mechatronics is emerging as a leading trend in the current engineering scene. Hence, educational platforms are needed in order to train engineers for this new job market demand. At present time, the existing education...
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ISBN:
(纸本)9781424441945
mechatronics is emerging as a leading trend in the current engineering scene. Hence, educational platforms are needed in order to train engineers for this new job market demand. At present time, the existing educational systems that deal with mechatronic aspects, like robotic, control or automation systems, lack of a systematic methodology of development. This deficiency translates into closed training platforms, where it is difficult to plug in new components at convenience. Extending any system with different high- and low-level components that allow the student to understand mechatronics from different perspectives is complicated within such approaches. This paper presents a development system that provides a basic model, framework and automated tools for building mechatronic platforms. Our system, that can be applied to different fields (like mobile and industrial robotics, automation systems, real-time systems, etc.), is also scalable, producing from simple mechatronics systems to complex ones. We describe a case of use where our development system has been used for educational robotics, combining LEGO Mindstorms with research-level robotic platforms.
This paper presents the design and a comparison of two cascaded control schemes based on nonlinear model predictive controllers (NMPC) for the position control of a pneumatic actuator. Both control schemes consist of ...
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ISBN:
(纸本)9781665435543
This paper presents the design and a comparison of two cascaded control schemes based on nonlinear model predictive controllers (NMPC) for the position control of a pneumatic actuator. Both control schemes consist of a NMPC for the pneumatic subsystem while the outer mechanical subsystem is in one case controlled by a NMPC as well, and in the other case by a state-feedback controller (LQR). To cope with the high impact of nonlinear friction, a feedforward friction compensation is employed, and the mechanical subsystem is extended by an integrator. The control approaches are implemented on a test rig consisting of a double-acting pneumatic cylinder actuated by a single 5/3-proportional valve using the GRAMPC-toolbox. Based on experimental results on the test rig it can be shown that both controllers achieve a precise position tracking for different desired trajectories.
Impedance control is one of the most effective force control methods for a robot manipulator in contact with an object. It should be noted, however, that a practical study on such a method has not been successfully ap...
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ISBN:
(纸本)0780350537
Impedance control is one of the most effective force control methods for a robot manipulator in contact with an object. It should be noted, however, that a practical study on such a method has not been successfully applied to an industrial robot with 6 degree-of-freedom. Recently, a hybrid compliance/force control (HCC) in this field was suggested to deal with the practical problem, in which a desired damping coefficient is determined by repeating many simulations. To determine a suitable compliance without trial and error, we have already presented a tuning method which produces the desired time-varying compliance, giving the critical damping in contact with an object, by using the information on the inertia and Jacobian matrices. But the tuning method needs to measure the physical information of the environment. In this paper, to overcome the problem we propose a fuzzy environment model that can estimate each directional stiffness of the environments. The fuzzy environment model is composed of several fuzzy rules which are learned with genetic algorithms. Simulation results show that the proposed method is very effective for deciding the desired compliance without any complicated tuning and is very robust to the change of environment.
This paper presents the design and investigation of a nonlinear model predictive controller (NMPC) for an inverted pendulum with velocity input. The controller is implemented on a test-rig using the GRAMPC-Toolbox. It...
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This paper presents the design and investigation of a nonlinear model predictive controller (NMPC) for an inverted pendulum with velocity input. The controller is implemented on a test-rig using the GRAMPC-Toolbox. It is shown that swing-up/stabilisation and side-stepping can be achieved in a single controller using a suitable cost functional as well as prediction horizon. The impact of different NMPC design parameters on the achievable performance and stability properties is investigated and discussed. Finally, a comparative analysis with an alternative nonlinear control - consisting of energy-based swing-up and a tracking controller based on extended linearisation techniques and state-dependent Riccati equations (SDRE) - is carried out. The individual strength or weakness is discussed based on experimental results at a test rig. Copyright (C) 2021 The Authors.
Identifying and implementing high-fidelity scaling laws in scaled teleoperated systems remains a challenge. We propose the use of tactile information to complement and supplement the normal visual and force channels a...
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Identifying and implementing high-fidelity scaling laws in scaled teleoperated systems remains a challenge. We propose the use of tactile information to complement and supplement the normal visual and force channels and thereby provide sensory enhancement when performing tasks involving delicate motions. We support our proposal by presenting experimental results from tests performed by humans under simulated and experimented conditions. Our results show that integrating tactile feedback improved the performance of the operator.
Growing complexity of artificial systems arises reliability and flexibility issues of large system design. Robots are not exception of this, and many attempts have been made to realize reliable and flexible robot syst...
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Growing complexity of artificial systems arises reliability and flexibility issues of large system design. Robots are not exception of this, and many attempts have been made to realize reliable and flexible robot systems. Distributed modular composition of robot is one of the most effective approaches to attain such abilities and has a potential to adapt to its surroundings by changing its configuration autonomously according to information of surroundings. In this paper, we propose a novel three-dimensional self-reconfigurable robotic module. Each module has a very simple structure that consists of two semi-cylindrical parts connected by a link. The modular system is capable of not only building static structure but also generating dynamic robotic motion. We present details of the mechanical/electrical design of the developed module and its control system architecture. Experiments using ten modules with centralized control demonstrate robotic configuration change, crawling locomotion and three types of quadruped locomotion.
An autonomous distributed control has been presented as novel control methods for complex or large systems. In this paper, it is applied to the position control of variable geometry trusses, which have high redundancy...
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An autonomous distributed control has been presented as novel control methods for complex or large systems. In this paper, it is applied to the position control of variable geometry trusses, which have high redundancy. It is shown that the fault-tolerance of the system is easily realized through this control method. Additional behavior for obstacle avoidance is also accomplished easily. Furthermore, the area of avoidable obstacles can be extended through the cooperation of each agent. Compared with a conventional control method using inverse kinematics, the proposed method is shown to be more effective from the viewpoint of calculation time.
Many quadruped walking robots and running robots have been so far developed, but it is very difficult for a robot with fixed mechanism to walk and run. Our quadruped robot 'Tekken' has been able to walk dynami...
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Many quadruped walking robots and running robots have been so far developed, but it is very difficult for a robot with fixed mechanism to walk and run. Our quadruped robot 'Tekken' has been able to walk dynamically by walking and trotting gait. It has a local virtual spring-damper system of which we can adjust the parameters of the stiffness. By enhancing the parameter of the system further, we succeeded in making the same mechanism robot run as well as walk. In this paper, we show the experimental result of bouncing with Tekken.
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