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2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Satoko Abiko Gerd Hirzinger Department of AeroSpace Engineering University of Tohoku Sendai Japan Institute of Robotics and Mechatronics German Aerospace Center Wessling Germany

This paper proposes an adaptive controller for a fully free-floating space robot with kinematic and dynamic model uncertainty. In adaptive control design for the space robot, because of high dynamical coupling between an actively operated arm and a passively moving end-point, two inherent difficulties exist, such as non-linear parameterization of the dynamic equation and both kinematic and dynamic parameter uncertainties in the coordinate mapping from Cartesian space to joint space. The proposed method in this study overcomes the above two issues by paying attention to the coupling dynamics. The proposed adaptive controller does not involve any measurement of acceleration; but it is still possible for the system to be linearly parameterized in terms of uncertain parameters and a suitable input torque can be generated in the presence of model uncertainty. A numerical simulation was carried out to confirm the validity of the proposed adaptive control.

关键词： Adaptive control Torque control Robot control Orbital robotics Uncertainty Robot kinematics Programmable control Nonlinear dynamical systems Nonlinear equations Uncertain systems

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A comparison of simulations and experimental tests on operation performance of CaPaMan2 bis

A comparison of simulations and experimental tests on operat...

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IEEE International Conference on mechatronics and Automation

作者： Conghui Liang Giuseppe Carbone Marco Ceccarelli Eusebio Hernandez LARM: Laboratory of Robotics and Mechatronics University of Cassino Cassino Frosinone Italy Faculty of Engineering University of Queretaro Queretaro Mexico

In this paper, operation performance of CaPaMan2 bis (Cassino Parallel Manipulator bis) has been investigated through numerical simulations and lab experimental tests. A 3D (three dimension) virtual model has been built in *** environment to simulate the operation behaviour for different prescribed motions. Milli-CaTraSys (Milli-Cassino Tracking System) has been implemented to measure position and orientation of the platform of the prototype CaPaMan2 bis during experimental tests. Several prescribed motions have been simulated and tested under different conditions in order to characterize the system behaviour. Finally, experiment results and simulation computations have been compared for the purpose of performance evaluation and design characterization of the manipulator structure and its prototype.

关键词： Computational modeling Prototypes Humanoid robots Manipulator dynamics mechatronics Automatic testing Position measurement System testing Virtual prototyping Parallel robots

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Positioning Control of a Capsule Robot Using Sliding Mode Control

Positioning Control of a Capsule Robot Using Sliding Mode Co...

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2009 IEEE International Conference on robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

作者： Namkon Lee Jun Ishikawa Norihiro Kamamichi Katsuhisa Furuta Department of Advanced Multidisciplinary Engineering Tokyo Denki UniversityJAPAN Department of Robotics and Mechatronics Tokyo Denki UniversityJAPAN

ISBN: (纸本)9781424447749

In this paper, locomotion of a capsule robot which is also called the Capsubot is studied. The Capsulbot is twomass sustem and it moves with no external parts. In the previous our researches for the Capsubot, we have studied to find a proper control input through an optimal control and verified by simulations and experiments. The previous study for the Capsubot, however, was totally based on open-loop control, same results are not guaranteed if the Capsubot is placed in a rough surface condition and circumstance. Then, sliding mode control method is derived in this paper because of its robustness to a parameter changes. The validity of the proposed method is verified by numerical simulations.

关键词： Position control Variable structure systems control input CAPSULES Robot Optimal control simulating OPEN-LOOP SURFACE CONDITIONS Control Methods

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Modeling and analysis for ice skating blade

Modeling and analysis for ice skating blade

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SICE Annual Conference

作者： Kazuo Sato Teruyoshi Sadahiro Masami Iwase Hiroo Shinbara Shoshiro Hatakeyama Department of Computers and Systems Engineering Tokyo Denki University Saitama Japan Department of Robotics and Mechatronics Tokyo Denki University Tokyo Japan

Ice skating is subject to non-holonomic constraints. Modeling of the such system is difficult unlike n-link pendulum, cart-pendulum, and unicycle system. In this paper, using Projection Method, the model of an ice skating blade is derived from its distinctive constraint conditions. Validity of the model is shown by some numerical simulations.

关键词： Ice Blades Robots Numerical simulation Control systems Systems engineering and theory mechatronics Nonlinear control systems Manipulator dynamics Engines

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Fuzzy control for shape memory alloy tendon-actuated robotic structure

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Lecture Notes in Electrical engineering 2009年 11卷 425-438页

作者： Bizdoaca, N.G. Petrisor, A. BîzdoacǍ, E. Diaconu, I. Department of Mechatronics University of Craiova Blvd. Decebal 107 Romania Department of Engineering in Electromechanics Environment and Industrial Informatics University of Craiova Blvd. Decebal 107 Romania Research Center of Mechatronics and Robotics Blvd. Decebal 107 Romania

ISBN: (纸本)9780387764825

Shape memory alloy offers an interesting solution, using the shape transformation of the wire/structure in the moment of applying a thermal-type transformation able to offer the martensitic temperature. In order to assure an efficient control of SMA actuator applied to inverted pendulum, a mathematical model and numerical simulation of the resulting model are required. Due to a particular possibility of SMA actuator connection, a modified dynamics for wire or tendon actuation is presented. For an efficient study, a Simulink block set was developed (block for user configurable shape memory alloy material, configurable block for dynamics of single-link robotic structure, block for user configurable wire/tendon actuation). As conventional control possibilities were explored, the fuzzy control structure applied in this chapter. offers an improved response. A more compact SMA actuation is proposed and experimented. The results are commented. © 2009 Springer Science+Business Media LLC.

关键词： Tendons

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Stabilizing control for linear systems with low resolution sensors

Stabilizing control for linear systems with low resolution s...

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IEEE Conference on Control Technology and Applications (CCTA)

作者： Masami Iwase Satoru Katohno Teruyoshi Sadahiro Department of Robotics and Mechatronics Tokyo Denki University Chiyoda Tokyo Japan Department of Computers and Systems Engineering Tokyo Denki University Saitama Japan

This paper presents a stabilizing control for linear systems with low resolution sensors. The quantization error in low resolution sensors cannot be neglect, and then a stabilizer should take the error into account. The stabilizer may be realized as an event-based controller because measurement is performed when low resolution sensors output quantized values. The measurement output may be a constant value when the ideal output of the plant is within a quantization width. Therefore it is difficult to design a controller and estimator of the systems according to ordinary linear control system designs in the use of the measurement output. This paper proposes a simple controller designed which is based on the generalized holder concept to overcome this problem. The generalized holder consists of a dynamic holder and corrector, and this paper also presents the separation theorem about the pole assignments of both dynamic holder and corrector in our case.

关键词： Control systems Linear systems Sensor systems Robust stability Robust control Robustness Performance analysis Polynomials Uncertainty Helicopters

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Passive event-based extrapolation for lossy haptic data compression in bilateral presence systems

Passive event-based extrapolation for lossy haptic data comp...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Philipp Kremer Martin Kuschel Carsten Preusche Martin Buss Gerd Hirzinger Institute of Robotics and Mechatronics German Aerospace Center Wessling Germany Institute of Automatic Control Engineering Technische Universität München Germany

A new lossy compression method is proposed for haptic (force, velocity) data as exchanged in bilateral telepresence systems. The method is based on the passive extrapolative compression strategy proposed in the work of Kuschel et al. (2006). The innovation is that the extrapolations do not have a stiff horizon, but are triggered by considerable changes (events) in the target environment. This enables longer average extrapolation horizons and thus, higher compression. Experiments are conducted using two DLR light weight robots. The results indicate that the method outperforms older implementations.

关键词： Extrapolation Haptic interfaces Data compression Humans Communication system control Control systems robotics and automation Compression algorithms Virtual reality Avatars

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A consideration of human-unicycle model for unicycle operation analysis based on moment balancing point

A consideration of human-unicycle model for unicycle operati...

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IEEE International Conference on Systems, Man and Cybernetics

作者： Hiroshi Ohsaki Masami Iwase Teruyoshi Sadahiro Shoshiro Hatakeyama Department of Computers and System Engineering Tokyo Denki University Chiyoda Tokyo Japan Department of Robotics and Mechatronics Tokyo Denki University Tokyo Japan

The unicycle operation is a good exercise for training of the sense of balance, the agility and the ability to coordinate the body according to situations. This paper aims to give an interpretation of the relationship between the moment balancing point (MBP) and the center of pressure (CP) in a riding a unicycle from the human motion viewpoint. This paper shows derivations of Human-Unicycle model motion equations according to the Projection Method, and represents the relationship between the MBP and the CP of the the model by considering structure and constraint reaction forces of the model.

关键词： Biological system modeling Feedback Control system synthesis Humans Educational institutions Vehicle dynamics Visualization Cybernetics USA Councils Systems engineering and theory

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The direct teaching and playback method for robotic deburring system using the adaptiveforce-control

The direct teaching and playback method for robotic deburrin...

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IEEE International Symposium on Assembly and Manufacturing (ISAM)

作者： SeungHoon Lee ChengJie Li DongHyung Kim JinHo Kyung ChangSoo Han CIM & Robotics Laboratory Department of Mechanical Engineering Hanyang University Seoul South Korea CIM & Robotics Laboratory Department of Mechatronics Engineering Hanyang University Seoul South Korea Department of Robotics & Intelligent Machinery Korea Institute Machinery and Materials Daejeon South Korea CIM & Robotics Laboratory Department of Mechanical and Information Management Engineering Hanyang University Ansan South Korea

Industrial robots are widely used and should be able to easily treat various work pieces. Therefore, a teaching and playback method is effective in small-quantity batch production. This paper suggests the mathematical modeling of the robotic deburring system, a complex target workpiece, and an uneven environment. First, a method is proposed that simplifies the teaching path for automated robotic deburring for efficient teaching, to generate a feasible trajectory that traces out a playback reference, and then an artificial disturbance on its playback motion is set. The recorded path is compressed using the Douglas-Peuker (DP) algorithm, which is for smoothing curves. Next, the simulation results based on the realization algorithm for effective direct teaching are introduced. Through this process, fundamental dynamic parameters are estimated and the adaptive force control strategies that were implemented in the simulation are verified.

关键词： Education Educational robots Deburring Service robots robotics and automation Production Mathematical model Smoothing methods Parameter estimation Programmable control

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Stabilizing control for Furuta Pendulum systems with low resolution sensors

Stabilizing control for Furuta Pendulum systems with low res...

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Asian Control Conference

作者： Satoru Katohno Masami Iwase Hiroshi Kogure Department of Computers and Systems Engineering Tokyo Denki University Hiki Saitama Japan Department of Robotics and Mechatronics Tokyo Denki University Chiyoda Tokyo Japan

ISBN: (纸本)9781424454402

关键词： Control systems Sensor systems Quantization Feedback Linear systems Control theory Digital control Biological control systems Control design Stability analysis

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