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Conference proceedings front matter may contain various advertisements, welcome messages, committee or program information, and other miscellaneous conference information. This may in some cases also include the cover art, table of contents, copyright statements, title-page or half title-pages, blank pages, venue maps or other general information relating to the conference that was part of the original...
Provides an abstract for each of the keynote presentations and a brief professional biography of each presenter. The complete presentations were not made available for publication as part of the conference proceedings.
This paper discusses modern model-based design aspects for ensuring high dependability of mechatronic systems, i.e. ensuring most reliable and safe operation under presence of non-avoidable threats. An introductory assessment clarifies relevant terms of reference such as “systems” (in particular mechatronic systems), “models”, “design” and “dependability” with special focus on the effect of threats...
In this paper, a new nonlinear stability analysis is proposed for the robust position control problem of robot manipulators via Disturbance Observer (DOb). Although a DOb has long been used in the robust motion control systems, it suffers from the insufficient and impractical analysis and design methods. Nonlinearities of motion control systems are generally ignored to simplify analyses; however,...
In industrial automation, a huge number of motion systems are in use. Unfortunately, the manual tuning of controllers for these motion systems is a time consuming process. Assuming a basic system model is available, the manual tuning can be replaced by an automated tuning process. Based on the system model, performance requirements are formulated in frequency and time domain and are combined into...
With the development of robot technology, the activities of robots are expected to enter the human environment. Robots in human environment need the large-scale system with multi-degrees-of freedom for environmental adaptation. Therefore, it is necessary to design a large-scale system efficiently and simply. Tsuji et al. proposed function based control method. This method decouples a large control...
This paper shows by simulation and by a relative total variance performance measures that in control of lag dominated first order time delayed plants appropriately filtered PID control may significantly increase the loop performance with respect to filtered PI control. By analyzing the impact of higher order low pass filters designed by a modified multiple real dominant pole approach it shows that...
This paper presents a control method of gripper's rotation angle using the five degrees of freedom (DoF) surgical robot. Minimally invasive surgery has advantages for patients, but skills are required for surgeons and the demand to support by engineering is increasing. Therefore, surgical robots teleoperated by surgeons and operate patients are studied and developed. However, conventional surgical...
This paper presents the design of a nonlinear reduced order observer to estimate the load position and speed of an elastic drive system. The reduced order observer is designed using the notion of invariant manifold. First, a manifold is defined in terms of the error dynamics. Then, the mapping functions are selected in such a way that the error dynamics become asymptotically stable at the equilibrium...
This paper discusses Offset-free Energy-optimal Model Predictive Control (offset-free EOMPC) which is a MPC algorithm to realize time-constrained energy-optimal point-to-point motion control with high positioning accuracy for linear time-invariant (LTI) systems. The offset-free EOMPC approach is developed based on our previous research — Energy-optimal Model Predictive Control (EOMPC) — which aims...
Navigation and obstacle avoidance are essential for mobile robots. In the dynamic environment, the obstacles may move with varying velocities. It is thus crucial to develop an effective scheme for moving obstacle avoidance. Motivated by this, in this paper, we propose such a scheme based on parametric trajectory planning. With the conditions for collision avoidance formulated as the constraints, a...
An aging society exists throughout the entire world. In order to support the aging society, service robots that are able to improve our comfortable lifestyle and increase longevity have been developed. However, excessive and premature robot support may cause not only the deterioration of our physical ability but also shortening of the period of well-being. In our research group, a personal robot that...
Soft robotic peristaltic sorting tables are a new class of industrial robots that move objects on their surface by producing moving surface deformations. To realise such deformations, the surface layer is made of a soft material with an embedded array of actuators. In industrial automation, the array must be controlled in a way that objects on the surface of the table are transported and realigned...
This paper proposes a robust attitude tracking control scheme for hexarotor micro aerial vehicles (MAVs) under the effects of uncertainties (equivalent disturbances) which consist of external disturbances, nonlinear dynamics, coupling, and parametric uncertainties. The proposed scheme is easy to be implemented compared to other robust controller techniques since it consists of a nominal controller...
This paper deals with robustness evaluation of the predictive disturbance observer based filtered PI (PDO FPI) control. Robust performance of loops with integral plants, different order filters and with an uncertain dead time is examined by the performance portrait method. The analysis does not confirm the up to now accepted view that the best robustness corresponds to the 1st order filters. Features...
To enhance the productivity and quality, high speed and high precision industrial robots are required. In the highspeed motion, the dynamic torque of industrial robot prevents the precise operation. To achieve high speed and high precision operation, the dynamic torque calculation is often used to compensate the dynamic torque. Although, it is difficult to calculate the accurate dynamic torque because...
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