of increasing the rule numbers of the FNN. Finally, simulated and experimental results due to periodic step and sinusoidal commands show that the dynamic behaviors of the proposed hybrid computed torque control system are robust with regard to parametric variations and external disturbances View full abstract»

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  • Towards a mechatronic compiler

    Publication Year: 2001 , Page(s): 90 - 105
    Cited by:  Papers (14)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (364 KB)  

    A simultaneous engineering framework for designing optimal mechatronic systems is presented. In the first part of this paper, a method, based on genetic algorithms, for optimizing the geometric configuration of three-axis machine tools in the conceptual design stage is presented. The second part describes a method, based on component mode synthesis, to derive a low-order control model from a finite-element description of the mechanical and drive structures of the mechatronic system. In the third part, motion controllers are derived that are robust against configuration changes of the mechatronic system to be controlled View full abstract»

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  • Nonlinear brake control for vehicle CW/CA systems

    Publication Year: 2001 , Page(s): 17 - 25
    Cited by:  Papers (19)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (224 KB)  

    A brake control law for vehicle collision warning/collision avoidance (CW/CA) systems has been proposed in the paper. The control law has been designed for optimized safety and comfort. A solenoid-valve-controlled hydraulic brake actuator system for the CW/CA systems has been investigated. A nonlinear computer model and a linear model of the hydraulic brake actuator system have been developed. Both models were found to represent the actual system with good accuracy. Uncertainties in the brake actuator model have been considered in the design of the control law for the robustness of the controller. The effects of brake control on CW/CA vehicle response has been investigated via simulations. The simulations were performed using a complete nonlinear vehicle model. The results indicate that the proposed brake control law can provide the CW/CA vehicles with an optimized compromise between safety and comfort View full abstract»

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  • Measurements on a micromachined silicon gyroscope by feedback interferometry

    Publication Year: 2001 , Page(s): 1 - 6
    Cited by:  Papers (7)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (100 KB)  

    Feedback interferometry is a useful tool to characterize micromachined devices. We consider a silicon vibrating gyroscope, in which the angular rotation is transduced into the vibration amplitude of a small suspended mass. Measurements of the mass displacement at submicrometer resolution are reported on a 400×400 μm sensor, using an 800-nm 20-mW laser diode. The resonance curves of the device have been determined for different values of pressure and other parameters, which allows us to tune the resonance frequency and maximize the Q factor. Hysteresis and other nonlinear phenomena on specific samples also have been detected. The proposed method provides a direct inspection tool and represents a practical alternative to the standard electrical measurements View full abstract»

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  • Intrinsic tactile sensing for the optimization of force distribution in a pipe crawling robot

    Publication Year: 2001 , Page(s): 26 - 35
    Cited by:  Papers (8)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (180 KB)  

    Describes a tactile sensing system based on a force/torque sensor for the feet of a pipe crawling robot. Such a sensing system is needed for better optimization of force and joint load distribution and a safer avoidance of the risk of foot slippage. While conventional tactile sensing devices typically provide information concerning the spatial distribution of normal pressures, the intrinsic contact sensing system presented in this text only measures the three components of the contact force and two components of the resultant torque. These five parameters are shown to be sufficient to estimate the location of the contact point and hence the orientation of the local contact surface. Such information can then be used by the crawler's control system for the real-time computation of an optimized foot force distribution. The intrinsic tactile sensing method has been experimentally tested on a single leg test setup, while the optimization of force distribution is already functioning in the TUM Pipe Crawling Robot (only with a different, more unripe, sensing system for the contact orientations) View full abstract»

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  • Magnetically levitated micro PM motors by two types of active magnetic bearings

    Publication Year: 2001 , Page(s): 43 - 49
    Cited by:  Papers (17)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (124 KB)  

    This paper describes magnetically levitated micro permanent magnet (PM) motors by two types of active magnetic bearings. The micro PM motors consist of a cylindrical rotor (φ2.0 mm×10 mm), a pair of electromagnets, a pair of photodiodes, and an analog PD controller. The motors are characterized by the small rotor levitated without any mechanical contacts and one-axis controlled active magnetic bearing. Horseshoe-shaped and cylindrical electromagnets are applied to the active magnetic bearing. The rotor successfully rotates, levitating in the center of the electromagnets. In this paper, dynamic characteristics of the two types of micro PM motors, such as relationships between rotation speed and driving current, rotation speed and time, and acceleration and driving current, are discussed. As a result, it is found that the magnetically levitated micro PM motors by two types of active magnetic bearings are very different from each other and very promising View full abstract»

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  • On compensator design for linear time-invariant dual-input single-output systems

    Publication Year: 2001 , Page(s): 50 - 57
    Cited by:  Papers (62)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (168 KB)  

    This paper presents a new method for the design of compensators for linear time-invariant dual-input/single-output (DISO) systems in continuous time or discrete time. The new method reduces the problem to two single-input/single-output (SISO) design problems, which are well suited to frequency-response design techniques. The first part of the method is the design of a stabilizing compensator for an auxiliary feedback system. The auxiliary compensator parameterizes the two output blocks of the single-input/dual-output compensator such that the zeros of the parallel system formed by cascade of the compensator with the plant are stable. The auxiliary compensator also determines the relative contribution to the output of the two parallel subsystems of the DISO system. The second SISO compensator design is used to ensure that the feedback system is stable and that performance and robustness specifications are achieved. This paper includes a discrete-time-design example for a dual-stage actuator system for a disk drive including implementation results. Straightforward extensions for multi-input/single-output systems are discussed View full abstract»

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  • Permanent-magnet linear actuator for static and reciprocating short-stroke electromechanical systems

    Publication Year: 2001 , Page(s): 36 - 42
    Cited by:  Papers (6)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (152 KB)  

    With the rapid progress in permanent-magnet technology, through the use of high-energy-density rare-earth materials a range of compact and high-performance linear actuators is now available. The paper presents simulated and experimental results from an investigation into the performance of such a device, in which the internal operating conditions are first modeled using a finite-element approach. Information obtained from this investigation is used, together with equations for both the electrical circuit and the mechanical motion, to enable both the static and the dynamic characteristics to be predicted. The most significant parameters affecting the performance of the actuator are identified, and an optimized design is produced 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