Authors: Kluk, Daniel; Boulet, Michael; Trumper, David

Abstract: This paper focuses on the design, fabrication, assembly, and testing of a high bandwidth two-axis mirror positioner for precision optical platforms, which we refer to as the Advanced Fast Steering Mirror (AFSM). This novel positioner consists of a platform driven in two rotational axes by flux-steering electromagnetic actuators, and controlled via position feedback loops. The AFSM is designed for beam stabilization tasks in lithography, laser communication, lidar, and similar optical applications. We have experimentally demonstrated small-signal system bandwidth of 10 kHz using optical quad-cell feedback and a two-channel analog control architecture. The AFSM has a travel range of +/-3.5 mrad, and a measured angular acceleration of 10^5 rad/sec^2.

Keywords: Optical Systems; Actuator and Sensor Systems

Identifier: 10.3182/20100913-3-US-2015.00133

Conference: 5th IFAC Symposium on Mechatronic Systems (2010)

Location: Marriott Boston Cambridge, United States of America

Start Date: Mon Sep 13 2010 - End Date: Wed Sep 15 2010

Authors: Lee, Chibum; Salapaka, Srinivasa

Abstract: n this paper, a design scheme is proposed that separates the issues of sample-profile estimation and amplitude regulation in dynamic-mode atomic force microscopy. In current AFM, the control signal for amplitude regulation is also used as the estimate for the sample-profile. Therefore, the sample profile estimation signal is accurate as long as the sample-profile signal perceived by the cantilever is well within the bandwidth of the control transfer function. In the proposed design scheme, maintaining a constant amplitude while scanning at high bandwidth does not impose limitations on the reconstruction of the sample topography. In fact, we analytically prove that the sample-profile signal estimation problem can be solved independently of the control design scheme for amplitude regulation. Therefore, accurate sample-profile estimations can be obtained even at frequencies near and beyond the closed-loop control bandwidths. However, we show that the robustness of estimation does depend on the control design for regulation and in fact, the robustness of estimation is described by the closed-loop sensitivity transfer function. The independence of the profile-estimation problem from the control design is another salient distinguishing characteristic of this work. The estimation bandwidths by this new scheme are improved significantly over commonly used signals. Comparison with the existing methods of using the control signal as the image is provided. The experimental results corroborate the theoretical development.

Keywords: Micro-/Nanosystems; Nonlinear Control; Test and Verification

Identifier: 10.3182/20100913-3-US-2015.00117

Conference: 5th IFAC Symposium on Mechatronic Systems (2010)

Location: Marriott Boston Cambridge, United States of America

Start Date: Mon Sep 13 2010 - End Date: Wed Sep 15 2010

Authors: Hong, Fan; Pang, Chee Khiang; Wong, Wai Ee; Lee, Tong Heng

Abstract: Peak filtering methods are commonly used in track-following control of hard disk drives (HDDs) to suppress narrow-band disturbances around a specific frequency. When there are significant plant dynamics within the bandwidth of the filter, the closed-loop system is prone to be unstable due to the lightly damped poles of the filter, as well as lightly damped poles of the plant. On the other hand, settling response of such peak filters during shock disturbances is slow, and increases tremendously with decreasing damping ratios. In this paper, we present a novel design of peak filters with improved transient responses using a phase scheduling method in addition to varying gain and damping ratio. By doing so, the stability margin of the closed-loop systems during both transient stage and steady-state stage will be improved. The effectiveness of the proposed methodology is verified with extensive simulations and the proposed method is then applied in an integrative servo analysis platform to carry out a scaling exercise to evaluate and predict servo performance towards 10 Terabits per square inch.

Keywords: Motion Control; Vibration and Noise Control; Simulation

Identifier: 10.3182/20100913-3-US-2015.00050

Conference: 5th IFAC Symposium on Mechatronic Systems (2010)

Location: Marriott Boston Cambridge, United States of America

Start Date: Mon Sep 13 2010 - End Date: Wed Sep 15 2010

Authors: Nakashima, Akira; Tsuda, Yoji; Liu, Chungfang; Hayakawa, Yoshikazu

Abstract: We propose a real-time measuring method of both the translational/rotational velocities of a flying ball using two high speed cameras. The rotational velocity is estimated by the kinematics which relates the velocity to the position variation of the centroid of a feature area marked on the ball. The position variation is calculated by the correlation between two images with respect to the translational displacement in the images. The corresponding 3D position of the feature area is necessary for the estimation by the kinematics. It is calculated by the centroids of all the feature areas on the ball in the left and right images with the assumption where the centroids coincide with each other in the 3D space. The proposed method is verified with respect to some configurations of the cameras and texture patterns of the feature areas by numerical simulations. The effectiveness of the method is verified by experiments.

Keywords: Robotics

Identifier: 10.3182/20100913-3-US-2015.00134

Conference: 5th IFAC Symposium on Mechatronic Systems (2010)

Location: Marriott Boston Cambridge, United States of America

Start Date: Mon Sep 13 2010 - End Date: Wed Sep 15 2010

Authors: de Moll, Andreas; Ding, Steven X.

Abstract: In this paper, a step by step scheme for evaluating different sensor-configurations is proposed and applied to the airpath of internal combustion engines. The evaluation is based on a linear multiple model approach which describes the nonlinear system behavior in different operating points. The overall goal of evaluating sensor-configurations is to reconstruct the states of the process in the presence of measurement noises, disturbances and a system model with deviations caused by an forward euler discrete implementation, as exactly as possible. In a three step framework, first structural process information, then quantitative information on observability and at last a (sub)-optimal full state observer structure is designed and evaluated for possible sensor-configurations.

Keywords: Automotive Systems; Actuator and Sensor Systems; Robust Control

Identifier: 10.3182/20100913-3-US-2015.00094

Conference: 5th IFAC Symposium on Mechatronic Systems (2010)

Location: Marriott Boston Cambridge, United States of America

Start Date: Mon Sep 13 2010 - End Date: Wed Sep 15 2010

Authors: Beck, Mark; Schwung, Andreas; Muenchhof, Marco; Isermann, Rolf

Abstract: In this paper the fault detection, fault diagnosis and the active fault tolerant control of an electro-hydraulic servo-axis with a duplex-valve-system are described. The fault detection is based on parity equations. The semi-physical models allow the detection of even small faults in the hydraulic system. The fault diagnosis that is used on the testbed is based on the inference method emph{fuzzy-logic}. In order to tolerate a failed hydraulic proportional valve, a duplex-valve-system that is built up with standard direct-driven proportional valves is applied. The fault management module allows the supervision of the hydraulic servo axis and decides the reconfiguration and the fault accomodation of the control-loop.

Keywords: Failure Tolerance; Diagnosis; Failure Management

Identifier: 10.3182/20100913-3-US-2015.00042

Conference: 5th IFAC Symposium on Mechatronic Systems (2010)

Location: Marriott Boston Cambridge, United States of America

Start Date: Mon Sep 13 2010 - End Date: Wed Sep 15 2010

Authors: Balini, Hari Mohan Navin Kumar; Witte, Jasper; Scherer, Carsten W.; Dietz, Sjoerd

Abstract: An unbalanced mass on a rotating spindle causes synchronous vibrations. Active magnetic bearings have been succesfully used to mitigate these vibrations for a particular operating speed. This is done by placing a notch in the closed-loop at a frequency corresponding to the rotational speed. In applications such as micro-milling the operational speed of the spindle can very well deviate from the desired set point. These deviations in the rotational speed can be regarded as an uncertainty in the disturbance model effecting the plant. The controller synthesis problem for robust performance against uncertainty in the disturbance model is recently shown to be convex. We design and implement such a robust controller on an experimental AMB setup.

Keywords: Robust Control; Vibration and Noise Control; Actuator and Sensor Systems

Identifier: 10.3182/20100913-3-US-2015.00059

Conference: 5th IFAC Symposium on Mechatronic Systems (2010)

Location: Marriott Boston Cambridge, United States of America

Start Date: Mon Sep 13 2010 - End Date: Wed Sep 15 2010

Authors: Mohand Ousaid, Abdenbi; Grossard, Mathieu; Boukallel, Mehdi

Abstract: In this paper, a new control scheme is proposed based on an Extended Kalman Filter (EKF) used as an observer to estimate both state and variable gain of a Hammerstein system. The nonlinear Hammerstein system consists of a static nonlinearity followed by a dynamic linear part, where we consider the static nonlinearity as a variable gain. Then, an adaptive PID control algorithm is designed to auto-tune the control gain of the controller through the EKF static gain estimation. Experiments have been carried out on a piezoelectric actuator (unimorph) commonly adopted in microrobotic applications. A Hammerstein model is applied to describe the piezoelectric hysteresis behaviour. Performances of our proposed control scheme are verified through simulation and experimentally compared to the conventional PID control algorithm.

Keywords: Micro-/Nanosystems; Actuator and Sensor Systems; Nonlinear Control

Identifier: 10.3182/20100913-3-US-2015.00040

Conference: 5th IFAC Symposium on Mechatronic Systems (2010)

Location: Marriott Boston Cambridge, United States of America

Start Date: Mon Sep 13 2010 - End Date: Wed Sep 15 2010

Authors: Sato, Kazuya; Tsuruta, Kazuhiro

Abstract: This paper deals with a adaptive tracking control for a positioning mechanism with friction. All most of the previous method, the controller requires full-states measurements, such as position and velocity measurements. It is often that only the position is measured by position sensors in the practical experimentation. Therefore, the velocity should be estimated in some way using only position measurement. This paper deals with adaptive friction compensation method that includes a adaptive differentiator which can estimate velocity signals. The effectiveness of the proposed method is given by numerical simulation and experimental results.

Keywords: Adaptive Control; Nonlinear Estimation and Filtering; Motion Control

Identifier: 10.3182/20100913-3-US-2015.00045

Conference: 5th IFAC Symposium on Mechatronic Systems (2010)

Location: Marriott Boston Cambridge, United States of America

Start Date: Mon Sep 13 2010 - End Date: Wed Sep 15 2010

Authors: Chen, Xu; Tomizuka, Masayoshi

Abstract: This paper presents an indirect adaptive control scheme that rejects unknown multiple narrow-band disturbances in hard disk drive systems. The proposed algorithm first finds the model of the disturbance (the internal model) and then adaptively estimates its parameters. The design of a band-pass filter with multiple narrow pass-bands is then presented and used to construct a disturbance observer (DOB) for disturbance rejection. The proposed algorithm estimates the minimal amount of parameters, and is computationally simple. Evaluation of the proposed algorithm is performed on a benchmark problem for HDD track following.

Keywords: Adaptive Control; Micro-/Nanosystems

Identifier: 10.3182/20100913-3-US-2015.00017

Conference: 5th IFAC Symposium on Mechatronic Systems (2010)

Location: Marriott Boston Cambridge, United States of America

Start Date: Mon Sep 13 2010 - End Date: Wed Sep 15 2010

Authors: Atsumi, Takenori; Messner, William

Abstract: Intersampling vibrations of the head of hard disk drives may lead to destruction of user data. Such vibrations are caused by mechanical resonances with frequencies above the Nyquist frequency of the control system. To address this problem, we analyze residual vibrations using the SRS (Shock Response Spectrum) analysis employed for characterizing transient characteristics of mechanical resonances. We show that the acceleration input in sampled-data control systems excites the mechanical resonance near the sampling frequency in the settling characteristics after the track-seeking control. These phenomena are confirmed through the experiments using the actual head-positioning system of the hard disk drive. Consequently the vibrations caused by the mechanical resonances around sampling frequency are not only the difficult to observe but readily excited by the control input. Therefore, the head-positioning control system must be designed such that the sampling frequency is away from mechanical resonances.

Keywords: Actuator and Sensor Systems; Motion Control; Micro-/Nanosystems

Identifier: 10.3182/20100913-3-US-2015.00065

Conference: 5th IFAC Symposium on Mechatronic Systems (2010)

Location: Marriott Boston Cambridge, United States of America

Start Date: Mon Sep 13 2010 - End Date: Wed Sep 15 2010

Authors: Zoels, Wolfgang; Bachmaier, Georg; Gerlich, Matthias; Antritter, Felix; Hillermeier, Claus

Abstract: In an earlier publication, the prototype of a piezo gasoline injector has been presented, which allows to measure the combustion pressure without causing additional weight and production costs. The capability of this system to reconstruct the pressure history has been demonstrated in that publication. However, it has been pointed out that the quality of the reconstructed signal crucially depends on the quality of a disturbance model, which allows to subtract the occuring disturbances from the measured signal. In this paper we derive, using physical considerations, a simple disturbance model with a minimum number of parameters that have to be adapted. This yields a fast and efficient method to obtain a high-quality pressure history from the measured signal. The model is evaluated with measurements at a test bench.

Keywords: Actuator and Sensor Systems; Automotive Systems; Signal Processing

Identifier: 10.3182/20100913-3-US-2015.00100

Conference: 5th IFAC Symposium on Mechatronic Systems (2010)

Location: Marriott Boston Cambridge, United States of America

Start Date: Mon Sep 13 2010 - End Date: Wed Sep 15 2010

Authors: Kanamori, Mitsuru

Abstract: A static anti-integrator-windup controller design that employs gravity compensation and takes parameter error into consideration is proposed for Euler-Lagrange systems. Gravity compensation is performed by treating the time derivative of the gravity term for asymptotic stability based on passivity when actuator saturation occurs. A new design variable is introduced to increase the degrees of freedom of controller design. The optimality of the proposed PI controller is examined using an estimation function for actuator saturation. The proposed controller and its optimality are verified by numerical simulations and experiments using a two-link robot arm.

Keywords: Robotics; Nonlinear Control; Motion Control

Identifier: 10.3182/20100913-3-US-2015.00004

Conference: 5th IFAC Symposium on Mechatronic Systems (2010)

Location: Marriott Boston Cambridge, United States of America

Start Date: Mon Sep 13 2010 - End Date: Wed Sep 15 2010

Authors: Fujimoto, Hiroshi; Sakata, Koichi; Saiki, Kazuaki

Abstract: In the positioning system of the large-scale high-precision stage, the primary resonance mode appears in low frequency, though large-scale high-precision stages are used in industrial fields. In recent years, our research group has applied the perfect tracking control (PTC) method which can design the perfect inverse system of the plant to a large-scale high-precision stage to improve the control performance. Moreover, a synchronous position control based on PTC method is proposed as application to several stages. In early sections, the application of the PTC method to a large-scale stage is introduced. In latter sections, the application to synchronous position control is introduced.

Keywords: Micro-/Nanosystems; Motion Control; Vibration and Noise Control

Identifier: 10.3182/20100913-3-US-2015.00068

Conference: 5th IFAC Symposium on Mechatronic Systems (2010)

Location: Marriott Boston Cambridge, United States of America

Start Date: Mon Sep 13 2010 - End Date: Wed Sep 15 2010

Authors: Md Yusof, Hazlina; Goodall, R.M.; Dixon, Roger

Abstract: This paper looks into ways of improvising actuator technologies for railway secondary suspensions for an aim to draw near the possibility of fully active railway vehicle. An investigation of the effects of actuators for secondary suspensions has showed the degradation in ride quality due to the actuator limitations. This paper looks into actuator technologies for railway suspensions to realise the full benefits of active suspensions which have been studied rigorously for the past three decades. Electromechanical and Electrohydraulic actuators across the secondary suspension are used, and the effects of these actuator dynamics is analysed. A simple control law is used for assessment to highlight the degradation in the suspension performance.

Keywords: Actuator and Sensor Systems; Simulation; Motion Control

Identifier: 10.3182/20100913-3-US-2015.00082

Conference: 5th IFAC Symposium on Mechatronic Systems (2010)

Location: Marriott Boston Cambridge, United States of America

Start Date: Mon Sep 13 2010 - End Date: Wed Sep 15 2010

Authors: Corbetta, Stefano; Boniolo, Ivo; Savaresi, Sergio

Abstract: In this work the problem of attitude estimation of a motorcycle is studied. A Kalman Filter approach is used and the performance of the Extended Kalman Filter and the Unscented Kalman filter are compared. The estimation accuracy and robustness have been tested both with simulated and experimental data to show which are the advantages of the Unscented Transformation.

Keywords: Automotive Systems; Nonlinear Estimation and Filtering; Actuator and Sensor Systems

Identifier: 10.3182/20100913-3-US-2015.00029

Conference: 5th IFAC Symposium on Mechatronic Systems (2010)

Location: Marriott Boston Cambridge, United States of America

Start Date: Mon Sep 13 2010 - End Date: Wed Sep 15 2010

Authors: Stoev, Julian; Bartic, Andrei; Gillijns, Steven; Symens, Wim

Abstract: We present a Mechatronics design approach and related technologies for a badminton playing robot, as a first stage of a multi-year project. The robot is using non-modified shuttles and rackets, which are detected and localized using purely visual information. The robot subsystems are presented: mechanical design, visual detection of the shuttle, shuttle trajectory estimation and interception, actuation, control hardware and software. The paper demonstrates the multidisciplinary nature of the Mechatronics.

Keywords: Motion Control; Robotics; Actuator and Sensor Systems

Identifier: 10.3182/20100913-3-US-2015.00028

Conference: 5th IFAC Symposium on Mechatronic Systems (2010)

Location: Marriott Boston Cambridge, United States of America

Start Date: Mon Sep 13 2010 - End Date: Wed Sep 15 2010

Authors: Okorafor, Marvin; Clayton, Garrett

Abstract: In this paper, we present a novel scanning probe microscope (SPM) lateral dynamics modeling technique that exploits the SPM's topography measurement capabilities. SPMs are key tools in the advancement of nanotechnologies, but their speed is limited due to a number of key issues, including dynamic effects. In order to facilitate high-speed SPM operation, these dynamic effects should be accurately modeled, thus enabling the application of feedforward and feedback control methodologies. The main contribution of this study is the development of a modeling method that uses the SPM probe-sample interaction (topography) signal obtained by scanning a standard calibration sample to develop a transfer function model of the SPM dynamics. The novelty of this method is that it exploits the SPM probe-sample interaction signal to model the dynamics as opposed to external sensors. The method is presented in detail and experimentally verified using a commercial atomic force microscope (AFM).

Keywords: Micro-/Nanosystems; Actuator and Sensor Systems; Vibration and Noise Control

Identifier: 10.3182/20100913-3-US-2015.00122

Conference: 5th IFAC Symposium on Mechatronic Systems (2010)

Location: Marriott Boston Cambridge, United States of America

Start Date: Mon Sep 13 2010 - End Date: Wed Sep 15 2010

Authors: Godoy, Eduardo Paciencia; Dutra Pereira, Robson Rogério; Scorzoni, Fernando; Vieira Porto, Arthur José; Inamasu, Ricardo Yassushi

Abstract: Networked control systems (NCS) are a recent trend in the research of distributed control systems with fieldbus networks such as CAN (Controller Network Area). This new approach differs from the traditional fieldbus systems in that the controller and the plant are physically separated and connected through an industrial network. Studies have been made to evaluate characteristics which are inherent to NCS design such as messages sampling time, information lost on the network and network delays between the sensors, actuators and controllers of the control system that can degrade its performance and destabilize the NCS. With the purpose of facilitating the research and highlighting the fundamental concepts in the area of NCS, a CAN-based platform has been developed. Focused on helping the investigation and experimentation on NCS on graduate courses, the platform can be used to perform tasks for NCS such as analysis, modeling, simulation and control. The architecture proposed for the platform is highly flexible allowing experiments to be conducted for several platform configurations, with different design parameters and controller algorithms. This paper describes our approach to designing this CAN-based NCS platform focusing on the hardware and software implementations and presenting the opportunities and benefits of its use to NCS. Experiments done with the platform confirm its functionality and effectiveness for NCS applications with the CAN protocol.

Keywords: Teaching Aids; Simulation

Identifier: 10.3182/20100913-3-US-2015.00023

Conference: 5th IFAC Symposium on Mechatronic Systems (2010)

Location: Marriott Boston Cambridge, United States of America

Start Date: Mon Sep 13 2010 - End Date: Wed Sep 15 2010

Authors: Ding, Chenyang; Damen, Ad A. H.; van den Bosch, P. P. J.

Abstract: This paper studies closed-loop identification of the Permanent Magnetic (PM) force produced by an unstable contactless Electro-Magnetic Isolator (EMI) designed for passive gravity compensation of heavy payload. According to the criterions of high force density and minimized stiffness, the EMI magnetic topology parameters can be optimized based on theoretically calculated PM force. To validate this design method, the PM force has to be measured accurately. One solution is closed-loop identification of the unstable suspension system formed by a rigid payload suspended by a single EMI. The two objects that can be directly identified are the passive force (the sum of the PM force and gravity force) and the payload mass. The PM force can be calculated by the passive force minus the gravity force. To guarantee the closed-loop stability and floor vibration suppression with unknown plant parameters, the generalized frequency-shaped sliding surface control approach can be applied. An iterative method is proposed to directly estimate the payload mass. To evaluate the proposed methods, the identification of the passive force and the payload mass is simulated using a 1-DOF model taken from a candidate design of the EMI. The results show that the estimation errors for both objects are reasonably small. The mass identification has improved performance by iterative estimations.

Keywords: Vibration and Noise Control; Robust Control; Non-Conventional Actuators

Identifier: 10.3182/20100913-3-US-2015.00071

Conference: 5th IFAC Symposium on Mechatronic Systems (2010)

Location: Marriott Boston Cambridge, United States of America

Start Date: Mon Sep 13 2010 - End Date: Wed Sep 15 2010

Authors: Patil, Rakesh; Filipi, Zoran; Fathy, Hosam K.

Abstract: This paper presents a novel approach to the optimization of a dynamic system’s design and control. Traditionally, these problems have been solved either sequentially or in a combined manner. We propose a novel approach that uses a previously-derived coupling measure to quantify the impact of plant design variables on optimal control cost. This proposed approach has two key advantages. First, because the coupling term quantifies the gradient of the control optimization objective with respect to plant design variables, the approach ensures combined plant/control optimality. Second, because the coupling term equals the integral of optimal control co-states multiplied by static gradient terms that can be computed a priori, the proposed approach is computationally attractive. We illustrate this approach using an example cantilever beam structural design and vibration control problem. The results show significant computational cost improvements compared to traditional combined plant/control optimization. This reduction in computational cost becomes more pronounced as the number of plant design variables increases.

Keywords: Vibration and Noise Control

Identifier: 10.3182/20100913-3-US-2015.00126

Conference: 5th IFAC Symposium on Mechatronic Systems (2010)

Location: Marriott Boston Cambridge, United States of America

Start Date: Mon Sep 13 2010 - End Date: Wed Sep 15 2010

Authors: Labenda, Patrick; Sadek, Tim; Heckes, Leif

Abstract: Kinematically redundant locomotion systems offer significant potentials with regard to an enhanced mobility on rough and unstructured terrain. These potentials are based on the systems’ modular design as well as the given kinematic redundancy. The available additional, i.e. redundant, degrees-of-freedom result in the system’s extensive capabilities of posture as well as terrain adaptation. These capabilities can be used to enhance a robot’s mobility performance with regard to a given performance metric like e.g. traction and power consumption. The paper at hand summarizes essential considerations with regard to the deployment of kinematic redundancy to achieve enhanced rough terrain mobility focusing on the mechanics of mobile robot posture adaptation and traction optimization.

Keywords: Robotics; Motion Control; Adaptive Control

Identifier: 10.3182/20100913-3-US-2015.00108

Conference: 5th IFAC Symposium on Mechatronic Systems (2010)

Location: Marriott Boston Cambridge, United States of America

Start Date: Mon Sep 13 2010 - End Date: Wed Sep 15 2010

Authors: Kahveci, Nazli E.; Kolmanovsky, Ilya V.

Abstract: Electromechanical actuation systems are widely used in a variety of industrial applications. Several control challenges in these applications stem from the need to achieve the soft contact of the moving parts of the actuators, also known as soft landing where the main goal is to reduce the system noise and wear, and prevent the relevant parts from damage and breaking. In this paper we propose a control design which can be employed to guarantee the enforcement of the required soft landing constraints. Our design approach is based on an application of the landing reference governor which gradually adjusts a set-point to a nominal controller employing nonlinear inversion and backstepping techniques. The closed-loop Lyapunov function of the nominal controller is used to estimate and avoid high landing velocities. We consider a single-mass dynamic model of the actuator and report the corresponding simulation results.

Keywords: Automotive Systems; Actuator and Sensor Systems; Robust Control

Identifier: 10.3182/20100913-3-US-2015.00051

Conference: 5th IFAC Symposium on Mechatronic Systems (2010)

Location: Marriott Boston Cambridge, United States of America

Start Date: Mon Sep 13 2010 - End Date: Wed Sep 15 2010

Authors: Egretzberger, Markus; Mair, Florian; Kugi, Andreas

Abstract: In this contribution, a systematic method for the design of open- and closed-loop controllers for vibratory MEMS gyroscopes based on so-called envelope models will be presented. The methodology will be carried out for a capacitive gyroscope with electrostatic actuators and sensors. In particular the derivation of an optimized start-up strategy and the design of an unbalance rejection controller will be considered in more detail. The presented theory is validated by numerical simulations as well as by measurement results utilizing a prototype gyroscope.

Keywords: Micro-/Nanosystems; Actuator and Sensor Systems; Vibration and Noise Control

Identifier: 10.3182/20100913-3-US-2015.00039

Conference: 5th IFAC Symposium on Mechatronic Systems (2010)

Location: Marriott Boston Cambridge, United States of America

Start Date: Mon Sep 13 2010 - End Date: Wed Sep 15 2010

Authors: Choi, Min-seok; Lim, Sung-jin; Lee, Ji-yeong; Han, Chang-soo

Abstract: This research presents a low-dimensional sample-based path planning method for cooperative work of redundant dual-arm robot which has two humanlike 7 degrees of freedom robot arms. The main task for this system is to move an object from initial position to goal position while the end-effector of two arms concurrently grasp the object. To accomplish this work, we use redundant variables and absolute frame which is attached to the object. This method reduces the dimension of the sampling configuration space for the considering task 14 to 8. To more effectively find a path for the cooperative work of the system, we use a very simple equation that linearly changes the orientation of absolute frame from the start configuration to the goal configuration along a path. This equation further reduces the dimension of sampling configuration space 8 to 5. From this approach, we can effectively get a path for the cooperative work of humanoid type dual-arm robot using probabilistic roadmaps algorithm. To verify the proposed method, simulation program is developed and simulation is carried out with some specific setting. Simulation results show that proposed method effectively plans a cooperative path for the redundant dual-arm robot system.

Keywords: Motion Control; Robotics; Simulation

Identifier: 10.3182/20100913-3-US-2015.00124

Conference: 5th IFAC Symposium on Mechatronic Systems (2010)

Location: Marriott Boston Cambridge, United States of America

Start Date: Mon Sep 13 2010 - End Date: Wed Sep 15 2010