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检索条件"机构=Mechatronics and Robotics Engineering"

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Passive bilateral teleoperation with bounded control signals

Passive bilateral teleoperation with bounded control signals

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IEEE International Conference on Industrial Informatics (INDIN)

作者： Lőrinc Márton Jordi Artigas Esclusa Piroska Haller Tamás Vajda Department of Electrical Engineering Sapientia Hungarian University Romania Robotics and Mechatronics Center DLR-German Aerospace Center Wessling Germany Department of Electrical Engineering Petru Maior University Romania

In this study a new approach is proposed for time domain passivity based control of bilateral teleoperation systems in the presence of communication delay. According to the time domain passivity framework a Passivity Observer monitors the behavior of the teleoperation system. Whenever it is necessary, a Passivity Controller is switched on to assure the passivity of the teleoperation system. In this work a method is introduced according to which the rate (first order derivate) of the velocity and force signals, which are sent through the communication network, are limited with known bounds. In this case Passivity Controllers with bounded outputs can guarantee the stable behavior of the teleoperation system. Real-time experimental measurements are provided to show the efficiency of the proposed technique.

关键词： Force Delays Communication channels Control systems Frequency modulation Observers Robots

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Globally Converging MIMO Optimal Controller for Adaptive Manipulation of Mobile Robots with Redundant Arms

Globally Converging MIMO Optimal Controller for Adaptive Man...

引用

American Control Conference

作者： Paul M. Moubarak Pinhas Ben-Tzvi Doctoral student in the Department of Mechanical and Aerospace Engineering at the George Washington University Washington DC Assistant Professor of Engineering and the Director of the Robotics and Mechatronics Lab at the George Washington University Washington DC

ISBN: (纸本)9781479901777

In this paper, the stability of mobile robots during object manipulation with redundant arms is investigated. A new fast-converging MIMO control algorithm, called the Circles of INitialization (COIN), is introduced to calculate globally optimal postures of redundant manipulators. The algorithm is employed in real-time to prevent mobile robots tip-over during dynamic eccentric manipulation. This is achieved with tip-load measurement by adapting the position of the base relative to the line of action, and recalculating the global joint posture that offsets the risk of toppling. This closed-loop control scheme to maximize the arm's payload and stabilize the robot's posture is applied to serial redundant manipulators with n-joints.

关键词： COIN base robot's Mobile robots Robot Alkali Arm spiral arm Arms Redundant manipulators Object Manipulation body position Circles optimal controllers Redundant multiple input multiple output systems

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Biological Swimming Mechanism Analysis and Design of Robotic Frog

Biological Swimming Mechanism Analysis and Design of Robotic...

引用

IEEE International Conference on mechatronics and Automation

作者： Jyotsna Pandey N. S. Reddy R. Ray S. N. Shome School of Mechatronics CSIR-Central Mechanical Engineering Research Institute Durgapur 713209 India Robotics & Automation Group CSIR-Central Mechanical Engineering Research Institute Durgapur 713209 India

ISBN: (纸本)9781467355599

There are several locomotion mechanisms in Nature. The study of mechanics of any locomotion is very useful for scientists and researchers. Many locomotion principles from Nature have been adapted in robotics. There are several species which are capable of multimode locomotion such as walking and swimming, and flying etc. Frogs are such species, capable of jumping, walking, and swimming. Multimode locomotion is important for robots to work in unknown environment. Frogs are widely known as good multimode locomotors. Webbed feet help them to swim efficiently in water. This paper presents the study of frog's swimming locomotion and adapting the webbed feet for swimming locomotion of the robots. A simple mechanical model of robotic leg with webbed foot, which can be used for multi-mode locomotion and robotic frog, is put forward. All the joints of the legs are designed to be driven by tendon-pulley arrangement with the actuators mounted on the body, which allows the legs to be lighter and compact.

关键词： compact Design researchers

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Finite-time Stabilization of A Class of High-order Stochastic Nonlinear Systems

Finite-time Stabilization of A Class of High-order Stochasti...

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第三十二届中国控制会议

作者： Suiyang Khoo Juliang Yin Zhihong Man School of Engineering Deakin UniversityVIC Australia Department of Statistic and Mathematics Jinan UniversityChina School of Robotics and Mechatronics Swinburne University of TechnologyVIC Australia

ISBN: (纸本)9781479900305

This paper studies the problem of almost surely finite-time stabilization for stochastic nonlinear *** prove that global almost surely finite-time stabilization of stochastic nonlinear systems in triangular form can be reached by the continuous feedback control *** proof is based on the recently proposed almost surely finite-time stability theorem in[17].A recursive design algorithm is developed for the construction of the *** adding an integrator technique is employed to construct the global almost surely finite-time *** example is given to illustrate the theoritical analysis.

关键词： Stochastic differentia equations Finite-time stability Nonlinear systems.

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A vision-based measurement algorithm for micro/nano manipulation

A vision-based measurement algorithm for micro/nano manipula...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent mechatronics

作者： Leon Clark Bijan Shirinzadeh Umesh Bhagat Julian Smith Robotics and Mechatronics Research Laboratory (RMRL) Department of Mechanical and Aerospace Engineering Monash University Clayton VIC Australia Department of Surgery Monash University Melbourne Australia

This paper presents a vision-based measurement methodology which utilises a micrometre calibration slide and confocal microscope. The technique is suitable for measurement of both angular and linear displacements. The algorithm presented in this paper overcomes the shortcomings of limited CCD pixel count and image size, out of focus areas at the boundaries of the image, and vertical motion of the slide out of the focal plane. Many parameters can be changed within the setup, allowing the resolution and range of measurement to be modified for a given application. Experimental verification has been performed in an angular measurement configuration, demonstrating noise-limited linear and angular resolutions of 0.04 μm and 0.29 μrad, respectively.

关键词： Microscopy Calibration Tracking Displacement measurement Charge coupled devices Noise Rotation measurement

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Toward multi-stage decoupled visual SLAM system

Toward multi-stage decoupled visual SLAM system

引用

International Workshop on Robot Sensing (ROSE)

作者： Mohamed H. Merzban Mohamed Abdellatif Hossam Abbas Salvatore Sessa Mechatronics and Robotics Eng. Dept. Egypt-Japan University of Science and Technology Alexandria Egypt Graduate School of Creative Science and Engineering Tokyo Japan

SLAM is defined as simultaneous estimation of mobile robot pose and structure of the surrounding environment Currently, there is a much interest in Visual SLAM, SLAM with a camera as main sensor, because the camera is an ubiquitous and affordable sensor. Camera measurements formed by perspective projection is highly nonlinear with respect to estimated states, leading to complicated nonlinear estimation problem. In this paper, a novel system is proposed that divides the problem into two parts: local and global motion estimation. This division leads to a simple linear estimation system. In the first stage, local motion parameters (acceleration, velocity, angular acceleration and orientation) are estimated in robot local frame. Robot position and the scene map are then estimated in the second stage in global frame as global motion parameters. Map is updated at each camera frame and is represented in a relative way to decouple robot pose from map structure estimation. The new system simplified the map correction to a linear optimization problem. Simulation results showed that the proposed system converges and yields accurate results.

关键词： Robot sensing systems Current measurement Estimation Lead Optimization Cameras

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An active coupling mechanism with three modes of operation for modular mobile robotics

An active coupling mechanism with three modes of operation f...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Paul M. Moubarak Pinhas Ben-Tzvi Zhou Ma Eric J. Alvarez Department of Mechanical and Aerospace Engineering George Washington University Washington DC DC USA Robotics and Mechatronics Laboratory George Washington University Washington DC DC USA

ISBN: (纸本)9781467356404

This paper presents a new design for a docking interface that enables rigid, reversible and non-back-drivable coupling between robotic modules in a chain architecture. The distinctive merit of the proposed interface is exhibited in its ability to operate in three independent modes. In the drive mode, the motor torque is directed to drive the host module. In the neutral mode, the motor torque aligns the coupling elements prior to docking. In the clamp mode, the motor torque actuates the revolute joint resulting from this docking process, thus allowing one module to revolve relative to its neighbors in the formation. In this paper, an optimality analysis of the unique kinematic properties of the dual-rod slider-rocker (DRSR) mechanism which enables this tri-state operation is presented. This analysis is supplemented by simulations and experimental results that validate these optimal kinematics, as well as the rigidity and the three operation modes of the docking interface.

关键词： Clamps Shafts Gears Couplings Kinematics Educational robots

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A hybrid topological and structural optimization method to design a 3-DOF planar motion compliant mechanism

A hybrid topological and structural optimization method to d...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent mechatronics

作者： Guo Zhan Lum Tat Joo Teo Guilin Yang Song Huat Yeo Metin Sitti Mechatronics Group Singapore Institute of Manufacturing Technology Singapore School of Mechanical and Aerospace Engineering Nanyang Technological University Singapore Department of Mechanical Engineering and Robotics Institute Carnegie Mellon University PA USA

This paper proposes a novel design methodology to synthesize flexure-based parallel manipulators (FPM) for high precision micro/nano-scale manipulation. Unlike traditional synthesis methods, the proposed method uses a structural optimization algorithm that is independent of human intuition, to synthesize compliant joints with optimal stiffness characteristics. This algorithm is able to evolve the topology and shape of the compliant joints. Based on finite element analysis, the synthesized compliant joints are able to achieve better stiffness characteristics than the traditional compliant joints. This allows the synthesized joints to achieve a large deflection range while maintaining their capabilities to resist external wrenches in the non-actuating directions. A planar motion FPM with a workspace of 4 mm 2 × 2° is formed by assembling the optimal compliant joints. The actuating compliance of the joints and FPM are validated by experiments and their deviation between the experimental results and the simulation prediction are within 10% and 18% respectively.

关键词： Joints Optimization Finite element analysis Loading Manufacturing processes Topology Couplings

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Discretization and control of rotating pendulum under lebesgue sampling

Discretization and control of rotating pendulum under lebesg...

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作者： Ohsaki, Hiroshi Iwase, Masami Hatakeyama, Shoshiro Tokyo Denki University Graduate School of Advanced Science and Technology Department of Advanced Multidisciplinary Engineering 2-2 Kanda-Nishiki-cho Chiyoda-ku Tokyo 101-8457 Japan Tokyo Denki University School of Science and Technology for Department of Robotics and Mechatronics 2-2 Kanda-Nishiki-cho Chiyoda-ku Tokyo 101-8457 Japan

This study addresses a discretization method with Lebesgue sampling for a type of nonlinear system, and proposes a control method based on the discrete system model. A cart-pendulum system is used as this example. Applying this control method to some real system, how to implement the controller is a crucial problem. To overcome the problem, an impulsive Luenberger observer is introduced with a numerical forward mapping from the current system state to the one-step ahead state by well-known Runge-Kutta method. As the result, a cart-pendulum system with a rotary encoder, whose quantization interval is relatively large, can be controlled effectively. Numerical simulations are performed to verify the effectiveness of the proposed method. © 2013 The Institute of Electrical Engineers of Japan.

关键词： Runge Kutta methods

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Microfluidic device for coincident multi-exposure test on C. elegans

Microfluidic device for coincident multi-exposure test on C....

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International Symposium on Micromechatronics and Human Science (MHS)

作者： Jaehoon Jung Masahiro Nakajima Masaru Takeuchi Qiang Huang Toshio Fukuda Department of Micro-Nano Systems Engineering Nagoya University Chikusa-ku Nagoya Japan Center for Micro-Nano Mechatronics Nagoya University Chikusa-ku Nagoya Japan Intelligent Robotics Institute Beijing Institute of Technology Beijing China Department of Mechatronics Engineering Meijo University Nagoya Japan

We developed the microfluidic device to conduct the multi-exposure test with Caenorhabditis elegans (C. elegans) simultaneously. The proposed device has 3 chambers to expose several external stimuli on C. elegans at the same time. Each chamber has a special structure to keep C. elegans inside the chamber; a fixed-geometry check valve and a pillar array. Capacitance was measured to check the effect of external stimulus on C. elegans using a pair of electrodes. To demonstrate the capability of our device, we applied it to multi-exposure test; two heavy metal (Cr and Pb) solutions and K-medium for the control group. Total 21 of young adult stage of C. elegans were divided into three groups and loaded into each chamber for the exposure test. From this experiment, we succeeded to load and keep several worms in each chamber and to check the effect of each solution on C. elegans through the capacitance change measurement. The result indicated that our device was a viable method for the multi-exposure test on C. elegans.

关键词： Microfluidics Metals Capacitance Capacitance measurement Valves Grippers Arrays

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