Mechatronics最新文献

英文中文

Passivity-constrained variable impedance control based on hierarchical decoupling controller for hydraulic manipulators 基于层次解耦控制器的液压机械臂无源约束变阻抗控制

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics

Pub Date : 2025-05-17 DOI: 10.1016/j.mechatronics.2025.103340

Jun Shen , Lizhou Fang , Kun Zhang , Huaizhi Zong , Min Cheng , Ruqi Ding , Junhui Zhang , Bing Xu

Impedance control makes the manipulator compliant by regulating the dynamic behavior between the environment and itself. As contact-based applications become more complex, variable impedance control has attracted more attention. However, variable impedance control can cause instability when directly switching impedance parameters, which is a conflict between maintaining the passivity and varying impedance parameters. To solve this conflict, a novel passivity-constrained variable impedance controller for hydraulic manipulators is proposed within the framework of model predictive control. With the impedance relationship and the manipulator dynamics integrated into a prediction model, the proposed strategy utilizes the passivity constraint and the impedance error cost to achieve an optimized tradeoff between passivity guarantee and impedance variation. Furthermore, the inner-loop motion of the hydraulic manipulator is controlled by the hierarchical decoupling controller with the manipulator dynamics and the nonlinearity of the valve-controlled cylinder system considered. The effectiveness of this method was verified by experiments on a heavy-duty hydraulic manipulator. Compared with the traditional method, the proposed method can improve the passivity while ensuring the timely modulation of impedance parameters.

阻抗控制通过调节机械臂与环境之间的动态行为，使机械臂具有柔顺性。随着接触式应用的日益复杂，变阻抗控制受到越来越多的关注。但是，在直接切换阻抗参数时，变阻抗控制会引起不稳定，这是保持无源性和改变阻抗参数之间的冲突。为了解决这一矛盾，在模型预测控制的框架下，提出了一种新型的液压机械臂无源约束变阻抗控制器。该策略将机械臂的阻抗关系和机械臂动力学集成到预测模型中，利用无源约束和阻抗误差代价实现无源保证和阻抗变化之间的优化权衡。在此基础上，采用层次解耦控制器对液压机械臂的内回路运动进行控制，同时考虑了机械臂动力学特性和阀控缸系统的非线性特性。以某重型液压机械臂为实验对象，验证了该方法的有效性。与传统方法相比，该方法在保证阻抗参数调制及时的同时，提高了系统的无源性。

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引用次数: 0

Real-time visual pose estimation: from BOP objects to custom drone — A journey 实时视觉姿态估计：从防喷器对象自定义无人机-一个旅程

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics

Pub Date : 2025-05-17 DOI: 10.1016/j.mechatronics.2025.103339

Thomas Rey , Julien Moras , Alexandre Eudes , Antoine Manzanera

Pose estimation plays a crucial role in robotics for prehension tasks or in augmented-reality application, yet its application on real-world far-range estimation has not been thoroughly studied. This study aims to evaluate pose estimators on a custom drone at distances from 0.5 m to 10 m, which is beyond the scope of existing datasets, that only contain objects close to less than 2 m. We created synthetic and real databases specific to our drone and compared various RGB pose estimators, evaluating their performance across different distances. PViT-6D, being one of the SoTA methods on the classic [0,2] m interval, also outperforms others estimators at greater distances, and proves robust with respect to detection inaccuracy. The results demonstrate the potential of PViT-6D to be used on a real time application embedded in the drone platform. This work aims to evaluate the potential of pose estimators for mutual perception and communication within a drone swarm.

姿态估计在机器人抓取任务或增强现实应用中起着至关重要的作用，但其在现实世界远距离估计中的应用尚未得到深入研究。本研究旨在评估距离为0.5米至10米的定制无人机上的姿态估计器，这超出了现有数据集的范围，这些数据集仅包含距离小于2米的物体。我们创建了针对无人机的合成和真实数据库，并比较了各种RGB姿态估计器，评估了它们在不同距离上的性能。pvitd - 6d作为经典[0,2]m区间上的SoTA方法之一，在更大的距离上也优于其他估计方法，并且在检测不准确性方面具有鲁棒性。结果表明，pvit6d可用于嵌入无人机平台的实时应用程序。这项工作旨在评估姿态估计器在无人机群内相互感知和通信的潜力。

引用次数: 0

A visco-elastic actuator with linear gas spring and variable damping 一种线性气弹簧可变阻尼粘弹性作动器

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics

Pub Date : 2025-05-14 DOI: 10.1016/j.mechatronics.2025.103334

Florian C. Loeffl , Fabian Beck , Jinoh Lee , MinJun Kim , Manuel Keppler

Series elastic actuators (SEAs) enhance safety and robustness in robotic joints but sacrifice torque and motion bandwidth compared to rigid actuators. Variable viscoelastic actuators (VVEAs) overcome these limitations by integrating an adjustable damping element with a spring, balancing open-loop torque bandwidth with impact safety and robustness. However, most existing VVEA designs rely on mechanical springs that add significant weight. We introduce a lightweight VVEA based on a pneumatic spring design. This actuator achieves linear, offline-adjustable stiffness using antagonistic gas chambers and provides online-adjustable damping via a hydraulic throttle valve. In our design, the increasing force of one chamber is moderated by the decreasing force of the other, resulting in a measured maximal deviation of 12% from the linear model. Additionally, an elastic silicone cast bladder replaces the conventional ring-shaped piston, significantly reducing breakaway force. To evaluate its benefits over standard actuators, we applied optimal control to periodic rest-to-rest motions typical of pick-and-place tasks. Based on mean tracking error, the VVEA outperforms SEAs in 29.1% of trials and rigid actuators in 89.2% of trials. Although increasing damping improves performance, it compromises safety; our optimization study demonstrates the potential of an online variable damping setpoint to balance these trade-offs. These results suggest that VVEAs hold great promise for applications requiring rapid maneuvers and enhanced impact safety and robustness.

系列弹性致动器（SEAs）提高了机器人关节的安全性和鲁棒性，但与刚性致动器相比，牺牲了扭矩和运动带宽。可变粘弹性致动器（VVEAs）通过将可调阻尼元件与弹簧集成在一起，平衡了开环扭矩带宽与冲击安全性和鲁棒性，从而克服了这些限制。然而，大多数现有的VVEA设计依赖于机械弹簧，这增加了很大的重量。介绍了一种基于气动弹簧设计的轻型VVEA。该执行器使用对抗式气室实现线性、离线可调刚度，并通过液压节流阀提供在线可调阻尼。在我们的设计中，一个腔室的增加力被另一个腔室的减少力所缓和，导致与线性模型的测量最大偏差为12%。此外，弹性硅树脂铸造气囊取代了传统的环形活塞，显著降低了分离力。为了评估其优于标准执行器的优点，我们将最优控制应用于典型的拾取和放置任务的周期性休息到休息运动。基于平均跟踪误差，VVEA在29.1%的试验中优于SEAs，在89.2%的试验中优于刚性致动器。虽然增加阻尼可以提高性能，但它会损害安全性；我们的优化研究证明了在线可变阻尼设定点平衡这些权衡的潜力。这些结果表明，VVEAs在需要快速机动和增强碰撞安全性和鲁棒性的应用中具有很大的前景。

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引用次数: 0

Smart infrastructure and autonomous vehicles: Ensuring safety and efficiency in urban traffic with Control Barrier Functions 智能基础设施和自动驾驶汽车：通过控制障碍功能确保城市交通的安全和效率

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics

Pub Date : 2025-05-13 DOI: 10.1016/j.mechatronics.2025.103332

Filippo Bernabei, Cristian Secchi

Autonomous vehicles have the potential to transform urban transportation by improving road safety, efficiency, and accessibility. However, urban environments present unique challenges, such as complex traffic dynamics, uncertain obstacles, and limited visibility, necessitating advanced control strategies. This paper builds on previous work to refine a Control Barrier Function-based framework for autonomous vehicles by integrating Vehicle-to-Infrastructure (V2I) communication. Through pairwise CBFs, the proposed architecture utilizes infrastructure-based sensors to enhance situational awareness and decision-making, addressing limitations of onboard sensors alone.

自动驾驶汽车有可能通过提高道路安全、效率和可达性来改变城市交通。然而，城市环境提出了独特的挑战，如复杂的交通动态、不确定的障碍物和有限的能见度，需要先进的控制策略。本文以先前的工作为基础，通过集成车辆到基础设施（V2I）通信，完善了基于控制屏障功能的自动驾驶汽车框架。通过配对cbf，所提出的架构利用基于基础设施的传感器来增强态势感知和决策，解决了单独机载传感器的局限性。

引用次数: 0

Language-driven closed-loop grasping with model-predictive trajectory optimization 基于模型预测轨迹优化的语言驱动闭环抓取

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics

Pub Date : 2025-05-12 DOI: 10.1016/j.mechatronics.2025.103335

H.H. Nguyen , M.N. Vu , F. Beck , G. Ebmer , A. Nguyen , W. Kemmetmueller , A. Kugi

Combining a vision module inside a closed-loop control system for the seamless movement of a robot in a manipulation task is challenging due to the inconsistent update rates between utilized modules. This task is even more difficult in a dynamic environment, e.g., objects are moving. This paper presents a modular zero-shot framework for language-driven manipulation of (dynamic) objects through a closed-loop control system with real-time trajectory replanning and an online 6D object pose localization. We segment an object within

0.5 s

by leveraging a vision language model via language commands. Then, guided by natural language commands, a closed-loop system, including a unified pose estimation and tracking and online trajectory planning, is utilized to continuously track this object and compute the optimal trajectory in real time. Our proposed zero-shot framework provides a smooth trajectory that avoids jerky movements and ensures the robot can grasp a non-stationary object. Experimental results demonstrate the real-time capability of the proposed zero-shot modular framework to accurately and efficiently grasp moving objects. The framework achieves update rates of up to 30 Hz for the online 6D pose localization module and 10 Hz for the receding-horizon trajectory optimization. These advantages highlight the modular framework’s potential applications in robotics and human–robot interaction; see the video at language-driven-grasping.github.io.

由于所使用的模块之间的更新速率不一致，在闭环控制系统中结合视觉模块以实现机器人在操作任务中的无缝运动是具有挑战性的。这个任务在动态环境中更加困难，例如，物体在移动。本文提出了一种模块化的零射击框架，通过具有实时轨迹重规划和在线6D物体姿态定位的闭环控制系统，用于语言驱动的（动态）物体操纵。我们通过语言命令利用视觉语言模型在0.5s内分割对象。然后，在自然语言命令的引导下，利用统一姿态估计跟踪和在线轨迹规划的闭环系统对该目标进行连续跟踪，实时计算出最优轨迹。我们提出的零射击框架提供了一个平滑的轨迹，避免了突然的运动，并确保机器人可以抓住一个非静止的物体。实验结果表明，所提出的零射击模块化框架具有准确、高效抓取运动目标的实时性。该框架实现了在线6D位姿定位模块的更新率高达30 Hz，后退地平线轨迹优化的更新率高达10 Hz。这些优点突出了模块化框架在机器人技术和人机交互方面的潜在应用；参见language-driven-grasp .github.io上的视频。

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引用次数: 0

Parameter-varying feedforward control: A kernel-based learning approach 参数变化前馈控制：一种基于核的学习方法

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics

Pub Date : 2025-05-09 DOI: 10.1016/j.mechatronics.2025.103337

Max van Haren , Lennart Blanken , Tom Oomen

The increasing demands for high accuracy in mechatronic systems necessitate the incorporation of parameter variations in feedforward control. The aim of this paper is to develop a data-driven approach for direct learning of parameter-varying feedforward control to increase tracking performance. The developed approach is based on kernel-regularized function estimation in conjunction with iterative learning to directly learn parameter-varying feedforward control from data. This approach enables high tracking performance for feedforward control of linear parameter-varying dynamics, providing flexibility to varying reference tasks. The developed framework is validated on a benchmark industrial experimental setup featuring a belt-driven carriage.

机电系统对高精度的要求越来越高，这就要求在前馈控制中加入参数变化。本文的目的是开发一种数据驱动的方法来直接学习参数变化的前馈控制，以提高跟踪性能。该方法基于核正则化函数估计与迭代学习相结合，直接从数据中学习变参数前馈控制。这种方法为线性变参数动力学的前馈控制提供了高跟踪性能，为不同的参考任务提供了灵活性。所开发的框架在具有皮带驱动小车的基准工业实验装置上进行了验证。

引用次数: 0

Enhancing wide-band trajectory tracking and finite-time control of Dielectric Elastomer Actuators using Nonsingular terminal sliding mode control scheme 采用非奇异终端滑模控制方案增强介质弹性体作动器的宽带轨迹跟踪和有限时间控制

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics

Pub Date : 2025-05-08 DOI: 10.1016/j.mechatronics.2025.103336

Shakiru Olajide Kassim , Jiang Zou , Vahid Behnamgol , Vahid Vaziri , Sumeet S. Aphale

The utilization of Dielectric Elastomer Actuators (DEAs) in soft robotics is becoming increasingly popular due to their distinctive properties. However, controlling these actuators is challenging due to their nonlinear nature. This study addresses precise control of DEAs while minimizing nonlinear effects over a wide frequency range using a Sliding Mode Control (SMC) scheme. Traditional SMC approaches face two main issues: they do not ensure finite-time convergence during the sliding phase and compromise tracking accuracy due to approximations used to reduce chattering. This work presents a non-singular terminal sliding mode control combined with an enhanced boundary layer switching function to improve precision and finite-time stability. Using stability analysis, extensive MATLAB/SIMULINK simulations, and experimental validation on a conical DEA across diverse reference trajectories and its resilience against uncertainties, the proposed scheme demonstrates superior performance in trajectory tracking compared to PID-based and conventional SMC schemes. The results highlight the scheme’s effectiveness in high-frequency trajectory tracking and its robustness to possible uncertainties and disturbances, offering a robust theoretical framework for dielectric elastomer actuator control and a promising approach for advancing soft robotic technologies.

介电弹性体致动器（dea）由于其独特的性能在软机器人中的应用越来越受欢迎。然而，由于这些执行器的非线性特性，控制它们是具有挑战性的。本研究使用滑模控制（SMC）方案解决了dea的精确控制，同时在宽频率范围内最小化非线性效应。传统的SMC方法面临两个主要问题：它们不能保证在滑动阶段的有限时间收敛，并且由于使用近似来减少抖振而影响跟踪精度。这项工作提出了一种非奇异终端滑模控制与增强的边界层切换函数相结合，以提高精度和有限时间稳定性。通过稳定性分析，广泛的MATLAB/SIMULINK仿真，以及对不同参考轨迹的锥形DEA及其对不确定性的弹性的实验验证，与基于pid和传统SMC方案相比，该方案在轨迹跟踪方面表现出优越的性能。结果表明，该方案在高频轨迹跟踪中的有效性及其对可能的不确定性和干扰的鲁棒性，为介电弹性体作动器控制提供了强大的理论框架，并为推进软机器人技术提供了有前途的方法。

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引用次数: 0

Velocity control of actuators in hydraulic manipulators based on a pressure-independent model with application to a telescopic handler 基于压力无关模型的液压机械臂执行器速度控制，并在伸缩式机械手中的应用

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics

Pub Date : 2025-05-07 DOI: 10.1016/j.mechatronics.2025.103331

Christos Parlapanis , Matthias Frontull , Oliver Sawodny

Hydraulic cylinders are critical components in industrial machinery, providing the large actuation forces required for lifting and positioning of heavy loads. Reliable control of hydraulic actuators is a core objective for realization of full automation as well as implementation of assistance functions enhancing efficiency, energy conservation and operational safety. Model-based approaches address the inherent challenges of nonlinear dynamics and varying external influences. However, complex models increase computational effort and the number of required sensors while giving up generality. This work presents the design of a cylinder velocity controller that incorporates a simplified model approximating the highly dynamic hydraulic system behavior. The proposed control scheme requires only cylinder position signals and consists of a feed-forward component effectively compensating the simplified system dynamics in combination with an online implementation of the Linear Quadratic Regulator for state feedback. Desired trajectories for the states of each individual cylinders result from generation of S-curves and are compared to estimated states from an Extended Kalman Filter. The resulting pressure-independent, model-based velocity control method is validated through measurements with a telescopic handler. However, the approach can be expanded and adapted to various hydraulic machinery.

液压缸是工业机械中的关键部件，为提升和定位重物提供了巨大的驱动力。液压执行机构的可靠控制是实现全自动化和辅助功能的核心目标，提高了效率、节能和运行安全。基于模型的方法解决了非线性动力学和变化的外部影响的固有挑战。然而，复杂模型在放弃通用性的同时增加了计算量和所需传感器的数量。这项工作提出了一个气缸速度控制器的设计，它包含了一个近似高动态液压系统行为的简化模型。所提出的控制方案只需要气缸位置信号，并由有效补偿简化系统动力学的前馈组件与状态反馈的线性二次型调节器的在线实现相结合组成。每个柱体状态的期望轨迹由s曲线生成，并与扩展卡尔曼滤波器估计的状态进行比较。通过伸缩式手柄进行测量，验证了与压力无关、基于模型的速度控制方法。然而，该方法可以扩展和适应于各种液压机械。

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引用次数: 0

Design of an intelligent vibration damping fixture for robotic machining of thin-walled parts 薄壁零件机器人加工智能减振夹具的设计

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics

Pub Date : 2025-05-05 DOI: 10.1016/j.mechatronics.2025.103333

Yang Li , Bo Li , Wei Zhao , Wei Tian , Wenhe Liao

Thin-walled parts are important parts in determining the performance of aircraft. In order to solve the problem of easy deformation and generalized clamping, this paper proposes a vibration suppression method for thin-walled parts machining by combining magnetorheological damping module and flexible fixture. Firstly, the dynamic response characteristics of large thin-walled parts and flexible fixture under machining excitation are experimentally investigated. Then an intelligent vibration damping fixture is designed for the vibration characteristics of the parts, and the response surface optimization method is adopted to optimize the structural parameters of the fixture with the goal of reducing the deformation of thin-walled parts under machining excitation, so as to improve the vibration suppression effect of the intelligent vibration damping fixture.

薄壁零件是决定飞机性能的重要零件。为解决薄壁零件易变形和广义夹紧的问题，提出了一种将磁流变阻尼模块与柔性夹具相结合的薄壁零件加工抑振方法。首先，对大型薄壁零件和柔性夹具在加工激励下的动态响应特性进行了实验研究。然后针对零件的振动特性设计了智能减振夹具，并采用响应面优化方法，以减少薄壁零件在加工激励下的变形为目标，对夹具的结构参数进行优化，从而提高智能减振夹具的抑振效果。

引用次数: 0

Active damping control of higher-order resonance mode in positioning systems: Application to prototype compliant dual positioning stage 定位系统中高阶共振模式的主动阻尼控制：在原型柔性双定位台上的应用

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics

Pub Date : 2025-05-05 DOI: 10.1016/j.mechatronics.2025.103315

N.J. Dee, A.M. Natu, S.H. HosseinNia

In precision positioning systems, lightly damped higher-order resonance modes can induce undesirable vibrations that degrade system performance and accuracy. These resonances pose additional challenges in non-collocated dual-stage positioning systems, where they significantly limit control bandwidth. Although conventional notch filters are commonly used alongside tracking controllers to enhance bandwidth, they lack robustness when faced with system parameter uncertainties. Moreover, the effects of the delimiting resonance on disturbance rejection remain. Active damping control has been successfully used to mitigate issues related to the primary resonance mode, but its application to higher-order modes has not been explored. This paper introduces a novel control strategy, High-Pass Positive Position Feedback (HP-PPF), inspired by existing methods but designed specifically for active damping of higher-order, non-collocated modes in positioning systems. The proposed method incorporates a second-order high-pass filter within a positive feedback loop, effectively attenuating the delimiting resonance. Integrated with a PID tracking controller in a dual-loop configuration, this method enhances disturbance rejection and robustness against model uncertainties, overcoming limitations of traditional notch filter-based methods while achieving comparable bandwidth improvements. The proposed control architecture is validated through a proof-of-concept experimental setup that demonstrates the effectiveness of the underlying mathematical framework.

在精密定位系统中，轻微阻尼的高阶共振模式会引起不良振动，从而降低系统性能和精度。这些共振给非并列双级定位系统带来了额外的挑战，它们严重限制了控制带宽。虽然传统的陷波滤波器通常与跟踪控制器一起使用以提高带宽，但当面对系统参数的不确定性时，它们缺乏鲁棒性。此外，定界共振对扰动抑制的影响仍然存在。主动阻尼控制已成功地用于缓解与主共振模式相关的问题，但其在高阶模式中的应用尚未探索。本文介绍了一种新的控制策略，高通正位置反馈（HP-PPF），它受现有方法的启发，专门设计用于定位系统中高阶非配位模式的主动阻尼。该方法在正反馈环路中加入二阶高通滤波器，有效地衰减定界共振。该方法与双环结构的PID跟踪控制器集成，增强了抗干扰性和对模型不确定性的鲁棒性，克服了传统基于陷波滤波器方法的局限性，同时实现了相当的带宽改进。通过概念验证实验装置验证了所提出的控制体系结构，该实验装置证明了底层数学框架的有效性。

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