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检索条件"机构=Mechatronics and Robotics"

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Robust Control Framework for Piezoelectric Actuation Systems in Micro/Nano Manipulation

Robust Control Framework for Piezoelectric Actuation Systems...

引用

IEEE Region 10 International Conference TENCON

作者： Hwee Choo Liaw Denny Oetomo Bijan Shirinzadeh Gursel Alici Robotics and Mechatronics Research Laboratory Department of Mechanical Engineering Monash University Clayton VIC Australia School of Mechanical Materials and Mechatronics Engineering University of Wollongong NSW Australia

Micro/nano manipulation has been identified as one of the key enabling technologies for many emerging challenges. Within this scope, piezoelectric actuators have played major roles in achieving the required nano-resolution motion. This paper proposes a robust control framework for piezoelectric actuation systems to follow specified motion trajectories. The basic concept associated with this methodology lies in the specification of a target performance and the robust control scheme formulation for piezoelectric actuation systems to ensure the convergence of the position tracking error to zero. This control methodology is attractive as its implementation requires only the knowledge of the estimated system parameters and their corresponding bounds, including bound of hysteresis and external disturbances. Feasibility study of the framework for piezoelectric actuation systems in micro/nano manipulation is described. Simulation results validated the suitability of the proposed control approach.

关键词： Robust control Mathematical model Hysteresis Sliding mode control Voltage Piezoelectric actuators Control systems Uncertainty mechatronics Parameter estimation

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Optimal discrete-time magnetic attitude control of satellites

Optimal discrete-time magnetic attitude control of satellite...

引用

作者： Lovera, M. Varga, A. Dipartimento di Elettronica e Informazione Politecnico di Milano P.za Leonardo da Vinci 32 20133 Milano Italy German Aerospace Center DLR-Oberpfaffenhofen Institute of Robotics and Mechatronics D-82234 Wessling Germany

ISBN: (纸本)008045108X

The problem of designing discrete-time attitude controllers for magnetically actuated spacecraft is considered. Several methods are discussed and a novel approach to the tuning of "projection based" controllers is proposed relying on periodic optimal output feedback control techniques. The main advantages of the proposed method are discussed and illustrated in a simulation study. Copyright © 2005 IFAC.

关键词： Attitude control

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Session summary

Springer Tracts in Advanced Robotics

引用

Springer Tracts in Advanced robotics 2005年 15卷 3-5页

作者： Hirzinger, Gerd Institute of Robotics and Mechatronics DLR Oberpfaffenhofen P.O.Box 11 16 82230 Wessling Germany

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An adaptive control of a space manipulator for vibration suppression

An adaptive control of a space manipulator for vibration sup...

引用

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： S. Abiko K. Yoshida Institute of Robotics and mechatronics German Aerospace Center Wessling Germany Department of AeroSpace Engineering University of Tohoku Sendai Japan

This paper addresses an adaptive control of a space manipulator termed JEMRMS for vibration suppression. Space manipulators such as JEMRMS are subject to vibrations due to structural flexibility. To cope with such a drawback, control strategies for minimization of vibration excitation and for maximization of vibration damping have already been developed. However those strategies require an accurate model of the manipulator dynamics. If a payload with unknown dynamic properties is being handled, the use of the above stated strategies lead to vibration excitation, or to inaccurate positioning of the end point. In this paper, an adaptive control for the vibration suppression control is addressed to guarantee the stability of the system in the presence of model uncertainty.

关键词： Adaptive control Vibration control Manipulator dynamics Motion control Space technology Orbital robotics Payloads System testing mechatronics Aerospace control

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A Robust Localization Algorithm in Topological Maps with Dynamics

A Robust Localization Algorithm in Topological Maps with Dyn...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： N.L. Doh K. Lee J. Huh N. Cho J. Lee W.K. Chung Y.J. Cho Robotics and Bio-mechatronics Laboratory POSTECH Pohang South Korea Electronics and Telecommunications Research Institute Daejeon South Korea

A localization algorithm for topological maps with dynamics is proposed in this paper. Especially, this algorithm considers a localization when some nodes are deleted by door closing and has two main features. First, lots of edge information are used in efficient way. Second, the algorithm calculates probability of a node to be the current location in a systematic and general way. Experiments in a topological map with dynamics are conducted to show the performance of the proposed algorithm.

关键词： Robustness Probability Terminology Equations Robot sensing systems Biomechatronics Legged locomotion Monte Carlo methods Heuristic algorithms Navigation

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A Systematic Representation of Edges in Topological Maps for Mobile Robots using Wavelet Transformation

A Systematic Representation of Edges in Topological Maps for...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： N.L. Doh N. Cho K. Lee J. Lee W.K. Chung S.R. Oh Robotics and Bio-mechatronics Laboratory POSTECH Pohang South Korea Institute of Information Technology Assessment Daejeon South Korea

Edges in topological maps have rich information such as shape, numbers of obstacles, locations of obstacles which can be used for a data association. However, no systematic approach on using the edge data for the data association has been reported. This paper proposes a systematic way of utilizing the edge data for data association. First, we explain a Local Generalized Voronoi Angle(LGA) to represent the edge data in 1-dimension. Second, we suggest a key factor extraction procedure from the LGA to reduce the number by 27-28 times for computational efficiency using the wavelet transformation. Finally we propose a way of data association using the key factors of the LGA. Simulations and experiments show that the proposed data association algorithm yields higher probability for similar edges in computationally efficient manner.

关键词： Mobile robots Shape Data mining Noise shaping Robot kinematics Biomechatronics Information technology Computational efficiency Computational modeling Navigation

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Climbing robots with adaptive grippers for construction

Climbing robots with adaptive grippers for construction

引用

Construction Research Congress 2005: Broadening Perspectives - Proceedings of the Congress

作者： Rachkov, M. Gradetsky, V. Knyazkov, M. Department Automatics Informatics and Control Systems Moscow State Industrial University Moscow Russia ul Avtozavodskaja 16 115280 Moscow Russia Robotics and Mechatronics Laboratory Institute for Problems in Mechanics RAS Moscow Russia 101-1 Prospect Vernadskogo 119526 Moscow Russia

ISBN: (纸本)0784407541

Climbing robots are intended to move over vertical and slope surfaces to fulfill different technological operation by means on-board equipment. Vertical surfaces of buildings can be porous and rough so the robot should perform adaptation to such kinds of surfaces. The paper presents a new climbing robot for construction tasks that has adaptive possibility to move over various surfaces by means of a vacuum adaptive gripper system. It includes pressure, flow and force sensors, sealing gripper design and feedback control system of pedipulators. The control system ensures a sealing mode of adaptive pedipulator motion. The robot has two platforms and a light skeleton structure with nine degrees of freedom including two flexible technological manipulators. The climbing robot design allows adaptation to vertical surfaces of different quality. The design of the robot, its technical characteristics and experimental results are discussed.

关键词： Construction industry

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FPGA based hardware architecture for HIT/DLR hand

FPGA based hardware architecture for HIT/DLR hand

引用

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： R. Wei X.H. Gao M.H. Jin Y.W. Liu H. Liu N. Seitz R. Gruber G. Hirzinger Robot Research Institute Harbin Institute of Technology Harbin China Institute of Robotics and Mechatronics German Aerospace Center Wessling Germany

In this paper, FPGA (field programmable gate array) based hardware architecture for the HIT/DLR hand has been investigated. With the FPGAs for lower level control and DSP (digital signal processor) for higher level control, the whole hardware is very intelligent. By using the high capacity of FPGAs, the additional hardware such as communication controller and PWM generators, can be implemented in a single chip and the hardware system is more flexible and compact. In each finger there is an FPGA for data collection, brushless DC motors control and communication with palm's FPGA by point-to-point serial communication (PPSeCo). The kernel of the hardware system is a PCI-based high speed floating-point DSP for data processing, and FPGA for high-speed (up to 25Mbps) real-time serial communication with the palm's FPGA. There needs only 4 cables for the data transmission and the sampling cycle for each sensor is only 200 /spl mu/s. This paper presents the basic ideas behind the HIT/DLR hand's hard- and software architecture adapted to new needs in data processing.

关键词： Field programmable gate arrays Hardware Level control Digital signal processing chips Communication system control Pulse width modulation Data processing Digital signal processors Control systems Fingers

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Accurate thruster modeling with non-parallel ambient flow for underwater vehicles

Accurate thruster modeling with non-parallel ambient flow fo...

引用

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Jinhyun Kim Jonghui Han Wan Kyun Chung Junku Yuh Robotics & Bio-Mechatronics Laboratory Pohang University of Science and Technology Pohang South Korea National Science Foundation Arlington VA USA

To improve the maneuverability of underwater vehicles, accurate thrust model is required. However, its modeling is not only difficult but also inaccurate, because it has highly nonlinear dynamics and many parameters which cannot be modeled exactly. Generally, a propeller's steady-state axial thrust is proportional to the signed square of propeller shaft velocity under bollard pull condition. And, it is reported that the velocity of the ambient flow of the thruster affects the thrust force largely. From these facts, we can easily make a reasonable inference that the thrust force may also be affected by the thruster spouting angle with respect to the vehicle moving direction. However, the effect of this non-parallel ambient flow is not well understood in the previous works. Hence, in this paper, a new parameter, what we call incoming angle, is introduced and its effect on thrust force is shown. Incoming angle is defined as the angle between the direction of thrust and that of vehicle velocity. The effect of this angle can be dominant during an underwater vehicle changes its direction, or an omni-directional vehicle carries out its task. The effect cannot be compensated by including the only parallel component of vehicle velocity into previous models. In this paper, based on the three axial flow states classification model, the effect of the incoming angle of ambient flow is analyzed, and critical incoming angle (CIA) is also defined to describe the thrust force states according to incoming angle. In order to characterize the effect of non-parallel ambient flow, the proposed model is evaluated by comparing experimental data with numerical model simulation data, and it accurately covers overall flow conditions within /spl plusmn/2N force error.

关键词： Underwater vehicles Propellers Vehicle dynamics Electronic mail Propulsion Shafts Hydrodynamics Robots Biomechatronics Numerical models

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Deformable object simulation with Poisson equation

Deformable object simulation with Poisson equation

引用

IEEE International Conference on mechatronics and Automation

作者： Yongmin Zhong B. Shirinzadeh G. Alici J. Smith Robotics & Mechatronics Research Laboratory Monash University VIC Australia School of Mechanical Materials and Mechatronics Engineering University of Wollongong NSW Australia Department of Surgery Monash Medical Centre Monash University VIC Australia

This paper presents a new methodology for the deformation of soft objects by drawing an analogy between Poisson equation and elastic deformation. The potential energy stored in an elastic body as a result of a deformation caused by an external force is propagated among mass points by the Poisson equation. An improved Poisson model is developed for propagating the energy generated by the external force in a natural manner. A method is presented to derive the internal forces from the potential energy distribution. This proposed methodology not only deals with large-range deformations, but also accommodates both isotropic and anisotropic materials by simply changing the constitutive coefficients. Examples are presented to demonstrate the efficiency of the proposed methodology.

关键词： Deformable models Poisson equations Potential energy Computational modeling Surgery Anisotropic magnetoresistance mechatronics Medical simulation Medical robotics Laboratories

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