Mechatronics最新文献

英文中文

Recursive terminal sliding mode control for the 3D overhead crane systems with motion planning 带运动规划的三维桥式起重机系统的递归终端滑模控制

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

Mechatronics

Pub Date : 2024-11-05 DOI: 10.1016/j.mechatronics.2024.103267

Shourui Wang, Wuyin Jin

In practical scenarios, the unexpected payload swinging of a 3D overhead crane can significantly diminish transportation efficiency and safety. To enhance transportation efficiency and address payload oscillation challenges inherent in 3D overhead crane systems, a novel recursive terminal sliding mode control strategy integrated with motion planning is presented in this work. Specifically, to reconcile the dual objectives of optimizing operational efficiency while mitigating payload swing, a novel smooth S-shaped reference trajectory is introduced, and a recursive terminal sliding mode controller is devised to trace this trajectory, incorporating the construction of a recursive sliding mode surface that combines swing angle and displacement deviation. Finally, the proposed method is validated through a series of numerical simulations and experimental trials. The outcomes highlight the robustness of the proposed controller, facilitating swift tracking of reference trajectory even in the presence of nonzero initial conditions or external disturbances. Notably, by significantly reducing payload swing angles, the proposed approach enhances transportation safety.

在实际应用中，三维桥式起重机意外的有效载荷摆动会大大降低运输效率和安全性。为了提高运输效率并解决三维桥式起重机系统固有的有效载荷摆动难题，本研究提出了一种与运动规划相结合的新型递归终端滑模控制策略。具体来说，为了兼顾优化运行效率和减少有效载荷摆动的双重目标，本文引入了一种新的平滑 S 形参考轨迹，并设计了一种递归终端滑动模式控制器来跟踪该轨迹，同时结合摆动角和位移偏差构建了一个递归滑动模式曲面。最后，通过一系列数值模拟和实验验证了所提出的方法。结果凸显了所提控制器的鲁棒性，即使在非零初始条件或外部干扰的情况下，也能快速跟踪参考轨迹。值得注意的是，通过大幅减少有效载荷的摆动角度，所提出的方法提高了运输安全性。

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引用次数: 0

Stiffness-fault-tolerant control strategy for elastic actuators with interaction impedance adaptation 具有交互阻抗适应性的弹性致动器刚性容错控制策略

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

Mechatronics

Pub Date : 2024-10-28 DOI: 10.1016/j.mechatronics.2024.103265

Rodrigo J. Velasco-Guillen , Raphaël Furnémont , Tom Verstraten , Bram Vanderborght , Josep M. Font-Llagunes , Philipp Beckerle

Elastic actuators have the potential to enable safe interaction and energy efficient mobility, making them suitable for physical human–robot interaction. However, their increased complexity makes technical faults and their prevention a relevant research topic, particularly considering faults in elastic and kinematic elements. In this article we investigate a stiffness-fault-tolerant control strategy for elastic actuators, based on impedance control, which compensates for internal faults and adapts to a desired interaction impedance behavior. We analyze the control strategy regarding its stability, and adapt it to the dynamic characteristics of two systems: a mechanically adjustable compliance actuator (MACCEPA) and a series–parallel elastic actuator (+SPEA), highlighting the strategy’s general applicability to multiple actuator designs, considering nonlinear and redundant characteristics. Experimental validation with these systems shows that the control strategy is capable of accurately tracking reference output trajectories and adapting interaction characteristics, under fault and disturbance conditions, showcasing the versatile applicability of the strategy while achieving fault-tolerance.

弹性致动器具有实现安全交互和节能移动的潜力，使其适用于人与机器人的物理交互。然而，由于其复杂性的增加，技术故障及其预防成为一个相关的研究课题，特别是考虑到弹性和运动元件的故障。在本文中，我们研究了一种基于阻抗控制的弹性致动器刚度容错控制策略，该策略可补偿内部故障并适应所需的交互阻抗行为。我们分析了该控制策略的稳定性，并使其适应两个系统的动态特性：机械可调顺应性致动器（MACCEPA）和串并联弹性致动器（+SPEA），突出了该策略对多种致动器设计的普遍适用性，同时考虑了非线性和冗余特性。对这些系统的实验验证表明，该控制策略能够在故障和干扰条件下准确跟踪参考输出轨迹并调整交互特性，从而在实现容错的同时展示了该策略的广泛适用性。

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引用次数: 0

Wavelet-packet-transform-based identification of motor systems 基于小波包变换的电机系统识别

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

Mechatronics

Pub Date : 2024-10-24 DOI: 10.1016/j.mechatronics.2024.103264

Zhengfeng Huang , Beili Gong

Accurate system modeling is the key to high-performance motor control. However, there usually exist nonlinear position-dependent cogging torque disturbances in motor systems, which makes classical linear system identification algorithms unavailable to such systems. Therefore, in this paper, a wavelet-packet-transform (WPT)-based preprocessing method is proposed to extract and attenuate the cogging torque disturbances of the identification data, so as to obtain an accurate linear model of the motor system by applying a classical identification algorithm without compensating the cogging torque in advance. Both the simulation and experiments show that the proposed method is a simple and efficient way to obtain a linear model for a motor with cogging torque disturbances.

精确的系统建模是实现高性能电机控制的关键。然而，电机系统中通常存在与位置相关的非线性齿槽转矩干扰，这使得经典的线性系统识别算法无法用于此类系统。因此，本文提出了一种基于小波包变换（WPT）的预处理方法，以提取和衰减识别数据中的齿槽转矩干扰，从而在不预先补偿齿槽转矩的情况下，通过应用经典识别算法获得电机系统的精确线性模型。仿真和实验均表明，所提出的方法是一种简单而有效的方法，可用于获取具有齿槽转矩干扰的电机线性模型。

引用次数: 0

A joint acceleration planning method for inverse kinematics of manipulator based on second-order system with variable impedance 基于二阶可变阻抗系统的机械手逆运动学关节加速度规划方法

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

Mechatronics

Pub Date : 2024-10-21 DOI: 10.1016/j.mechatronics.2024.103263

Mingda Ge , Hongzhe Jin , Hui Zhang , Jizhuang Fan , Jie Zhao

The paper presents an angular acceleration planning method for joint space of manipulator to achieve real-time tracking tasks under joint constraint. To improve the performance of the algorithm and ensure the joint limit, the proposed method establishes a Second-order System with Variable Impedance (SSVI). The Second-order System is introduced in the joint space through the joint angular acceleration in second derivative of kinematics. The impedance parameters vary with different states of joint and the variable impedance produced virtual repulsive force to ensure that the joint motions are within the specified ranges when they are close to limits. The damping impedance contained in the system can improve convergence speed and suppress system oscillation and vibration caused by factors such as the visual noise. Simulation and experiment results verify that the method is effective and has faster convergence speed and more smooth motion compared with other methods.

本文提出了一种机械手关节空间角加速度规划方法，以实现关节约束下的实时跟踪任务。为了提高算法性能并确保关节限制，本文提出的方法建立了一个二阶可变阻抗系统（SSVI）。二阶系统通过运动学二阶导数中的关节角加速度引入关节空间。阻抗参数随关节的不同状态而变化，可变阻抗产生的虚拟排斥力可确保关节运动在接近极限时保持在指定范围内。系统中包含的阻尼阻抗可以提高收敛速度，抑制视觉噪声等因素引起的系统振荡和振动。仿真和实验结果验证了该方法的有效性，与其他方法相比，收敛速度更快，运动更平稳。

引用次数: 0

CRTF-MoeICP: A robust coarse-to-fine reflector-based LiDAR indoor positioning algorithm CRTF-MoeICP：基于反射器的鲁棒粗到细激光雷达室内定位算法

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

Mechatronics

Pub Date : 2024-10-19 DOI: 10.1016/j.mechatronics.2024.103259

Ming Yao , Zhufeng Shao , Yunzhou Su , Dehao Wei , Fumin Zhang , Liping Wang

The reflector-based Light Detection and Ranging (LiDAR) positioning method is susceptible to environmental interferences, resulting in instability. This instability not only reduces movement accuracy but also poses safety hazards. To solve the above problems in the application of LiDAR sensors in the field of indoor positioning, we propose a Coarse Registration algorithm based on the Triangular Feature (CRTF) and a fine registration algorithm based on Multi-level outlier elimination and Iterative Closest Point (MoeICP) for the reflector-based LiDAR positioning. The proposed coarse-to-fine positioning algorithm CRTF-MoeICP addresses the issue of reflector-based LiDAR positioning failure arising from the improper selection of the initial transformation matrix and outlier interference in indoor structured industrial environments. The experiment results show that the CRTF-MoeICP algorithm can ensure the stable registration of the LiDAR point cloud and the reflector map by completely removing all outliers, greatly improving the indoor positioning stability of LiDAR sensors. Besides, the proposed algorithm can be realized by LiDARs with different performance, and improve the static positioning repeatability to ±3 mm. The high precision and stable positioning results improve the motion accuracy, ensuring that the Automatic Guided Vehicle (AGV) can accurately and stably complete the handling task.

基于反射镜的光探测和测距（LiDAR）定位方法容易受到环境干扰，从而导致不稳定。这种不稳定性不仅会降低移动精度，还会带来安全隐患。为了解决激光雷达传感器在室内定位领域应用中的上述问题，我们提出了一种基于三角形特征的粗注册算法（CRTF）和一种基于多级离群点消除和迭代最邻近点（MoeICP）的精细注册算法，用于基于反射器的激光雷达定位。所提出的从粗到细的定位算法 CRTF-MoeICP 解决了在室内结构化工业环境中由于初始变换矩阵选择不当和离群点干扰而导致的基于反射镜的激光雷达定位失败问题。实验结果表明，CRTF-MoeICP 算法可以通过完全去除所有离群值来确保激光雷达点云和反射镜地图的稳定配准，大大提高了激光雷达传感器的室内定位稳定性。此外，所提出的算法可由不同性能的激光雷达实现，并将静态定位重复性提高到±3 毫米。高精度和稳定的定位结果提高了运动精度，确保自动导引车（AGV）能够准确稳定地完成搬运任务。

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引用次数: 0

A novel feedforward extended model reference adaptive control of PKMs: Design and real-time experiments PKM 的新型前馈扩展模型参考自适应控制：设计与实时实验

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

Mechatronics

Pub Date : 2024-10-19 DOI: 10.1016/j.mechatronics.2024.103261

Youcef Fitas , Ahmed Chemori , Johann Lamaury , Thierry Roux

This paper presents a novel approach for controlling Parallel Kinematic Manipulators (PKMs) using a feedforward augmented Model Reference Adaptive Control (MRAC) scheme. The original direct MRAC approach lacks the knowledge of the dynamic model and does not ensure boundedness of the feedback gains. To overcome these limitations, our proposed approach incorporates a feedforward dynamic term to enhance the tracking performance, and a projection operator to guarantee the boundedness of the feedback gains. The proposed controller is validated through real-time experiments using a 6-Degrees-Of-Freedom (DOF) PKM, and is compared with the original direct MRAC and some state-of-the-art controllers in various scenarios, including nominal and robustness cases. The obtained experimental results demonstrate the superiority of the proposed approach in terms of trajectory tracking performances and adaptation efficiency.

本文提出了一种使用前馈增强型模型参考自适应控制（MRAC）方案控制并联机械手（PKM）的新方法。最初的直接 MRAC 方法缺乏动态模型知识，无法确保反馈增益的有界性。为了克服这些局限性，我们提出的方法加入了一个前馈动态项来增强跟踪性能，并加入了一个投影算子来保证反馈增益的有界性。通过使用 6 自由度（DOF）PKM 进行实时实验，对所提出的控制器进行了验证，并在各种情况下（包括名义情况和鲁棒性情况）与原始直接 MRAC 和一些最先进的控制器进行了比较。实验结果表明，所提出的方法在轨迹跟踪性能和适应效率方面都更胜一筹。

引用次数: 0

Recover a moving rotor UAV without ground–air communications: System and control of a dual-stage tracking device 在没有地空通信的情况下回收移动旋翼无人机：双级跟踪装置的系统与控制

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

Mechatronics

Pub Date : 2024-10-11 DOI: 10.1016/j.mechatronics.2024.103235

Jinge Si, Bin Li, Yongkang Xu, Liang Wang, Chencheng Deng, Junzheng Wang, Shoukun Wang

Recovering a moving rotor unmanned aerial vehicle (UAV) using a single-stage dynamic tracking device poses a significant challenge, particularly without real-time communication between the two systems. This study presents a dual-stage tracking system comprising an unmanned ground vehicle (UGV) and a Stewart platform, aimed at dynamically tracking and recovering the UAV. Firstly, an observation algorithm combining Kalman filtering (KF) and curve fitting is designed to estimate and complete the drone’s states and predict its trajectory. Subsequently, a decoupled dual-stage tracking control structure is introduced, integrating two independent controlled subsystems. Specifically, in the UGV controller, the model predictive control (MPC) is employed to enhance dynamic tracking capabilities using absolute kinematics. A motion tracking algorithm based on relative kinematics was developed for the Stewart recovery platform to compensate for UGV tracking errors and improve tracking accuracy. Dynamic recovery simulations and experiments have been conducted to validate the feasibility and effectiveness of the proposed dual-stage tracking system. The results demonstrate the system’s capability to dynamically track and recover the drone without real-time communication in complex environments characterized by detection noise and target trajectory disturbances.

使用单级动态跟踪装置回收移动转子无人飞行器（UAV）是一项重大挑战，尤其是在两个系统之间没有实时通信的情况下。本研究提出了一种由无人地面飞行器（UGV）和斯图尔特平台组成的双阶段跟踪系统，旨在动态跟踪和回收无人飞行器。首先，设计了一种结合卡尔曼滤波（KF）和曲线拟合的观测算法来估计和完成无人机的状态并预测其轨迹。随后，引入解耦双阶段跟踪控制结构，整合两个独立的受控子系统。具体来说，在 UGV 控制器中，采用了模型预测控制 (MPC)，利用绝对运动学增强动态跟踪能力。为 Stewart 回收平台开发了基于相对运动学的运动跟踪算法，以补偿 UGV 跟踪误差并提高跟踪精度。为验证所提议的双级跟踪系统的可行性和有效性，进行了动态回收模拟和实验。结果表明，该系统能够在具有探测噪声和目标轨迹干扰的复杂环境中，在不进行实时通信的情况下动态跟踪和回收无人机。

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引用次数: 0

Gait self-learning control based on reference trajectory generation online for an asymmetric limb rehabilitation exoskeleton 基于参考轨迹在线生成的步态自学习控制，用于非对称肢体康复外骨骼

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

Mechatronics

Pub Date : 2024-10-09 DOI: 10.1016/j.mechatronics.2024.103262

Qiang Zhang, Qingcong Wu, Bai Chen, Yanghui Zhu

Lower limb exoskeleton (LEX) are widely used to assist stoke survivors with walking dysfunction, which is lack of a more flexible trajectory and fails to address the control challenge posed by gait variability and asymmetry in rehabilitation training. This paper introduces an asymmetric self-learning lower exoskeleton (AS-LEX) based on reference trajectory generation for the affected side. Motor intent of the unaffected limb based on thresholds was identified to classify the gait phase of stance and swing. A parameterized gait trajectory was generated online, namely a combination of circular trajectory in the stance phase and an elliptical trajectory in the swing phase. Gait self-learning control is presented to make the affected limb adaptively learn the gait parameters generated by the unaffected limb. Feasibility of the AS-LEX is demonstrated experimentally using three healthy subjects. Resuls demonstrate that overground walking in a more natural speed (with a stride length 600 mm and 700 mm) make subjects more actively learn gait of the affected side from the unaffected side. Additionally, experiments of the fatigue level of the affected limb and human-robot interaction torques were carried out, and the results indicate a more natural gait and reduced interaction forces with the AS-LEX.

下肢外骨骼（LEX）被广泛用于辅助有行走功能障碍的脑卒中幸存者，但它缺乏更灵活的轨迹，也无法解决康复训练中步态多变和不对称所带来的控制挑战。本文介绍了一种基于患侧参考轨迹生成的非对称自学习下肢外骨骼（AS-LEX）。根据阈值确定未受影响肢体的运动意向，从而对站立和摆动的步态阶段进行分类。在线生成参数化的步态轨迹，即站立阶段的圆形轨迹和摆动阶段的椭圆形轨迹的组合。通过步态自学习控制，患肢可以自适应地学习未受影响肢体生成的步态参数。AS-LEX 的可行性通过三名健康受试者进行了实验验证。实验结果表明，以更自然的速度（步长分别为 600 毫米和 700 毫米）在地面行走时，受试者能更积极地从未受损伤的一侧学习患侧的步态。此外，还对受影响肢体的疲劳程度和人机交互扭矩进行了实验，结果表明 AS-LEX 的步态更自然，交互力更小。

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引用次数: 0

Model-free control for an industrial long-stroke motion system with a nonlinear micropositioning actuator 使用非线性微定位执行器的工业长行程运动系统的无模型控制

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

Mechatronics

Pub Date : 2024-10-09 DOI: 10.1016/j.mechatronics.2024.103257

Yazan M. Al-Rawashdeh , Mohammad Al Saaideh , Marcel F. Heertjes , Tom Oomen , Mohammad Al Janaideh

Fine positioning stages based on piezoceramic materials have found widespread success in various applications due to their attractive features. However, the inherent hard nonlinear behavior of piezoelectric actuators complicates modeling, control, and synchronization processes. In this study, adopting an input–output perspective, we propose and experimentally verify a model-free control and synchronization technique for these stages. Specifically, our approach introduces a model-free trajectory generator that adjusts the desired trajectory using position measurement data to minimize tracking errors. We validate this technique using a representative precision motion system, consisting of a planner stage and a uni-axial fine stage, under step-and-scan trajectories commonly employed in wafer scanners. Remarkably, despite its simplicity, the proposed design procedure can be seamlessly extended to other robotics and automation applications.

基于压电陶瓷材料的精细定位平台因其极具吸引力的特性而在各种应用中取得了广泛的成功。然而，压电致动器固有的硬非线性行为使建模、控制和同步过程变得复杂。在本研究中，我们从输入输出的角度出发，为这些阶段提出了一种无模型控制和同步技术，并进行了实验验证。具体来说，我们的方法引入了一种无模型轨迹生成器，可利用位置测量数据调整所需的轨迹，从而最大限度地减少跟踪误差。我们使用了一个具有代表性的精密运动系统来验证这种技术，该系统由一个规划台和一个单轴精细台组成，在晶圆扫描仪常用的步进扫描轨迹下运行。值得注意的是，尽管简单，但所提出的设计程序可以无缝扩展到其他机器人和自动化应用中。

引用次数: 0

Optimal visual control of tendon-sheath-driven continuum robots with robust Jacobian estimation in confined environments 在密闭环境中通过鲁棒雅各布估计实现腱鞘驱动连续机器人的最佳视觉控制

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

Mechatronics

Pub Date : 2024-10-03 DOI: 10.1016/j.mechatronics.2024.103260

Chuanchuan Pan , Zhen Deng , Chao Zeng , Bingwei He , Jianwei Zhang

Accurate control of continuum robots in confined environments presents a significant challenge due to the need for a precise kinematic model, which is susceptible to external interference. This paper introduces a model-less optimal visual control (MLOVC) method that enables a tendon-sheath-driven continuum robot (TSDCR) to effectively track visual targets in a confined environment while ensuring stability. The method allows for intraluminal navigation of TSDCRs along narrow lumens. To account for the presence of external outliers, a robust Jacobian estimation method is proposed, wherein improved iterative reweighted least squares with sliding windows are used to online calculate the robot’s Jacobian matrix from sensing data. The estimated Jacobian establishes the motion relationship between the visual feature and the actuation. Furthermore, an optimal visual control method based on quadratic programming (QP) is designed for visual target tracking, while considering the robot’s physical constraint and control constraints. The MLOVC method for visual tracking provides a reliable alternative that does not rely on the precise kinematics of TSDCRs and takes into consideration the impact of outliers. The control stability of the proposed approach is demonstrated through Lyapunov analysis. Simulations and experiments are conducted to evaluate the effectiveness of the MLOVC method, and the results demonstrate that it enhances tracking performance in terms of accuracy and stability.

由于需要精确的运动学模型，而该模型容易受到外部干扰，因此在密闭环境中对连续机器人进行精确控制是一项重大挑战。本文介绍了一种无模型最优视觉控制（MLOVC）方法，该方法可使腱鞘驱动连续机器人（TSDCR）在密闭环境中有效跟踪视觉目标，同时确保稳定性。该方法允许 TSDCR 沿着狭窄的管腔进行管腔内导航。为了考虑外部异常值的存在，我们提出了一种稳健的雅各布估计方法，其中使用了改进的迭代重加权最小二乘法和滑动窗口，以便根据传感数据在线计算机器人的雅各布矩阵。估计的雅各布矩阵建立了视觉特征与执行之间的运动关系。此外，还设计了一种基于二次编程（QP）的最佳视觉控制方法，用于视觉目标跟踪，同时考虑机器人的物理约束和控制约束。用于视觉跟踪的 MLOVC 方法提供了一种可靠的替代方法，它不依赖于 TSDCR 的精确运动学，并考虑了异常值的影响。通过 Lyapunov 分析，证明了所提方法的控制稳定性。通过模拟和实验评估了 MLOVC 方法的有效性，结果表明该方法在精度和稳定性方面提高了跟踪性能。

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