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IEEE/ASME Transactions on Mechatronics

Issue 1 • Date Feb. 2006

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  • Table of contents

    Publication Year: 2006, Page(s): c1
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  • IEEE/ASME Transactions on Mechatronics publication information

    Publication Year: 2006, Page(s): c2
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  • Navigability of multi-legged robots

    Publication Year: 2006, Page(s):1 - 8
    Cited by:  Papers (15)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (304 KB) | HTML iconHTML

    This paper addresses the improvement of navigability for a six-legged robot through the development of a simple method for measuring heading and drift errors. More specifically, the navigation scheme utilizes both a magnetic compass and landmark navigation to correct these errors with every step, hence limiting error propagation. The approach is aimed at operation in unknown environments. Elaborat... View full abstract»

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  • Short seeking by multirate digital controllers for computation saving with initial value adjustment

    Publication Year: 2006, Page(s):9 - 16
    Cited by:  Papers (17)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (256 KB) | HTML iconHTML

    Multirate control has been proposed to reduce the real-time computation in hard disk drive (HDD) servo systems. It has been showed that computation can be saved greatly without performance degradation by using a multirate controller for track following. This paper proposes a novel method for short seeking control based on multirate track following control and initial value adjustment. This method,... View full abstract»

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  • Gearshift control for automated manual transmissions

    Publication Year: 2006, Page(s):17 - 26
    Cited by:  Papers (78)  |  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (384 KB) | HTML iconHTML

    A gearshift control strategy for modern automated manual transmissions (AMTs) with dry clutches is proposed. The controller is designed through a hierarchical approach by discriminating among five different AMT operating phases: engaged, slipping-opening, synchronization, go-to-slipping, and slipping-closing. The control schemes consist of decoupled and cascaded feedback loops based on measurement... View full abstract»

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  • Toward switching motor control

    Publication Year: 2006, Page(s):27 - 34
    Cited by:  Papers (8)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (832 KB) | HTML iconHTML

    Traditionally focused on applications where humans are safely out of reach, the field of robotics was developed to perform repetitive tasks with high precision and accuracy. In contrast, recent developments have opened up a new subfield of robotics in which users are in direct contact with robotic devices. This physical interaction requires the device to be sensitive to human contact while maintai... View full abstract»

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  • Emulation of robots interacting with environment

    Publication Year: 2006, Page(s):35 - 46
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (344 KB) | HTML iconHTML

    In this paper, we present a methodology for emulation of a target robot operating in a complex environment by using an actual robot. The emulation scheme aims to replicate the dynamical behavior of the target robot interacting with an environment, without dealing with a complex calculation of the contact dynamics. This method forms a basis for the task verification of a flexible space robot. The a... View full abstract»

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  • A real-time prediction model of electrode extension for GMAW

    Publication Year: 2006, Page(s):47 - 54
    Cited by:  Papers (12)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (328 KB) | HTML iconHTML

    This paper presents the development of an electrode extension model for the gas metal arc welding process based on the process voltage. The full dynamic model for the electrode extension is derived by combining a dynamic resistivity model with the voltage model. The electrode extension model was found to be represented mathematically by a nonlinear, time-varying, second-order ordinary differential... View full abstract»

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  • Design of learning input shaping technique for residual vibration suppression in an industrial robot

    Publication Year: 2006, Page(s):55 - 65
    Cited by:  Papers (40)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (312 KB) | HTML iconHTML

    In this paper, a practical method is proposed to suppress residual vibrations of industrial robots without a real-time estimation of vibration frequencies. Through theoretical analysis and experiments, we designed an input shaping technique (IST) for the first three axes of a six-degrees-of-freedom industrial robot. Iterative learning IST (LIST) is applied to the first axis to suppress its time-va... View full abstract»

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  • Investigation of the onset voltage for the design of a microfabricated colloid thruster

    Publication Year: 2006, Page(s):66 - 74
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (816 KB) | HTML iconHTML

    Onset voltage plays a crucial role in the design of a microcolloid thruster. This paper presents a methodology to estimate the onset voltage for the design of a new microfabricated colloid thruster. The basic idea of this method is to simplify the source emitter and the extractor of the microthruster as two hyperboloids of two sheets of a set of equal potential surfaces. The maximum electric field... View full abstract»

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  • Active control to flexible manipulators

    Publication Year: 2006, Page(s):75 - 83
    Cited by:  Papers (20)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (272 KB) | HTML iconHTML

    Active control law for flexible structures using nonlinear conventional motor with gear actuators has been a problem without an accepted solution with experimental evidence until now. This is due to the existence of a dead zone in torque caused by the nonlinear frictions inside the actuator. The torques needed to attenuate the vibrations, although calculated by the control law, are consumed by the... View full abstract»

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  • Inertial vibration control using a shunted electromagnetic transducer

    Publication Year: 2006, Page(s):84 - 92
    Cited by:  Papers (11)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1208 KB) | HTML iconHTML

    Inertial drives and passive tuned-mass dampers utilize a suspended mass to reduce the vibration experienced by a host structure. Active vibration control systems typically include a voice coil type electromagnetic actuator to develop the required reaction forces. In this paper, the technique of sensorless active shunt control is applied to inertial vibration absorption. An electrical impedance is ... View full abstract»

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  • HIFE-haptic interface for finger exercise

    Publication Year: 2006, Page(s):93 - 102
    Cited by:  Papers (31)  |  Patents (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (424 KB) | HTML iconHTML

    A haptic device with two active degrees of freedom and a tendon-driven transmission system was designed, built, and tested. It was constructed as a mechanism with a small workspace that envelops a finger workspace and can generate forces up to 10 N, suitable for finger exercise. Kinematic and dynamic model equations of the haptic device are presented in the paper. The control strategies, the imple... View full abstract»

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  • Adaptive electromagnetic shunt damping

    Publication Year: 2006, Page(s):103 - 108
    Cited by:  Papers (15)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (280 KB) | HTML iconHTML

    This paper presents a new type of passive vibration control: adaptive electromagnetic shunt damping. We propose a single-mode resonant shunt controller that adapts to environmental conditions using two different adaptation strategies. The first technique is based on minimizing the root mean square (RMS) vibration, while the second minimizes the phase difference between two measurable signals. An e... View full abstract»

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  • Kinematic and dynamic models of a tripod system with a passive leg

    Publication Year: 2006, Page(s):108 - 111
    Cited by:  Papers (7)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1256 KB) | HTML iconHTML

    In this paper, a new tripod system is proposed for the light-metal machining application, and its kinematic and dynamic models are studied. The new tripod system is a type of parallel kinematic machine with three degrees of freedom, and it uses a passive leg to increase system stiffness and eliminate the undesired end-effector motion along some axes. Both the direct and inverse kinematic problems ... View full abstract»

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  • List of Reviewers for 2005

    Publication Year: 2006, Page(s): 113
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    Publication Year: 2006, Page(s): 114
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  • IEEE copyright form

    Publication Year: 2006, Page(s):115 - 116
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  • IEEE/ASME Transactions on Mechatronics Information for authors

    Publication Year: 2006, Page(s): c3
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  • Blank page [back cover]

    Publication Year: 2006, Page(s): c4
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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