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2008 IEEE International Conference on Robotics, automation and mechatronics, RAM 2008

作者： Yang, Hongqiao Shuai, Mei Zhen, Q.I.U. Hui, W.E.I. Zheng, Qi Information Center Second Affiliated Hospital of PLA General Hospital Beijing P. R China Department of Mechatronics Engineering Beihang University Beijing P. R China Department of Biomedical Engineering University of California Davis Davis CA United States Department of Measuring and Control Technology and Instrument Beihang University Beijing P. R China School of Automation Science and Electrical Engineering Beihang University Beijing P. R China

ISBN: (纸本)9781424416769

The Large-scale uneven ground is mostly unsmooth and in the irregular state in which the irregularity is usually unknown (such as footway, carriageway, unexplored desert, mountainous area, surface of the Mars). In order to walk steadily and rapidly on such ground, a chief problem to overcome is that the humanoid robot's foot is not matching with the unknown model of the ground. Therefore, the humanoid robot's foot should have the flexibility mimic the human's foot, and can adapt to and steadily interacted with any unsmooth ground. Also interferences and disjoints between soles and irregular unsmooth ground should be avoided. Aiming at solving the key problem for humanoid robot to steadily and rapidly walk on the large-scale and three- dimension uneven ground, we've set up a new multi-degree-of-freedom flexible foot mechanism which can make the humanoid robot's walking gesture and gait automatically adapt to the terrain, and then carry out the research of the globally stable control of the gait. The flexibility can obviously improve the humanoid robot's walking stability and speediness on the large-scale uneven ground. © 2008 IEEE.

关键词： Anthropomorphic robots

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Fuzzy controller Design for Atomic Force Microscope System

Fuzzy Controller Design for Atomic Force Microscope System

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International Symposium on Knowledge Acquisition and Modeling, KAM

作者： Her-Terng Yau Cheng-Chi Wang Chao-Lin Kuo Ming-Jyi Jang Yuan-Hung Su Department of Electrical Engineering Far East University Tainan Taiwan Department of Mechanical Engineering Far East University Tainan Taiwan Department of Automation and Control Engineering Far East University Tainan Taiwan Graduate Institute of Opto-Mechatronics Far East University Tainan Taiwan

This paper presents the design of a nonlinear rule based fuzzy logic controller for the nonlinear dynamic behavior of the probe tip of an atomic force microscope system (AFMs). At first, we use the bifurcation diagram to analysis the complex dynamic behavior of the atomic force microscope system. Next, the positive maximum Lyapunov exponent is obtained to identify that the chaotic motion do exist in AFMs. In order to suppress the undesired chaotic motion in AFMs, we address the design schemes of fuzzy logic controller to stabilize the slave chaotic AFMs to the master periodic AFMs. In the controller design process, it directly constructs the fuzzy rules subject to a common Lyapunov function such that the error dynamics of master and slave AFMs satisfy stability in the Lyapunov sense. It overcomes the trial-and-error tuning for the membership functions and rule base in traditional fuzzy logic control. Finally, a numerical simulation is used to illustrate the effectiveness of the proposed controller.

关键词： Atomic force microscopy Fuzzy control Fuzzy systems Force control control systems Fuzzy logic Chaos Nonlinear dynamical systems Master-slave Nonlinear control systems

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A novel design of flexible foot system for humanoid robot

A novel design of flexible foot system for humanoid robot

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IEEE Conference on Robotics, automation and mechatronics

作者： Hongqiao Yang Mei Shuai Zhen Qiu Hui Wei Qi Zheng Information Center Second Affiliated Hospital of PLA General Hospital Beijing China Department of Mechatronics Engineering Beihang University Beijing China Department of Biomedical Engineering University of California슠Davis Davis CA USA Department of Measuring and Control Technology & Instrument Beihang University Beijing China School of Automation Science and Electrical Engineering Beihang University Beijing China

The Large-scale uneven ground is mostly unsmooth and in the irregular state in which the irregularity is usually unknown (such as footway, carriageway, unexplored desert, mountainous area, surface of the Mars). In order to walk steadily and rapidly on such ground, a chief problem to overcome is that the humanoid robot's foot is not matching with the unknown model of the ground. Therefore, the humanoid robot's foot should have the flexibility mimic the human's foot, and can adapt to and steadily interacted with any unsmooth ground. Also interferences and disjoints between soles and irregular unsmooth ground should be avoided. Aiming at solving the key problem for humanoid robot to steadily and rapidly walk on the large-scale and three- dimension uneven ground, we've set up a new multidegree- of-freedom flexible foot mechanism which can make the humanoid robot's walking gesture and gait automatically adapt to the terrain, and then carry out the research of the globally stable control of the gait. The flexibility can obviously improve the humanoid robot's walking stability and speediness on the large-scale uneven ground.

关键词： Foot Humanoid robots Legged locomotion Large-scale systems Robotics and automation Mars Human robot interaction Interference Automatic control Stability

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Development and control of compliant hybrid joints for human-symbiotic mobile manipulators

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International Journal of Advanced Robotic Systems 2007年第1期4卷 27-34页

作者： Li, Zhijun Luo, Jun Xi, Hing Ming, Aiguo School of Electrical and Electronics Engineering Nanyang Technological University Singapore Singapore School of Mechatronics Engineering and Automation Shanghai University Shanghai China Department of Electrical and Computer Engineering Michigan State University United States Department of Mechanical and Control Engineering University of Electro-Communications Japan

In this paper, we develop a robot with the ability to secure human safety in human-robot collisions arising in our living and working environments. The human-symbiotic service robot using compliant hybrid joints realizes human safety, absorbs impact force, and fulfills task. In unexpected or expected collisions with human, the arising impulse force is attenuated effectively by the proposed physical model. Owing to the displacement of the links, several recovery controls have been developed for the end-effector to maintain its desired task position after the collision. The force attenuation property has been verified through collision simulations and experiments in that the capability of the proposed passive arm in overcoming the limitations of active compliance control has been demonstrated.

关键词： Manipulators

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Development of predictive hybrid redundancy for fault tolerant in safety critical systems

Development of predictive hybrid redundancy for fault tolera...

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4th IEEE International Conference on mechatronics, ICM 2007

作者： Son, Byong Jum Park, Ji Hoon Kyung, Nam Ha Lee, Suk Kyung, Chang Lee Kim, Man Ho School of Mechanical Engineering Pusan National University 609-735 Busan Korea Republic of Dept. of Control and Automation Engineering Pukyong National University 608-739 Busan Korea Republic of Dept. of Mechatronics Intelligent Vehicle Research Team DGIST 704-230 Daegu Korea Republic of

ISBN: (纸本)142441184X

As many systems depend on electronics, concern for fault tolerance is growing rapidly. For example, a car with its steering controlled by electronics and no mechanical linkage from steering wheel to front tires (steer-by-wire) should be fault tolerant because a failure can come without any warning and its effect is devastating. In order to make system fault tolerant, there has been a body of research mainly from aerospace field. This paper presents the structure of predictive hybrid redundancy that can filter out most erroneous values. In addition, several numerical simulation results are given where the predictive hybrid redundancy outperforms well-known average and median voters. ©2007 IEEE.

关键词： Fault tolerance

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Development of Predictive Hybrid Redundancy for Fault tolerant in Safety Critical Systems

Development of Predictive Hybrid Redundancy for Fault tolera...

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International Conference on mechatronics (ICM)

作者： Byong Jum Son Ji Hoon Park Kyung Nam Ha Suk Lee Kyung Chang Lee Man Ho Kim School of Mechanical Engineering Pusan National University Busan South Korea Department of Control and Automation Engineering Pukyong National University Busan South Korea Department of Mechatronics Intelligent DGIST Daegu South Korea

关键词： Redundancy Fault tolerant systems Hardware Fault detection Vehicle safety Electronic components Vehicle dynamics Switches Intelligent vehicles Fault tolerance

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A Study on Five-Bar Manipulators for Semiconductor Packaging Applications

A Study on Five-Bar Manipulators for Semiconductor Packaging...

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IEEE International Conference on mechatronics and automation

作者： Shibo Sun Jacob W.F. Cheung Yunjiang Lou Department of Control and Mechatronics Engineering Shenzhen University Town Shenzhen P.R. China Research and Development Department ASM Assembly Automation Ltd. Kwai Chung New Territories Hong Kong

In semiconductor packaging applications, e.g., wire bonding, high speed and high precision are two core requirements. Five-bar linkages are good candidates for 2-DoF (degree of freedom) semiconductor manipulation because of its parallel topology and therefore its potential for high speed and high precision. In order to find the best five-bar structure, the workspace volume index (WVI), the ratio of workspace volume to machine envelop size, is proposed as a measure for kinematic performance. Optimal design problems are formulated by regarding WVI as the objective function and other requirements on dexterity and singularitylessness as the constraints. Based on the design formulation, two candidate manipulators, the 5-R and PRRRP manipulators are compared with respect to WVI, kinematic accuracy, stiffness and velocity transmission, etc.

关键词： Semiconductor device packaging Kinematics Pneumatic actuators Hydraulic actuators Packaging machines Jacobian matrices Productivity mechatronics automation Design methodology

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TRACKING control IN THE PRESENCE OF NONLINEAR DYNAMIC FRICTIONAL EFFECTS: ROBOT EXTENSION

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Asian Journal of control 2008年第3期1卷

作者： M. Feemster D.M. Dawson A. Behal W. Dixon Matthew Feemster received the B.S degree in Electrical Engineering from Clemson University Clemson South Carolina in December 1994. Upon graduation he remained at Clemson University and received the M.S. degree in Electrical Engineering in 1997. During this time he also served as a research/teaching assistant. His research work focused on the design and implementation of various nonlinear control algorithms with emphasis on the induction motor and mechanical systems with friction present. He is currently working toward his Ph.D. degree in Electrical Engineering at Clemson University. Darren M. Dawson was born in 1962 in Macon Georgia. He received an Associate Degree in Mathematics from Macon Junior College in 1982 and a B.S. Degree in Electrical Engineering from the Georgia Institute of Technology in 1984. He then worked for Westinghouse as a control engineer from 1985 to 1987. In 1987 he returned to the Georgia Institute of Technology where he received the Ph.D. Degree in Electrical Engineering in March 1990. During this time he also served as a research/teaching assistant. In July 1990 he joined the Electrical and Computer Engineering Department and the Center for Advanced Manufacturing (CAM) at Clemson University where he currently holds the position of Professor. Under the CAM director's supervision he currently leads the Robotics and Manufacturing Automation Laboratory which is jointly operated by the Electrical and Mechanical Engineering departments. His main research interests are in the fields of nonlinear based robust adaptive and learning control with application to electro-mechanical systems including robot manipulators motor drives magnetic bearings flexible cables flexible beams and high-speed transport systems. Aman Behal was born in India in 1973. He received his Masters Degree in Electrical Engineering from Indian Institute of Technology Bombay in 1996. He is currently working towards a Ph.D in Controls and Robotics at Clemson University. His research focuses on the control of no

In this paper, we extend the observer/control strategies previously published in [25] to an n -link, serially connected, direct drive, rigid link, revolute robot operating in the presence of nonlinear friction effects modeled by the Lu-Gre model. In addition, we also present a new adaptive control technique for compensating for the nonlinear parameterizable Stribeck effects. Specifically, an adaptive observer/controller scheme is developed which contains a feedforward approximation of the Stribeck effects. This feedforward approximation is used in a composite controller/observer strategy which forces the average square integral of the position tracking error to an arbitrarily small value. Experimental results are included to illustrate the performance of the proposed controllers.

关键词： Friction compensation nonlinear control

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The Design and Its Application of Cross-Coupled controller in X-Y Table

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武汉理工大学学报 2006年第S3期28卷 783-787页

作者： XI Lei~1 WANG Xin~2 ZHANG Yi~1 (1.Division of control and mechatronics engineering,Harbin Institute of Technology Shenzhen Graduate,Shenzhen 518055,China, 2.Division of Mechanical engineering & automation,Harbin Institute of Technology Shenzhen Graduate,Shenzhen 518055,China) Division of Control and Mechatronics Engineering Harbin Institute of Technology Shenzhen GraduateShenzhen 518055China Division of Mechanical Engineering & Automation Harbin Institute of Technology Shenzhen GraduateShenzhen 518055China

In conventional cross-coupled controller design,the method usually ignored the inherent characteristic of time-vary- ing parameters and model uncertainties in *** this paper,a cross-coupled controller(CCC)using an H~∞control scheme has been proposed to reduce the contouring error for an X-Y ***,the proposed CCC design,which is a typical Multi- Input Multi-Output(MIMO)system with linear time varying(LTV)characteristics,has been verified as being internally stable. The simulations are carried on Matlab simulink to verify the proposed method,and the results showed that the proposed method can reduce the contouring error significantly compared with the conventional one.

关键词： motion control cross-coupled control contour error H∞control

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Surface reconstruction based on radial basis functions network

Surface reconstruction based on radial basis functions netwo...

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3rd International Symposium on Neural Networks, ISNN 2006 - Advances in Neural Networks

作者： Liu, Han-Bo Wang, Xin Wu, Xiao-Jun Qiang, Wen-Yi Department of Control and Mechatronics Engineering Harbin Institute of Technology Shenzhen Graduate School Shenzhen China Department of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen Graduate School Shenzhen China Department of Control Science and Engineering Harbin Institute of Technology Harbin China

ISBN: (纸本)3540344829

A new method for arbitrary 3d-object reconstruction in unknown environment is proposed in this paper. The implicit surface is reconstructed based on radial basis functions network from range scattered data. For the property of locality of radial basis function, the method is fast and robust with respect to large data. Furthermore, an adapted K-Means algorithm is used to reduce RBF centers for reconstruction. Experiment results show that the presented approach is helpful in speed improvement and is a good solution for large data reconstruction. © Springer-Verlag Berlin Heidelberg 2006.

关键词： Radial basis function networks

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