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This paper presents a novel position command shaping approach for the mechanical vibration suppression in mechatronic systems. Although conventional command shaping approaches can suppress the specified mechanical vibrations, mechanical and/or electrical perturbations in plant may deteriorate the motion performance. In this research, a linear matrix inequality (LMI) design framework is applied to...
Rescue operation is one of the most effective applications of snake-like robots. However, previous rescue systems that use robots have a significant problem that is shortage of professional operators. In this paper, to solve this problem, we focus on volunteer non-professional staffs as operators of the rescue robots, and propose new snake-like robot which can be controlled easily by using simple...
This paper presents a compensation approach for nonlinear friction in a ball screw-driven table positioning system. In the compensator design, effects of nonlinear friction on the positioning performance at the inching motion are especially paid attention, where a precise nonlinear friction characteristic with nonlinear spring behavior is mathematically modeled and considered. Based on the friction...
This paper presents an on-line parameter tuning for the disturbance model using a least square method base on estimated disturbance errors. In this research, both nonlinear frictions and modeling errors between the mathematical model and the actual plant system are handled as disturbances in mechanism. It is well-known that the disturbance variation deteriorates positioning performances. A viscous...
This paper presents a modeling methodology for unknown disturbances based on a disturbance estimation using a iterative learning process in mechatronic systems. In this research, the nonlinear friction and the modeling errors between mathematical model and actual plant system should be handled as the disturbances in mechanism because these phenomena mainly deteriorate the trajectory control performances...
This paper presents a minimum jerk transition method-based position command shaping without the specified frequency components. In the mechatronic fields, the 2-degrees-of-freedom position controller is well-known powerful tool to realize both the robust stability and the fast and precise positioning performance. On the other hand, the notch filter to suppress the lower frequency vibration deteriorates...
Microsurgery and microassembly are some high precision tasks that require the assistance of a micromanipulator. However, in order to manipulate micro objects it is inevitable to consider the scaling effect problem between the worlds with different physical characteristics. Some scaling methods have been proposed, but how the scaling gains affect the human operator performance is still a remaining...
The authors propose a method to transform the motor impedance from the end-point into the joint. The central nervous system regulates the mechanical impedance of the end-point through the muscle and joint, which requires this kind of transformation of the motor impedance. It is shown that the redundancy of the musculoskeletal system allows selection of the impedance of each joint in order to maintain...
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