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IEEE Conference on Control Technology and Applications (CCTA)

作者： M. Iwase T. Tajiri M. Andoh K. Ura Department of Robotics and Mechatronics Tokyo Denki University Japan Department of Computers and Systems Engineering Tokyo Denki University Japan

This study focuses on the stabilizing operation of a pendulum by using myoelectricity as the control signal. Recently myoelectricity is highlighted in the control application fields such as artificial hands and powered suits. However, even expert operators fail in stabilization of the pendulum because controlling of the target system by using myoelectricity is a difficult task. To deal with such a situation, introducing of an operation assistance by an automatic control is one of useful solutions, however, in general, the design of such automatic control system requires the model of myoelectricity. Thus it is still challenging task to achieve modeling and identification of myoelectricity. This paper tries to make a model of the dynamical system of the myoelectricity by utilizing the nonlinear ARX models proposed by Furuta and verifies the effectiveness of the model through some experiments.

关键词： Control systems USA Councils Conferences

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Control Strategies and Feedback Information in Mobile Robot Teleoperation

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IFAC Proceedings Volumes 2008年第2期41卷 14681-14686页

作者： I. Farkhatdinov J-H. Ryu J. Poduraev School of Mechanical Engineering Korea University of Technology and Education Cheonan Korea Robotics and Mechatronics Department Moscow State University of Technology “STANKIN” Moscow Russia

In this paper several control strategies and feedback information for teleoperation of a mobile robot are described and analyzed. Main objective is to verify the role of different types of feedback information and command strategies. Three control strategies which combined position-speed and position-position control modes are analyzed. Position-speed and position-position command strategies are used for mobile robot teleoperation. In position-speed strategy, desired speed of a mobile robot is defined by a master manipulators position. In position-position command strategy, robots position is controlled by position of master device. Hybrid command strategy, combining position-speed and position-position strategy, is introduced. Three types of feedback are provided to human-operator. Described human-robot teleoperation interfaces were tested by performing experiments. First, unilateral teleoperation was studied. Experiments with position-speed, position-position and hybrid command strategies were evaluated. Second, bilateral teleoperation of a mobile robot was studied using two types of force feedback: force feedback related to obstacle range information, and force feedback including information about the state of the robot. For experiments with bilateral teleoperation different command strategies were applied. The role of visual and sound feedback was verified also. Navigation time and positioning accuracy were measured during experiments. For each type of human-robot interaction interface advantages and disadvantages, and possible applications were described.

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A vision-based approach for surface roughness assessment at micro and nano scales

A vision-based approach for surface roughness assessment at ...

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International Conference on Control, Automation, robotics and Vision (ICARCV)

作者： Ghassan A. Al-Kindi Bijan Shirinzadeh Yongmin Zhong Department of Mechanical Engineering University of Technology Baghdad Iraq Robotics & Mechatronics Research Laboratory Department of Mechanical and Aerospace Engineering Monash University Malaysia

This paper presents a vision-based approach for valid assessment of surface roughness in both micro-scale and nano-scale regions. To enable data comparisons, three sets of surface data in the micro and nano regions are acquired by using a CCD camera, a video-based optical microscope and a stylus instrument. Data filtering and analysis procedures are applied to the acquired data. Results for computation of roughness parameters by using vision data provide adequate values for assessment of surface roughness in the manner as similar as stylus based technique. No obvious changes in the computed roughness parameter values are resulted from the micro and nano regions. In the nano region, a cavity graphs technique provides distinguishable forms of graphs that tend to more gradual increase of the cavity percentage to denote the collection of the macro surface details. In addition, an auto correlation technique applied in the nano region succeeds to discriminate the surface irregularities relationship with respect to their periodicity and randomness. The overall acquired results indicate that vision systems are a valid source of data for reliable surface roughness evaluation in both micro/nano-scale regions. The results are very useful in achieving commercial 3D vision based micro-nano roughness measurement systems for industrial applications.

关键词： Rough surfaces Surface roughness Optical filters Optical microscopy Charge coupled devices Charge-coupled image sensors Instruments Filtering Data analysis Computer vision

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Closed-Form Equations for the Vibrations of a Flexure-Based Scott-Russell Mechanism

Closed-Form Equations for the Vibrations of a Flexure-Based ...

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2008 IEEE/ASME International Conference on Advanced Intelligent mechatronics, Pages 477-948

作者： Yanling Tian Bijan Shirinzadeh Yongmin Zhong Dawei Zhang Robotics and Mechatronics Research Laboratory Department of Mechanical and Aerospace Engineering Monash University Clayton VIC 3800 Australia

ISBN: (纸本)9781424424948

This paper presents the closed-form equations for the vibrations of a flexure-based Scott-Russell mechanism driven by a piezoelectric actuator. This mechanism is used for the nano-manipulation. To overcome the displacement limitation of the piezoelectric actuator, the proposed Scott-Russell mechanism is also used to enlarge the working range of the entire system with high positioning accuracy. With consideration for the effect of the driving circuit, the dynamic model of the flexure-based Scott-Russell mechanism is established. The closed-form transient response of the flexure-based Scott-Russell mechanism to the slope command signal is derived based on the Laplace transform method. The influence of the rising time on the dynamic characteristics of the mechanism is investigated. Compared with the step signal, the slope command signal can generate vibration-free motion and thus improve the dynamic performance of the flexure-based Scott-Russell mechanism.

关键词： flexure hinge piezoelectric actuator Scott-Russell mechanism

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Dynamic Stability of Off-Road Vehicles: Quasi-3D Analysis

Dynamic Stability of Off-Road Vehicles: Quasi-3D Analysis

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2008 IEEE International Conference on robotics and Automation (ICRA 2008), vol.6

作者： Moshe Mann Zvi Shiller Department of Mechanical Engineering and Mechatronics Paslin Robotics Research Laboratory Ariel University Center of Samaria Ariel Israel

This paper presents a method to determine the stability of off-road vehicles moving on rough terrain. The measures of stability are defined as the maximum speed and acceleration under which the vehicle does not slide or tip over. To compute these stability measures, we propose a quasi 3D analysis by decomposing the vehicle dynamics into three separate planes: the yaw, pitch, and roll planes. In each plane, we compute the set of admissible speeds and acceleration for the planar vehicle model, contact model, and ground force constraints. The intersection of the admissible sets provides the total range of feasible speeds and accelerations along the vehicle's path, from which we obtain the stability margins. Numerical results for a vehicle traversing a simulated terrain demonstrate the effectiveness of the approach.

关键词： Vehicle dynamics Stability analysis Acceleration Robot kinematics Road vehicles Angular velocity Symmetric matrices Velocity measurement robotics and automation USA Councils

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Development of a control system for supporting to grow human skill of a unicycle

Development of a control system for supporting to grow human...

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SICE Annual Conference

作者： Hiroshi Ohsaki Masaya Kinoshita Yoshiaki Sugimoto Kohei Yoshida Hideo Yoshida Masami Iwase Shoshiro Hatakeyama Department of Computers and System Engineering Tokyo Denki University Saitama Japan Department of Robotics and Mechatronics Tokyo Denki University Japan

ISBN: (纸本)9784907764296

The riding operation of a unicycle attract attention, because it improves the balance sense and trains the coordinate ability to move the body dexterously according to a situation. This study regards a unicycle as the subject of research, and analyzes the process of achievement of the balance sense and the coordinate ability for riding the unicycle. Thus, we derive a motion equation of a system which considered a force and a torque to the system by the operator using the projection method. We develop a dynamic unicycle simulator, using the equation of motion, which prepare an environment for analysis, training, teaching, and assist of the unicycle operation.

关键词： Dynamic unicycle simulator Projection method

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Human dexterity analysis in stabilizing operation of inverted pendulum

Human dexterity analysis in stabilizing operation of inverte...

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IEEE International Conference on Systems, Man and Cybernetics

作者： Kazuhide Ura Toshiya Tajiri Hiroshi Ohsaki Hiroki Takase Masami Iwase Shoshiro Hatakeyama Department of Computers and Systems Engineering Tokyo Denki University Saitama Japan Department of Robotics and Mechatronics Tokyo Denki University Tokyo Japan

A final purpose of this study is to design a dexterity assistance system for operating a machine. In order to design a dexterity assistance system, analysis of human characteristics is necessary. And the study of stabilizing operation of an inverted pendulum is important for understanding the neural control of balance and skill acquisition. Therefore, this study focuses on stabilizing operation of an inverted pendulum, and analyzes the dexterity process of human operation. This paper assumes that the human operation is PD control. And feedback gains are identified at each danger in the operation, and relationship between the results of identification and skill level is discussed. Furthermore, we verify the proposed operation analysis technique by the variation of the order of the human controller.

关键词： Humans mechatronics Force sensors PD control Computational modeling Force control Design engineering Systems engineering and theory Robots Neurofeedback

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Stiffness estimation of the flexure-based five-bar micro-manipulator

Stiffness estimation of the flexure-based five-bar micro-man...

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International Conference on Control, Automation, robotics and Vision (ICARCV)

作者： Yanling Tian Bijan Shirinzadeh Dawei Zhang Robotics & Mechatronics Research Laboratory Department of Mechanical and Aerospace Engineering Monash University Clayton VIC Australia Department of Mechanical Engineering Tianjin University TJU Tianjin China

This paper presents the forward kinematics and stiffness estimation methodologies of a flexure-based five-bar micro-manipulator. The mechanical design of the micro-manipulator is firstly descried. Base on the configuration of the proposed flexure-based micro-manipulator, the whole system has been divided into a five-bar parallel mechanism and an amplification mechanism. Two mathematical expressions describing the path traced by the tips of two passive links connected to each other are obtained. The Cartesian coordinates of the end-effector attached to one of the passive links is obtained according to the geometric relationship. The amplification factor of the lever mechanism is also derived based on the analytical solution of the four-bar linkage. By simplifying the flexure hinge as an ideal revolution joint with a linear torsional spring, the stiffness of the compliant five-bar mechanism is derived in both actuation and Cartesian spaces. It is noted that the stiffness of the compliant five-bar mechanism is positional dependant, and reaches up to infinite value at the singular configuration.

关键词： Kinematics Fasteners Laser modes robotics and automation Manipulator dynamics Robot vision systems Design methodology Couplings Springs Micromanipulators

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Development of a Compliant-Based Microgripper for Microassembly

Development of a Compliant-Based Microgripper for Microassem...

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IEEE/ASME International Conference on Mechtronic and Embedded Systems and Applications, MESA

作者： Mohd Nashrul Mohd Zubir Bijan Shirinzadeh Robotics and Mechatronics Research laboratory Department of Mechanical Engineering Monash University Clayton VIC Australia Monash University Clayton VIC AU

Micro-scaled parts with dimension below 1 mm need to be manipulated with high precision and consistency in order to guarantee successful microassembly process. Often these requirements are difficult to be achieved mainly due to the constraints imposed by the grasping mechanism which will affect the accuracy of the manipulation. Furthermore, the object's texture and fragility imply that small perturbation by the grasping mechanism can result in substantial damage to the object and downgrading its geometry, shape, and quality. Conventional grippers based on rigid hinges are not capable to meet the demand of high precision manipulation and control of micro objects due to prevalent backlash and coulomb friction problems inherited within their joints. An effective way to address these problems is by introducing flexure based joints which will produce fully-monolithic grasping mechanism. This paper provides a rigorous approach to develop a compliant-based microgripper for performing high precision manipulation of micro-objects. A combination of pseudo rigid body model (PRBM) and finite element analysis (FEA) has proven to expedite the prototyping procedure which effectively reduces the cost and modeling time. An electro discharge machining (EDM) technique was utilized for the fabrication of the device. Series of experimental studies were conducted for performance verification and the results were compared with the computational analysis results. A high displacement amplification and maximum stroke of 100 mum can be achieved.

关键词： Grippers Microassembly Geometry Shape Fasteners Friction Finite element methods Prototypes Costs Machining

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Safe manual control of assist system for stabilizing operation of pendulum by using EMG

Safe manual control of assist system for stabilizing operati...

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IEEE International Conference on Systems, Man and Cybernetics

作者： Mitsuhiro Andoh Toshiya Tajiri Kazuhide Ura Masami Iwase Shoshiro Hatakeyama Department of Computers and Systems Engineering Tokyo Denki University Hatoyama Saitama Japan Department of Robotics and Mechatronics Tokyo Denki University Hatoyama Saitama Japan

This study presents the development of a dexterity support system for stabilizing operation of pendulum using electromyogram (EMG) as input signal. When muscles a joint is flexed or extended, EMG signals are generated in the muscles. In case of controlling unstable systems by using EMG, unskilled operations might cause serious instability and drastic accident. And it is difficult for beginners to keep the system stable for a long time and to train the operation successively. Thus, to overcome those problems, a support system utilizing the safe manual control is proposed. The effectiveness of the support system for beginners is discussed from the viewpoint of the operation support and the accident avoidance.

关键词： Human factors Electromyography Muscles mechatronics Signal generators Accidents Man machine systems Wrist Stability Automatic control

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