IEEE International Conference Mechatronics and Automation, 2005

July 29 2005-Aug. 1 2005

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  • 2005 IEEE International Conference on Mechatronics and Automation

    Publication Year: 2005, Page(s): 0_1
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  • 2005 IEEE International Conference on Mechatronics and Automation (IEEE Cat. No. 05EX1044)

    Publication Year: 2005
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  • Experimental study on image-based position-force adaptive visual servoing for constrained robots under Jacobian and dynamic friction uncertainties

    Publication Year: 2005, Page(s):7 - 12 Vol. 1
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (423 KB) | HTML iconHTML

    In this paper an image-based control is introduced to produce simultaneous convergence of the constrained visual position and contact force between the end-effector and the constraint surface. Camera, robot and Jacobian parameters are considered uncertain. This new approach is based on a new formulation of the orthogonalization principle used in force control, coined here visual orthogonalization ... View full abstract»

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  • Copyright

    Publication Year: 2005, Page(s): i
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  • Delay-dependent robust stabilizability of singular systems with delays

    Publication Year: 2005, Page(s):13 - 18 Vol. 1
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (198 KB) | HTML iconHTML

    This paper deals with the class of continuous-time singular uncertain linear systems with time delay in the state vector. The uncertainties we are considering are of norm bounded type. Delay-dependent sufficient conditions on robust stability and robust stabilizability are developed. A design algorithm for a memoryless state feedback controller which guarantees that the closed-loop dynamics are re... View full abstract»

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  • Welcome

    Publication Year: 2005, Page(s): ii
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  • Organizing of 2005 IEEE International Conference on Mechatronics and Automation

    Publication Year: 2005, Page(s): iii
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  • Local basis functions in adaptive control of elastic systems

    Publication Year: 2005, Page(s):19 - 25 Vol. 1
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (655 KB) | HTML iconHTML

    A new robust direct adaptive control method is presented using the cerebellar model arithmetic computer (CMAC). The method is also applicable when using neural networks, fuzzy sets, or spline models that contain local basis functions. Local basis functions are especially prone to weight drift (overlearning, parameter drift) when controlling systems with underdamped oscillations. The traditional ro... View full abstract»

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  • Organizing committee

    Publication Year: 2005, Page(s):iv - v
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  • Design of a robust high gain PID motion controller using sliding mode theory

    Publication Year: 2005, Page(s):26 - 31 Vol. 1
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (296 KB) | HTML iconHTML

    In the paper, an approach for motion control of a wide class of robotic systems is presented. This approach is based on following two components: a design of a motion controller working in sliding mode (SM) and its approximation with a high gain PID-controller. In the presented approach the advantage of the sliding mode control (SMC) - the robustness, and the simple implementation of the PID-contr... View full abstract»

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  • Evaluation of a micro fuel cell as applied to a mobile robot

    Publication Year: 2005, Page(s):32 - 36 Vol. 1
    Cited by:  Papers (17)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (325 KB) | HTML iconHTML

    A mobile robot being used for an undergraduate course in mechatronics engineering was converted from a conventional lead acid battery to a hydrogen fuelled PEM micro fuel cell as the power source. The design of the fuel cell based power supply system is outlined. Test results of system performance are given. Implications with respect to implementation issues for micro fuel cells are briefly discus... View full abstract»

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  • Program committee

    Publication Year: 2005, Page(s):vi - vii
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  • 2005 IEEE ICMA Author Index

    Publication Year: 2005, Page(s):viii - xxxi
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  • Experimental comparison of two pneumatic servo position control algorithms

    Publication Year: 2005, Page(s):37 - 42 Vol. 1
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (296 KB) | HTML iconHTML

    Many researchers have investigated pneumatic servo positioning systems due to their numerous advantages: inexpensive, clean, safe and high ratio of power to weight. However, the compressibility of the working medium, air, and the inherent non-linearity of the system continue to make achieving accurate position control a challenging problem. In this paper two control algorithms are designed for the... View full abstract»

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  • 2005 IEEE ICMA table of contents

    Publication Year: 2005, Page(s):xxxii - lvii
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  • Development of a nonlinear dynamic model for a servo pneumatic positioning system

    Publication Year: 2005, Page(s):43 - 48 Vol. 1
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (273 KB) | HTML iconHTML

    A parametric dynamic model of a pneumatic servo system is useful for its computer simulation, mechatronic design and control algorithm design. Pneumatic servo positioning systems have advantages that include: inexpensive, clean, safe and high ratio of power to weight. However, they are difficult to accurately model. In this paper a methodology for deriving a nonlinear dynamic model for a pneumatic... View full abstract»

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  • Optimal placement of active bars in smart structures

    Publication Year: 2005, Page(s):1 - 6 Vol. 1
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  • Development of a soft finger-joint mechanism for human-care robot

    Publication Year: 2005, Page(s):49 - 54 Vol. 1
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (377 KB) | HTML iconHTML

    In this paper, we propose a joint mechanism that enables a robot to generate multi-directional passive compliant motions and to estimate the external torque. In this joint, silicone gum cushions are used as elastic elements to transmit motion from an actuator to an output link. The cushions are positioned between the link and the motor-driven disks. The elastic deformation of the cushion contribut... View full abstract»

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  • Inverse Jacobian based hybrid impedance control of redundant manipulators

    Publication Year: 2005, Page(s):55 - 60 Vol. 1
    Cited by:  Papers (6)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (277 KB) | HTML iconHTML

    This paper presents an efficient control scheme for compliant motion control of kinematically redundant manipulators and its evaluation using an experimental 7 degrees-of-freedom manipulator, REDIESTRO (a redundant dexterous isotropically enhanced, seven turning-pair robot). An inverse Jacobian based hybrid impedance control (IJ-HIC) scheme is proposed that provides a unified approach for combinin... View full abstract»

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  • Research of a novel xy-table based on error compensation

    Publication Year: 2005, Page(s):61 - 64 Vol. 1
    Cited by:  Papers (6)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (287 KB) | HTML iconHTML

    With the increasing demand of high-speed high-precision positioners in industrial applications, a novel high-speed high-precision xy-table based on error compensation is presented in the paper. According to the theory of yaw error compensation, four inductive sensors were used to measure the yaw error and a micro-table used to compensate the error while the macro-table moving in high speed mode. B... View full abstract»

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  • Longitudinal slip control using Laguerre approach

    Publication Year: 2005, Page(s):65 - 70 Vol. 1
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (172 KB) | HTML iconHTML

    In this paper, and continuing the work presented in H. Shraim et al., (2005) concerning the analytical representation of the vehicle, which is validated by the simulator (ve-DYNA), a relation between the wheel slipping and the torque applied at this wheel in both the braking and acceleration cases is derived, and to make the slipping tends to a certain reference. Due to the nonlinearity of the whe... View full abstract»

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  • Visual servoing with modified Smith predictor for micromanipulation tasks

    Publication Year: 2005, Page(s):71 - 76 Vol. 1
    Cited by:  Papers (6)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (526 KB) | HTML iconHTML

    A control scheme with a modified Smith predicator (MSP) for the position-based dynamic look-and-move visual servoing for the control of micromanipulation is proposed. Due to the time consuming image acquisition, transfer, and processing, the visual servoing has an inherent time delay, which seriously damage the system performance. Previously, the most common method is to decrease the primary gains... View full abstract»

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  • Design of a MEMS-based resonant force sensor for compliant, passive microgripping

    Publication Year: 2005, Page(s):77 - 82 Vol. 1
    Cited by:  Papers (2)  |  Patents (4)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (336 KB) | HTML iconHTML

    In this paper, a polysilicon double-ended tuning fork (DETF) is proposed for use as a force sensor for integration into a compliant, passive microgripper used in a microassembly of 3D MEMS structures. The force sensor is also designed to operate in a manner similar to scanning probe microscopy (SPM) that is commonly utilized to study surface properties and topography of material. The design, model... View full abstract»

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  • Automatic micro-indentation and inspection system by piezo driven micro robot with multiple inner sensors

    Publication Year: 2005, Page(s):83 - 88 Vol. 1
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (550 KB) | HTML iconHTML

    In this report, it is described that a fully automatic micro-indentation and inspection system performed by piezo driven micro robot with multiple inner sensors. In the process of micro-indentation, the sample can be transported to the micro indentation tool on the reference block to provide array of micro indentation. After completing the micro tooling, the sample can be also conveyed to the othe... View full abstract»

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  • Electromagnetic and electrostatic micro-power generators; an overview

    Publication Year: 2005, Page(s):89 - 93 Vol. 1
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (350 KB) | HTML iconHTML

    This paper presents an overview of the electromagnetic and the electrostatic micro-power generators (MPG's). Applications and motivations behind micro-power generation are discussed. The dynamic model and the estimated power calculations are presented. The state of the art of the work done in both electromagnetic and electrostatic micro-power generation was discussed with the advantages and drawba... View full abstract»

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