This paper addresses some control issues of a robotic amphibious vehicle that can serve as a general framework for automation of tractors used in construction. These include the vehicle's low-level dynamic equatio...
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This paper addresses some control issues of a robotic amphibious vehicle that can serve as a general framework for automation of tractors used in construction. These include the vehicle's low-level dynamic equations, the development of its braking control system, kinematics in interactions with ground and the slip problem. Simulation and real-time results to date are presented.
A new humanoid robot capable of verious motion is proposed in this paper, which has a 2 DOF wasit and 2 DOF trunk. A new upper body mechanism is mounted on a leg machine, WABIAN2/LL, and a full scale humanoid robot, W...
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This paper presents a new methodology for the deformation of soft objects by drawing an analogy between heat conduction and elastic deformation. The potential energy stored in an elastic body as a result of a deformat...
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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-resol...
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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.
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 d...
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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.
With today's virtual reality (VR) systems, it is difficult to create precise assembly models through 3D interactions due to hardware limitations. In this paper, an efficient approach is presented for intuitive and...
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With today's virtual reality (VR) systems, it is difficult to create precise assembly models through 3D interactions due to hardware limitations. In this paper, an efficient approach is presented for intuitive and precise assembly modeling in a VR environment. Assembly modelling is performed by precise constraint-based 3D direct manipulations in an intuitive manner. Constraint-based manipulations are accompanied with automatic constraint recognition and precise constraint satisfaction, and are realized by allowable motions for precise 3D interactions in the VR environment. Some special constraint-based assembly operations are constructed for assembly modelling in the VR environment. A method for recognizing the pairs of mating features between assembly components is presented. This method integrates 3D direct manipulations with a feature mating knowledge base and makes the process of recognizing a pair of mating features intuitive. A concept of offset solid is also presented for determining assembly components. A prototype system has been developed for assembly modelling through precise constraint-based manipulations in an intuitive manner in the VR environment.
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 deforma...
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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.
This paper presents a new methodology for the deformation of soft objects by drawing an analogy between heat conduction and elastic deformation. The potential energy stored in an elastic body as a result of a deformat...
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This paper presents a new methodology for the deformation of soft objects by drawing an analogy between heat conduction 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 principle of heat conduction. An improved heat conduction 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 methodology not only deals with large-range deformation, but also accommodates both isotropic and anisotropic materials by simply changing thermal conductivity constants. Examples are presented to demonstrate the efficiency of the proposed methodology.
A new humanoid robot capable of various motion is proposed in this paper, which has a 2 DOF waist and 2 DOF trunk. A new upper body mechanism is mounted on a leg machine, WABIAN2/LL, and a full scale humanoid robot, W...
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A new humanoid robot capable of various motion is proposed in this paper, which has a 2 DOF waist and 2 DOF trunk. A new upper body mechanism is mounted on a leg machine, WABIAN2/LL, and a full scale humanoid robot, WABIAN-2, is constructed in this study. Its trunk is designed to bend forwards, backwards and sideways and rotate in combination with a 2-DOF waist. Also, the upper body is designed in way that makes it able to use a walk-assist machine. Basic walking experiments with and without a walk-assist machine are conducted, and the effectiveness of the mechanism of WABIAN-2 is confirmed
Kinematic isotropy of omnidirectional mobile robots with powered caster wheels is discussed and utilized in optimizing the design parameters of the robots. The analysis is done to cover the most general cases, by obse...
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Kinematic isotropy of omnidirectional mobile robots with powered caster wheels is discussed and utilized in optimizing the design parameters of the robots. The analysis is done to cover the most general cases, by observing the mathematical expression of the equations of motion rather than by numerical evaluation of specific parameters or actuation schemes. Optimal design guidelines are provided. Singularity analysis is given to support the proposed design guidelines. Simulation results are presented to verify the conclusions drawn.
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