In the application of sliding mode controllers, the main problems that are encountered are chattering and computational power required for the calculation of equivalent control. In this paper, novel approaches for the...
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In the application of sliding mode controllers, the main problems that are encountered are chattering and computational power required for the calculation of equivalent control. In this paper, novel approaches for the design of SMC based on the selection of a Lyapunov function are proposed for motion control applications that evade these problems and are easily implementable. A general criterion is established for stability and chattering elimination. Two novel schemes are proposed for the estimation of the equivalent control to avoid the computational burden. Simulation studies carried out on a direct drive arm indicate that the proposed approaches are a good candidate for motion control applications.
Different small-scale devices for particle micro-handling using an AC electric field boundary wave were proposed by F.M. Moesner et. al. (1995). These devices, with various novel transportation and manipulation featur...
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Different small-scale devices for particle micro-handling using an AC electric field boundary wave were proposed by F.M. Moesner et. al. (1995). These devices, with various novel transportation and manipulation features, that instantly generate particle driving forces through electric field creation, have been designed and produced. In a further endeavour, the mechanisms of particle conveyance are subsequently validated in experiments. Particles on a thin protecting and insulating film interface above a series of encased and insulated parallel field electrodes become either tribo-electrically or induction charged through the application of balanced three- or six-phase voltages. The created nonuniform travelling field-wave conveys the charged particles perpendicular to the electrodes by repulsive forces in a hopping mode from electrode to electrode. In a temperature and humidity controlled environment, experiments surveying particle conveyance dynamics on these electric devices have been carried out with help of a high speed camera. The applied experimental voltages included triangular, ramp and two customized profiles. Various particle materials with diameters up to 400 /spl mu/m have been examined; metal, glass, and plastic spheres showed the best performances. The transient charge distribution on particles and on the activated electric device, which is responsible for the particle conveyance, has been inspected by a modified scanning electron microscope (SEM). Further, theoretical considerations underline the experimental findings.
作者：
Oka, KHiguchi, TUniversity of TokyoReceived his M.S. degree from the Department of Precision Engineering
Kyoto University in March 1983 and became a Research Associate at the Maizuru Institute of Technology. In October 1985 he became a Research Associate at the University of Tokyo. His research interests are in robotic engineering and magnetic levitation. He is a member of the Institute of Robotics Institute of Measurement and Automatic Controland Institute of Precision Engineering.Received his Ph.D. in 1977 from the University of Tokyo
where he then became a Lecturer in the Institute of Industrial Science. In 1978 he was promoted to Assistant Professor. In November 1991 he became a Professor in the Department of Precision Machinery Engineering. His research interests are in mechatronics in particular magnetic bearings linear motors electric oil pressure servos mechanisms for precision position determination by means of piezoelectric elements step motors actuators for clean rooms and position determination by means of STM.
A magnetic suspension system with linear actuators and permanent magnets (instead of electromagnets) has been developed. In this system the bearing forces are controlled by adjusting the air gaps between permanent mag...
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A magnetic suspension system with linear actuators and permanent magnets (instead of electromagnets) has been developed. In this system the bearing forces are controlled by adjusting the air gaps between permanent magnets and the levitated object (a circular disk). This system uses less energy and exhibits none of the over-heating of coils typical of systems employing electro-magnets. This paper describes a disk suspension system with three degrees of freedom. The system can operate either with a decentralized (distributed) feedback control system or with a centralized (lumped) one. Feedback gain matrices are calculated for each type of control system. The performances of the two types of control systems are compared by numerical simulations and experiment. This work is part of an effort to develop a magnetic levitation conveyer system.
作者：
KIM, JHCHO, HSCenter for Robotics and Automation
Department of Precision Engineering and Mechatronics Korea Advanced Institute of Science and Technology 373-1 Kusong-dong Yusong-gu Taejon 305-701 Korea
In this paper, we describe an approach to inspection of solder joints on printed circuit boards by using a circular illumination technique and a neural network classifier. The illumination technique, consisting of thr...
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In this paper, we describe an approach to inspection of solder joints on printed circuit boards by using a circular illumination technique and a neural network classifier. The illumination technique, consisting of three tiered circular colour lamps and one colour camera, gives good visual cues to infer 3D shape of the solder joint surface. A general aspect of this inspection is that the shape of the solder joint tends to greatly vary according to soldering conditions. Due to this, a neural network classifier based on a supervised version of Kohonen learning vector quantization (LVQ) is proposed to automatically and efficiently make classification criteria of the solder joint shapes according to their quality. The practical feasibility of the proposed approach is demonstrated by building a prototype inspection machine and testing its performance.
This paper proposes a new method of estimating the position and heading angle of a mobile robot moving on a flat surface. The proposed localization method utilizes two passive beacons and a single rotating ultrasonic ...
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This paper proposes a new method of estimating the position and heading angle of a mobile robot moving on a flat surface. The proposed localization method utilizes two passive beacons and a single rotating ultrasonic sensor. The passive beacons consist of two cylinders with different diameters and reflect the ultrasonic pulses coming from the sonar sensor mounted on the mobile robot. The sonar sensor, again, mounted on a pan-tilt device then receives the reflected pulses while scanning over a wide area. The geometric parameter set of beacon is acquired from the sonar scan data obtained at a single mobile robot location using a new data processing algorithm. The presented algorithm is especially suitable for processing the sonar scan data obtained by ultrasonic sensor with wide beam spread. From this parameter set, the position and heading angle of the mobile robot is determined directly. The performance and validity of the proposed method are evaluated using two beacons and a single sonar sensor attached at the pan-tilt device mounted on a mobile robot, named LCAR, in our laboratory.
This paper presents the design and development of a real-time eye-in-hand stereo-vision system to aid robot guidance in a manufacturing environment. The stereo vision head comprises a novel camera arrangement with ser...
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This paper presents the design and development of a real-time eye-in-hand stereo-vision system to aid robot guidance in a manufacturing environment. The stereo vision head comprises a novel camera arrangement with servo-vergence, focus, and aperture that continuously provides high-quality images to a dedicated image processing system and parallel processing array. The stereo head has four degrees of freedom but it relies on the robot end-effector for all remaining movement. This provides the robot with exploratory sensing abilities allowing it to undertake a wider variety of less constrained tasks. Unlike other stereo vision research heads, the overriding factor in the Surrey head has been a truly integrated engineering approach in an attempt to solve an extremely complex problem. The head is low cost, low weight, employs state-of-the-art motor technology, is highly controllable and occupies a small-sized envelope. Its intended applications include high-accuracy metrology, 3-D path following, object recognition and tracking, parts manipulation and component inspection for the manufacturing industry.
This book gathers the proceedings of the Joint International Conference of the XIV International Conference on Mechanisms and Mechanical Transmissions (MTM) and the XXVI International Conference on robotics (robotics)...
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ISBN:
(数字)9783031875373
ISBN:
(纸本)9783031875366;9783031875397
This book gathers the proceedings of the Joint International Conference of the XIV International Conference on Mechanisms and Mechanical Transmissions (MTM) and the XXVI International Conference on robotics (robotics), held in Iași, Romania, on November 14–16, 2024. It addresses the applications of mechanisms and transmissions in several modern technical fields such as mechatronics, biomechanics, machines, micromachines, robotics, and apparatus. In doing so, it combines theoretical findings and experimental testing. The book presents peer-reviewed papers written by researchers specialized in mechanism analysis and synthesis, dynamics of mechanisms and machines, mechanical transmissions, biomechanics, precision mechanics, mechatronics, micromechanisms and microactuators, computational and experimental methods, CAD in mechanism and machine design, mechanical design of robot architecture, parallel robots, mobile robots, micro and nano-robots, sensors and actuators in robotics, intelligent control systems, biomedical engineering, teleoperation, haptics, and virtual reality.
This book presents the main achievements of the EuRoC (European robotics Challenges) project, which ran from 1st January,2014 to 30th June 2018 and was funded by the European Union under the 7th Framework Progra...
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ISBN:
(数字)9783030345075
ISBN:
(纸本)9783030345068;9783030345099
This book presents the main achievements of the EuRoC (European robotics Challenges) project, which ran from 1st January,2014 to 30th June 2018 and was funded by the European Union under the 7th Framework Programme. It describes not only the scientific and technological achievements of the project, but also the potential of the comparative challenge approach in robotics for knowledge advancement and technology transfer.
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