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Mechatronics, IEEE/ASME Transactions on

Issue 3 • Date Sept. 2002

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Displaying Results 1 - 14 of 14
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  • Multiobjective control of a vehicle with triple trailers

    Page(s): 357 - 368
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (446 KB)  

    We consider the backing-up control of a vehicle with triple trailers using a model-based fuzzy-control methodology. First, the vehicle model is represented by a Takagi-Sugeno fuzzy model. Then, we employ the so-called "parallel distributed compensation" design to arrive at a controller that guarantees the stability of the closed-loop system consisted of the fuzzy model and controller. The control-design problem is cast in terms of linear matrix inequalities (LMIs). In addition to stability, the control performance considerations such as decay rate, constraints on input and output, and disturbance rejection are incorporated in the LMI conditions. In application to the vehicle with triple trailers setup, we utilize these LMI conditions to explicitly avoid the saturation of the steering angle and the jackknife phenomenon in the control design. Both simulation and experimental results are presented. Our results demonstrate that the fuzzy controller effectively achieves the backing-up control of the vehicle with triple trailers while avoiding the saturation of the actuator and "jackknife" phenomenon. View full abstract»

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  • The effect of force saturation on the haptic perception of detail

    Page(s): 280 - 288
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (271 KB) |  | HTML iconHTML  

    This paper presents a quantitative study of the effects of maximum capable force magnitude of a haptic interface on the haptic perception of detail. Specifically, the haptic perception of detail is characterized by identification, detection, and discrimination of round and square cross-section ridges, in addition to corner detection tests. Test results indicate that performance, measured as a percent correct score in the perception experiments, improves in a nonlinear fashion as the maximum allowable level of force in the simulation increases. Further, all test subjects appeared to reach a limit in their perception capabilities at maximum-force output levels of 3-4 N, while the hardware was capable of 10 N of maximum continuous force output. These results indicate that haptic interface hardware may be able to convey sufficient perceptual information to the user with relatively low levels of force feedback. The data is compiled to aid those who wish to design a stylus-type haptic interface to meet certain requirements for the display of physical detail within a haptic simulation. View full abstract»

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  • Dexterous anthropomorphic robot hand with distributed tactile sensor: Gifu hand II

    Page(s): 296 - 303
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (385 KB)  

    This paper presents an anthropomorphic robot hand, called the Gifu hand II, which has a thumb and four fingers, all the joints of which are driven by servomotors built into the fingers and the palm. The thumb has four joints with four-degrees-of-freedom (DOF), the other fingers have four joints with 3-DOF, and two axes of the joints near the palm cross orthogonally at one point, as is the case in the human hand. The Gifu hand II can be equipped with six-axes force sensor at each fingertip, and a developed distributed tactile sensor with 624 detecting points on its surface. The design concepts and specifications of the Gifu hand II, the basic characteristics of the tactile sensor, and the pressure distributions at the time of object grasping are described and discussed herein. Our results demonstrate that the Gifu hand II has a high potential to perform dexterous object manipulations like the human hand. View full abstract»

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  • An ART-based fuzzy controller for the adaptive navigation of a quadruped robot

    Page(s): 318 - 328
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (420 KB) |  | HTML iconHTML  

    An adaptive-resonance theory (ART)-based fuzzy controller is presented for the adaptive navigation of a quadruped robot in cluttered environments, by incorporating the capability of ART in stable category recognition into fuzzy-logic control for selecting the adequate rule base. The environment category and navigation mechanism are first described for the quadruped robot. The ART-based fuzzy controller, including an ART-based environment recognizer, a comparer, combined rule bases, and a fuzzy inferring mechanism, is then introduced for the purpose of the adaptive navigation of the quadruped robot. Unlike classical/conventional adaptive-fuzzy controllers, the present adaptive-control scheme is implemented by the adaptive selection of fuzzy-rule base in response to changes of the robot environment, which can be categorized and recognized by the proposed environment recognizer. The results of simulation and experiment show that the adaptive-fuzzy controller is effective. View full abstract»

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  • Robotic system approach for complete denture manufacturing

    Page(s): 392 - 396
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (287 KB)  

    A robotic system for complete denture manufacturing, which can realize automatic implanting of artificial teeth, is described. The tooth arrangement algorithm is presented, including the equations of jaw-arch curve and teeth-arch curve, setup of a single tooth coordinate system and calculation of tooth position in teeth-arch curve. An expert system software is developed that integrates high-level dentist experiences and dexterous technician skills. Three-dimensional (3-D) display of tooth arrangement, human-computer interactive adjustment of tooth position and orientation in teeth-arch curve are achieved. Robot path planning and control data creation are realized by this software also. Finally, an experiment of complete denture manufacturing is made for a patient, a pair of complete dentures is obtained, and the results are analyzed. This robotic system is expected to change the manner of complete denture manufacturing wholly, and significantly improve product quality and manufacturing efficiency. View full abstract»

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  • Robust disturbance rejection for improved dynamic stiffness of a magnetic suspension stage

    Page(s): 289 - 295
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (275 KB) |  | HTML iconHTML  

    Magnetic suspension is an attractive approach in realizing ultraprecision multiple-degree-of-freedom actuation for precision engineering. However, improving the dynamic stiffness of magnetic-suspension systems is an engineering challenge due to their noncontact nature. Two disturbance rejection algorithms that improve the dynamic stiffness of a magnetic-suspension stage (MSS) are presented in this paper. For rejection of narrow-band disturbances with unknown frequencies, an internal model principle-based control together with a frequency estimation algorithm based on adaptive-notch filtering is proposed. A chattering-free sliding mode (CFSM) disturbance rejection algorithm is developed in order to reject wide-band disturbances. The CFSM disturbance rejection scheme includes a continuous approximation of the switching function to avoid chattering, an integral control term to reduce the switching magnitude, and a derivative control term to elevate the bandwidth of disturbance rejection. Experimental results verified that the disturbances can be effectively rejected with the two developed algorithms. Consequently, the dynamic stiffness of the MSS is greatly improved. View full abstract»

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  • Control of a multijoint manipulator "Moray arm"

    Page(s): 304 - 317
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (461 KB) |  | HTML iconHTML  

    We introduce a multijoint manipulator that was named "Moray arm", which is a slider-integrating multijoint manipulator, where a powerful slider is installed at the base of the arm. The Moray arm emulates the motion of a Moray, thus, allowing it to easily enter a narrow space while avoiding obstacles. To elucidate the features of the Moray arm, we present new control methods named "Moray drive" and "two-degrees-of-freedom (2-DOF) Moray drive". The Moray drive control generates rotating motion of the joints in synchronization with linear motion of the slider while restricting the arm on the trajectory. The 2-DOF Moray drive control reduces the control problem of the hyper DOFs to the simple one of 2-DOFs: one of the control variables signifies the linear combination of the objective initial and final postures of the arm, while another expresses the amount of the pull-out-displacement when pulling the arm out of the housing. The properties of Moray arm controlled by Moray drive or 2-DOF Moray drive are described. Based on the 2-DOF Moray drive control, we also propose an obstacle avoidance scheme for the "Moray arm" to perform a pick-and-place task while avoiding the existing static obstacles in environment. The scheme is based on the posture space analysis and generates the obstacle collision-free trajectory in the posture space. From the simulation result, we conclude that the Moray arm controlled by the proposed schemes gives great possibility for the hyper-redundant manipulator to perform applications such as maintenance of nuclear reactors, collection of lumps of existing manganese under sea, and care of patients. View full abstract»

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  • Adaptive repetitive control to track variable periodic signals with fixed sampling rate

    Page(s): 378 - 384
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (262 KB) |  | HTML iconHTML  

    Recent research has shown that the repetitive control is very efficient in tracking periodic signals, where it is required that an integer number of samples in each period. However, in some industrial applications where the signal period varies but other requirements force a fixed sample rate, the number of samples per period may be a non-integer. To address this problem, this paper presents a new adaptive repetitive control, which deals with the non-integer samples per period due to the fixed sampling rate. The proposed adaptive repetitive control consists of two portions, the repetitive controller and nominal controller, where the former uses a fictitious sampler operating at a variable sample rate maintained at multiple times of the signal frequency, while the latter uses a fixed sampling rate. Interpolations are utilized to generate the fictitious samples required for the repetitive learning. The nearly perfect tracking was achieved for non-integer samples per period, when a simple linear interpolation is used. The error due to the interpolation is quantified, which is negligible to the residual tracking error. The comparison of the proposed and the existing schemes shows the significant improvement on the tracking performance. The experimental results on the control of a servomotor demonstrate the effectiveness of the proposed schemes. View full abstract»

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  • Predictive control with enhanced robustness for precision positioning in frictional environment

    Page(s): 385 - 392
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (360 KB) |  | HTML iconHTML  

    A modified predictive control strategy is developed to overcome positioning and tracking difficulties for a transmission mechanism with friction. Enhanced robustness with respect to unknown dynamics is achieved by incorporating a zero phase error tracking controller (ZPETC) and a time-delay disturbance estimation scheme. Time delay control is used to cancel disturbances and potential nonlinearities. ZPETC is included to improve the overall system bandwidth. Both realistic numerical simulations, which consider the effect of sampling, quantization, and friction, and practical experiments are performed to investigate the effectiveness of the proposed control method. Encouraging transient response and steady-state control performance were observed in the results of positioning control of a one-dimensional transmission mechanism. View full abstract»

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  • Contouring control of biaxial systems based on polar coordinates

    Page(s): 329 - 345
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (559 KB) |  | HTML iconHTML  

    A contouring controller for biaxial systems that integrates the effects of feedback, feedforward, and cross-coupled control is proposed in this study. Conventional approaches to contouring control suffer from the complicated contour-error model and from lack of a systematic way for controller design. The integrated controller is based on polar coordinates under which a relatively simple contour-error model can be obtained. Taking the simple contour error as a state variable, the contouring-control problem is transformed into a stabilization problem. The feedback-linearization technique incorporated with linear feedback or robust control (such as sliding-mode control) can then yield the integrated controller. The proposed method is verified both numerically and experimentally and is compared with the conventional approach. It is found that the proposed controller is better for high speed and/or noncircular contouring. In addition, it can be applied to either linear plants or nonlinear plants (like linear motors). View full abstract»

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  • Torque and current control of high-speed motion control systems with sinusoidal-PMAC motors

    Page(s): 369 - 377
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (356 KB)  

    Describes a torque- and current-control application to a commercial motion-control system with sinusoidal permanent magnet ac (PMAC) motors. The control approach is based on maximization of torque-per-amp ratio. The proposed torque controller, in the form of torque feedforward plus proportional-integral (PI)-type torque feedback, utilizes the feedback of nominal torque signal only, a signal that can be readily calculated, online. No torque sensor is required. Through proper design of the desired nominal torque with adaptive control, the proposed torque controller can overcome disturbances due to torque estimation error and model uncertainties. A discrete-time approach is developed for inner-current loop control design. The inner-loop control gains, which are hard to obtain through manual tuning in practice, are determined by a dynamic model-based calculation methodology. Experimental evaluation on a commercial motion control system demonstrates the validity of the proposed approach in high-speed motions. View full abstract»

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  • Experimental implementation of spatial H control on a piezoelectric-laminate beam

    Page(s): 346 - 356
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (551 KB)  

    This paper is aimed to develop a feedback controller that suppresses vibration of flexible structures. The controller is designed to minimize the spatial H norm of the closed-loop system. This technique guarantees average reduction of vibration throughout the entire structure. A feedthrough term is incorporated into the truncated flexible-structure model to compensate for the neglected dynamics in the finite-dimensional model. Adding the feedthrough term reduces the uncertainty associated with the truncated model, which is instrumental in ensuring the robustness of the closed-loop system. The controller is applied to a simply-supported piezoelectric-laminate beam and is validated experimentally to show the effectiveness of the proposed controller in suppressing structural vibration. It is shown that the spatial H. control has an advantage over the pointwise H control in minimizing the vibration of the entire structure. This spatial H control methodology can also be applied to more general structural vibration suppression problems. View full abstract»

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  • Assessment of mechatronic system performance at an early design stage

    Page(s): 269 - 279
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (330 KB) |  | HTML iconHTML  

    For conceptual design of electromechanical motion systems, an assessment method is formulated that supports the design of a feasible reference path generator, control system, and electromechanical plant with appropriate sensor locations, in an integrated way. This method is based on a classification of standard transfer functions, plant models, and closed-loop systems. The assessment method can be applied in several ways, depending on the available knowledge about the design problem. In order to illustrate this method, an application to an industrial motion system is described. The assessment method quickly provides insight in the design problem. Furthermore, feasible goals and required design efforts can be estimated at an early stage. 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