Pub Date : 2009-04-14DOI: 10.1109/ICMECH.2009.4957136
H. Chow, N. Cheung
A high precision displacement sensor is proposed in this paper. This sensor based on 3×3 optical coupler and analog circuits is linear incremental encoder type. Outputs of optical coupler are processed by analog circuits and generate displacement information. Low cost and high precision are main advantages of this sensor and analog circuits could enhance the maximum measurable velocity compared with digital signal processor (DSP) [1]. The resolution of this proposed sensor depends on wavelength of laser λ and the resolution is λ/16 = 95.5nm. The error deviation is 1µm, which is measured during experiment.
{"title":"Low cost displacement sensor at sub-micron precision based on 3×3 optical coupler for vibrating surface","authors":"H. Chow, N. Cheung","doi":"10.1109/ICMECH.2009.4957136","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957136","url":null,"abstract":"A high precision displacement sensor is proposed in this paper. This sensor based on 3×3 optical coupler and analog circuits is linear incremental encoder type. Outputs of optical coupler are processed by analog circuits and generate displacement information. Low cost and high precision are main advantages of this sensor and analog circuits could enhance the maximum measurable velocity compared with digital signal processor (DSP) [1]. The resolution of this proposed sensor depends on wavelength of laser λ and the resolution is λ/16 = 95.5nm. The error deviation is 1µm, which is measured during experiment.","PeriodicalId":414967,"journal":{"name":"2009 IEEE International Conference on Mechatronics","volume":"107 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-04-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116781609","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2009-04-14DOI: 10.1109/ICMECH.2009.4957199
B. Balle, Enric Ventura, J. Fuertes
Maximal-length binary shift register sequences have been known for a long time. They have many interesting properties, one of them is that when taken in blocks of n consecutive positions they form 2n - 1 different codes in a closed circular sequence. This property can be used for measuring absolute angular positions as the circle can be divided in as many parts as different codes can be retrieved. This paper describes how a closed binary sequence with arbitrary length can be effectively designed with the minimal possible block-length, using linear feedback shift registers (LFSR). Such sequences can be used for measuring a specified exact number of angular positions, using the minimal possible number of detectors allowed by linear methods.
{"title":"An algorithm to design prescribed length codes for single-tracked shaft encoders","authors":"B. Balle, Enric Ventura, J. Fuertes","doi":"10.1109/ICMECH.2009.4957199","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957199","url":null,"abstract":"Maximal-length binary shift register sequences have been known for a long time. They have many interesting properties, one of them is that when taken in blocks of n consecutive positions they form 2n - 1 different codes in a closed circular sequence. This property can be used for measuring absolute angular positions as the circle can be divided in as many parts as different codes can be retrieved. This paper describes how a closed binary sequence with arbitrary length can be effectively designed with the minimal possible block-length, using linear feedback shift registers (LFSR). Such sequences can be used for measuring a specified exact number of angular positions, using the minimal possible number of detectors allowed by linear methods.","PeriodicalId":414967,"journal":{"name":"2009 IEEE International Conference on Mechatronics","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-04-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129602379","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2009-04-14DOI: 10.1109/ICMECH.2009.4957171
T. Kikuchi, K. Oda, Y. Ohyama, Shiro Isozumi, J. Furusho
Strengthening muscle force by training, e.g., an isokinetic exercise is widely used in rehabilitative activities or sports rehabilitations. However, many conventional isokinetic exercise machines cost expensive depending on its actuation device and safety system (hardware and software). In this study, we have developed highly safe isokinetic exercise systems using only brakes with functional fluids (ER fluid or MR fluid). Because of rapid response of these fluids, such a machine has good responsibility and controllability. In this paper, we describe basic concept and characteristics of Isokinetic Exercise system using MR fluid brake and its experimental results. In particular, high-speed (900deg/s at an elbow joint) control was realized with this system. Additionally, we suggest new training mode which we call iso-contractile exercise in this paper.
{"title":"Development of isokinetic exercise system using high performance MR fluid brake","authors":"T. Kikuchi, K. Oda, Y. Ohyama, Shiro Isozumi, J. Furusho","doi":"10.1109/ICMECH.2009.4957171","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957171","url":null,"abstract":"Strengthening muscle force by training, e.g., an isokinetic exercise is widely used in rehabilitative activities or sports rehabilitations. However, many conventional isokinetic exercise machines cost expensive depending on its actuation device and safety system (hardware and software). In this study, we have developed highly safe isokinetic exercise systems using only brakes with functional fluids (ER fluid or MR fluid). Because of rapid response of these fluids, such a machine has good responsibility and controllability. In this paper, we describe basic concept and characteristics of Isokinetic Exercise system using MR fluid brake and its experimental results. In particular, high-speed (900deg/s at an elbow joint) control was realized with this system. Additionally, we suggest new training mode which we call iso-contractile exercise in this paper.","PeriodicalId":414967,"journal":{"name":"2009 IEEE International Conference on Mechatronics","volume":"171 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-04-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114192095","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2009-04-14DOI: 10.1109/ICMECH.2009.4957224
R. Zanasi, F. Grossi, G. Azzone
In this paper the dynamic model of a multi-phase asynchronous motor has been obtained using the Power-Oriented Graphs (POG) technique and applying the Lagrangian approach. The “power” internal structure of the motor has been clearly identified. The steady-state behaviour of the motor has been analyzed putting in evidence the mathematical relations between the current and voltage vectors in the transformed rotating frame. In particular an interesting expression for the generated motor torque has been obtained. Some simulation results are finally reported.
{"title":"The POG technique for modeling multi-phase asynchronous motors","authors":"R. Zanasi, F. Grossi, G. Azzone","doi":"10.1109/ICMECH.2009.4957224","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957224","url":null,"abstract":"In this paper the dynamic model of a multi-phase asynchronous motor has been obtained using the Power-Oriented Graphs (POG) technique and applying the Lagrangian approach. The “power” internal structure of the motor has been clearly identified. The steady-state behaviour of the motor has been analyzed putting in evidence the mathematical relations between the current and voltage vectors in the transformed rotating frame. In particular an interesting expression for the generated motor torque has been obtained. Some simulation results are finally reported.","PeriodicalId":414967,"journal":{"name":"2009 IEEE International Conference on Mechatronics","volume":"56 6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-04-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123015678","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2009-04-14DOI: 10.1109/ICMECH.2009.4957207
A. G. Gonzalez-Rodriguez, A. González-Rodríguez, Antonio J. Nieto, R. Morales
This paper presents a novel design for an articulated leg for mobile robots. The key idea is to develop the mechanism with a synthesis process directed to make the walking operation in an easy-control manner. To achieve this, the synthesis process has been done to decouple vertical and horizontal movement of the leg. Other advantage of this scheme is that driving motors can be better chosen for each task. A motor with high torque but low speed for vertical movement and a faster one with a lower output torque for horizontal movement. This scheme allows obtaining a high speed and loading capacity for the robot, with a relatively low power of the motors. The resulting mechanism also have a big workspace in order to allow working in any kind of terrains such highly unstructured terrains.
{"title":"Design and simulation of an easy operating leg for walking robots","authors":"A. G. Gonzalez-Rodriguez, A. González-Rodríguez, Antonio J. Nieto, R. Morales","doi":"10.1109/ICMECH.2009.4957207","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957207","url":null,"abstract":"This paper presents a novel design for an articulated leg for mobile robots. The key idea is to develop the mechanism with a synthesis process directed to make the walking operation in an easy-control manner. To achieve this, the synthesis process has been done to decouple vertical and horizontal movement of the leg. Other advantage of this scheme is that driving motors can be better chosen for each task. A motor with high torque but low speed for vertical movement and a faster one with a lower output torque for horizontal movement. This scheme allows obtaining a high speed and loading capacity for the robot, with a relatively low power of the motors. The resulting mechanism also have a big workspace in order to allow working in any kind of terrains such highly unstructured terrains.","PeriodicalId":414967,"journal":{"name":"2009 IEEE International Conference on Mechatronics","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-04-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129507700","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2009-04-14DOI: 10.1109/ICMECH.2009.4957162
T. Tsuji
This study deals with impedance control based on a shell-shaped force sensor. Impedance control is accomplished at any points on the whole body of the robot due to the whole-body force sensing mechanism. Furthermore, it is possible to realize variable impedance different by location. Experimental results verify the validity of the study.
{"title":"Impedance control of mobile robot with shell-shaped force sensor","authors":"T. Tsuji","doi":"10.1109/ICMECH.2009.4957162","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957162","url":null,"abstract":"This study deals with impedance control based on a shell-shaped force sensor. Impedance control is accomplished at any points on the whole body of the robot due to the whole-body force sensing mechanism. Furthermore, it is possible to realize variable impedance different by location. Experimental results verify the validity of the study.","PeriodicalId":414967,"journal":{"name":"2009 IEEE International Conference on Mechatronics","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-04-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133246358","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2009-04-14DOI: 10.1109/ICMECH.2009.4957139
K. Seki, M. Iwasaki, M. Kawafuku, H. Hirai, K. Yasuda
This paper presents an adaptive control methodology of shaking table systems for earthquake simulators. In the system, reaction force generated by a specimen on the shaking table generally deteriorates the table motion performance, resulting in the lower control accuracy of seismic tests. In order to compensate for the reaction force and to provide the precise table motion, therefore, an adaptive identifier is introduced, where dynamic characteristics of a nonlinear specimen are adaptively identified and can compensate for the deterioration in the motion performance. The proposed control approach has been verified by numerical simulations and experiments using a prototype of shaking table system.
{"title":"Adaptive feedforward compensation for reaction force with nonlinear specimen in shaking tables","authors":"K. Seki, M. Iwasaki, M. Kawafuku, H. Hirai, K. Yasuda","doi":"10.1109/ICMECH.2009.4957139","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957139","url":null,"abstract":"This paper presents an adaptive control methodology of shaking table systems for earthquake simulators. In the system, reaction force generated by a specimen on the shaking table generally deteriorates the table motion performance, resulting in the lower control accuracy of seismic tests. In order to compensate for the reaction force and to provide the precise table motion, therefore, an adaptive identifier is introduced, where dynamic characteristics of a nonlinear specimen are adaptively identified and can compensate for the deterioration in the motion performance. The proposed control approach has been verified by numerical simulations and experiments using a prototype of shaking table system.","PeriodicalId":414967,"journal":{"name":"2009 IEEE International Conference on Mechatronics","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-04-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130572934","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2009-04-14DOI: 10.1109/ICMECH.2009.4957195
J. Andres, L. Gracia, J. Tornero
Current CAM (Computer Aided Manufacturing) platforms store the toolpath information as a set of positions and orientations of the milling tool in a Cartesian Coordinated System defined in the working space, being the most standardized both G code (DIN 66025) and APT code (DIN 66215). These platforms come prepared for the control and postprocessing of up to a maximum of 5-axis trajectories (i.e., three positioning coordinates and two orientation angles of the milling tool), which supposes no indecisions in conventional CNC machines. In the case of manipulating the milling tool by means of redundant workcells, a profuse kinematic analysis of the robotic system is required before any work is carried out. In this article, the inverse kinematics of a complex KUKA robotic system for milling works is described, consisting of one robotic manipulator (KUKA KR15/2 with 6 rotary joints) mounted on a linear axis and synchronized with a rotary table. Thus, the possible effective control to carry out trough the commercial controller KUKA KRC2 is also faced up, in order to analyze the postprocessing possibilities from NX™'s CAM platform. As main contribution, after studying the capabilities of the set, a functional postprocessor is programmed inside the CAM, improving the communication between software and manipulator. It is easily applicable on any industrial robot by the same guidelines.
{"title":"Inverse kinematics of a redundant manipulator for cam integration. An industrial perspective of implementation","authors":"J. Andres, L. Gracia, J. Tornero","doi":"10.1109/ICMECH.2009.4957195","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957195","url":null,"abstract":"Current CAM (Computer Aided Manufacturing) platforms store the toolpath information as a set of positions and orientations of the milling tool in a Cartesian Coordinated System defined in the working space, being the most standardized both G code (DIN 66025) and APT code (DIN 66215). These platforms come prepared for the control and postprocessing of up to a maximum of 5-axis trajectories (i.e., three positioning coordinates and two orientation angles of the milling tool), which supposes no indecisions in conventional CNC machines. In the case of manipulating the milling tool by means of redundant workcells, a profuse kinematic analysis of the robotic system is required before any work is carried out. In this article, the inverse kinematics of a complex KUKA robotic system for milling works is described, consisting of one robotic manipulator (KUKA KR15/2 with 6 rotary joints) mounted on a linear axis and synchronized with a rotary table. Thus, the possible effective control to carry out trough the commercial controller KUKA KRC2 is also faced up, in order to analyze the postprocessing possibilities from NX™'s CAM platform. As main contribution, after studying the capabilities of the set, a functional postprocessor is programmed inside the CAM, improving the communication between software and manipulator. It is easily applicable on any industrial robot by the same guidelines.","PeriodicalId":414967,"journal":{"name":"2009 IEEE International Conference on Mechatronics","volume":"193 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-04-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114101773","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2009-04-14DOI: 10.1109/ICMECH.2009.4957161
C. Stockmans-Daou, A. Cruz-Martín, J. Fernández-Madrigal
Mechatronics is emerging as a leading trend in the current engineering scene. Hence, educational platforms are needed in order to train engineers for this new job market demand. At present time, the existing educational systems that deal with mechatronic aspects, like robotic, control or automation systems, lack of a systematic methodology of development. This deficiency translates into closed training platforms, where it is difficult to plug in new components at convenience. Extending any system with different high- and low-level components that allow the student to understand mechatronics from different perspectives is complicated within such approaches. This paper presents a development system that provides a basic model, framework and automated tools for building mechatronic platforms. Our system, that can be applied to different fields (like mobile and industrial robotics, automation systems, real-time systems, etc.), is also scalable, producing from simple mechatronics systems to complex ones. We describe a case of use where our development system has been used for educational robotics, combining LEGO Mindstorms with research-level robotic platforms.
{"title":"A heterogeneity-enabled development system for educational mechatronics","authors":"C. Stockmans-Daou, A. Cruz-Martín, J. Fernández-Madrigal","doi":"10.1109/ICMECH.2009.4957161","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957161","url":null,"abstract":"Mechatronics is emerging as a leading trend in the current engineering scene. Hence, educational platforms are needed in order to train engineers for this new job market demand. At present time, the existing educational systems that deal with mechatronic aspects, like robotic, control or automation systems, lack of a systematic methodology of development. This deficiency translates into closed training platforms, where it is difficult to plug in new components at convenience. Extending any system with different high- and low-level components that allow the student to understand mechatronics from different perspectives is complicated within such approaches. This paper presents a development system that provides a basic model, framework and automated tools for building mechatronic platforms. Our system, that can be applied to different fields (like mobile and industrial robotics, automation systems, real-time systems, etc.), is also scalable, producing from simple mechatronics systems to complex ones. We describe a case of use where our development system has been used for educational robotics, combining LEGO Mindstorms with research-level robotic platforms.","PeriodicalId":414967,"journal":{"name":"2009 IEEE International Conference on Mechatronics","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-04-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123851955","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2009-04-14DOI: 10.1109/ICMECH.2009.4957173
B. Vargas, E. Morales
Programming a robot to perform tasks in dynamic environments is a complex process. Teleo-Reactive Programs (TRPs) have proved to be an effective framework to continuously perform a set of actions to achieve particular goals and react in the presence of unexpected events, however, their definition is a difficult and time-consuming process. In this paper, it is shown how a robot can learn TRPs from human guided traces. A user guides a robot to perform a task and the robot learns how to perform such task in similar dynamic environments. Our approach follows three steps: (i) it transforms traces with low-level sensor information into high-level traces based on natural landmarks, (ii) it learns TRPs that express when to perform an action to achieve simple tasks using an Inductive Logic Programming (ILP) system, and (iii) it learns hierarchical TRPs that express how to achieve goals by following particular sequences of actions using a grammar induction algorithm. The learned TRPs were used to solve navigation tasks in different unknown and dynamic environments, both in simulation and in a service robot called Markovito.
{"title":"Learning navigation Teleo-Reactive Programs using behavioural cloning","authors":"B. Vargas, E. Morales","doi":"10.1109/ICMECH.2009.4957173","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957173","url":null,"abstract":"Programming a robot to perform tasks in dynamic environments is a complex process. Teleo-Reactive Programs (TRPs) have proved to be an effective framework to continuously perform a set of actions to achieve particular goals and react in the presence of unexpected events, however, their definition is a difficult and time-consuming process. In this paper, it is shown how a robot can learn TRPs from human guided traces. A user guides a robot to perform a task and the robot learns how to perform such task in similar dynamic environments. Our approach follows three steps: (i) it transforms traces with low-level sensor information into high-level traces based on natural landmarks, (ii) it learns TRPs that express when to perform an action to achieve simple tasks using an Inductive Logic Programming (ILP) system, and (iii) it learns hierarchical TRPs that express how to achieve goals by following particular sequences of actions using a grammar induction algorithm. The learned TRPs were used to solve navigation tasks in different unknown and dynamic environments, both in simulation and in a service robot called Markovito.","PeriodicalId":414967,"journal":{"name":"2009 IEEE International Conference on Mechatronics","volume":"52 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-04-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124919984","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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