| 1. |
- Andersson, Jan-Erik, et al.
(författare)
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Robot control for wood carving operations
- 2001
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Ingår i: Mechatronics (Oxford). - 0957-4158 .- 1873-4006. ; 11:4, s. 475-490
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Tidskriftsartikel (refereegranskat)abstract
- The aim of this paper is to implement sensor control in wood carving operations. The introduction of wood carving is a step towards the development of a new manufacturing method for the wood manufacturing industry, where wood carving would facilitate increased freedom of the design choice. A control method that improves robot control and supports simpler programming, based on using an industrial robot equipped with a wrist mounted force/torque-sensor. is proposed for the wood carving process. This paper describes the structure and control algorithm of the system and how different machining parameters affect the cutting forces. The evaluation of the system showed that it is possible to control the cutting depth at speeds up to 7.5 mms by adjusting the rake angle of the tool to obtain a nominal force.
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| 2. |
- Danielsson, Fredrik, 1972-, et al.
(författare)
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Validation, off-line programming and optimisation of industrial control logic
- 2003
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Ingår i: Mechatronics (Oxford). - 0957-4158 .- 1873-4006. ; 13:6, s. 571-585
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Tidskriftsartikel (refereegranskat)abstract
- This article proposes a classification of different methods for validation, off-line programming and optimisation of control logic. The classification is an overview of different methods available and includes advantages and disadvantages for each method. The method overview points out a superior method, control system emulation, which is the most cost-effective and flexible method. The control system emulation method is also general and may be applied to validate and optimise control logic in various applications. Further, the method is compared with several other methods for validation of industrial control systems. However the method requires a standardised system architecture. This article proposes such architecture for the control system emulation method. Here, a control system emulator has also been implemented with the specific system architecture described in this article. An application case is also provided to demonstrate an approach to the integration of a control system emulator into a virtual manufacturing system.
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| 3. |
- Hyyppä, Kalevi
(författare)
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Design considerations in a laser navigation system for mobile robots
- 1994
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Ingår i: Mechatronics (Oxford). - : Elsevier BV. - 0957-4158 .- 1873-4006. ; 4:2, s. 199-206
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Tidskriftsartikel (refereegranskat)abstract
- A navigation system for mobile robots is discussed. The system utilizes a laser anglemeter which measures heading angles to beacons made of retroreflective tape. It is shown that the motion restrictions of a typical mobile robot can be utilized to simplify the angle measurement task considerably. Beam properties of typical HeNe-lasers and collimated GaAs-laser diodes are discussed. The collimated GaAs-laser is shown to be superior for the anglemeter. A design rule is given for the anglemeter receiver optics. Noise sources in the anglemeter receiver are discussed. Reference is made to a new low-noise photodiode-amplifier circuit which has the photodiode in the feedback path.
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| 4. |
- Moore, Philip, et al.
(författare)
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Intelligent semi-autonomous vehicles in materials handling
- 1999
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Ingår i: Mechatronics (Oxford). - : Elsevier. - 0957-4158 .- 1873-4006. ; 9:7, s. 881-892
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Tidskriftsartikel (refereegranskat)abstract
- An increase in functionality of semi-autonomous vehicles (SAV) through the implementation of intelligent distributed control and smart sensing techniques is presented. In combination with a modular design approach, this facilitates system modification and improvement, combined with faster customisation of the platform. A distributed and reactive behavioural control architecture is used to realise local autonomous navigation capabilities; improved operator interaction; self protection and safer operation. A virtual engineering environment based on a computer-aided-graphics platform is used (1) for modelling the vehicle and the environment in which it can operate; (2) developing pre-emptive learning and training of responses/behaviours, and (3) for evaluation of vehicle functionality as part of an integrated materials handling system.
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| 5. |
- Moore, P. R., et al.
(författare)
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Virtual engineering : an integrated approach to agile manufacturing machinery design and control
- 2003
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Ingår i: Mechatronics (Oxford). - : BioMed Central Ltd.. - 0957-4158 .- 1873-4006. ; 13:10, s. 1105-1121
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Tidskriftsartikel (refereegranskat)abstract
- A virtual manufacturing approach for designing, programming, testing, verifying and deploying control systems for agile modular manufacturing machinery are proposed in this paper. It introduces the concepts, operations, mechanisms and implementation techniques for integrating simulation environments and distributed control system environments so that the control logic programs that have been programmed and verified in the virtual environment can be seamlessly transferred to the distributed control system environment for controlling the real devices. The approach looks to exploit simulation in a much wider range of applications with great advantages in the design and development of manufacturing machine systems. In particular, it facilitates the verification of the runtime support applications using the simulation model before they are applied to the real system. Mechanisms that allow runtime data to be collected during operation of the real machinery to calibrate the simulation models are also proposed. The system implemented delivers a powerful set of software tools for realising agile modular manufacturing systems.
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| 6. |
- Uusijärvi, Rickard, et al.
(författare)
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Introducing distributed control in mobile machines based on hydraulic actuators
- 1994
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Ingår i: Mechatronics (Oxford). - : Elsevier. - 0957-4158 .- 1873-4006. ; 4:2, s. 51-72
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Tidskriftsartikel (refereegranskat)abstract
- The design of mobile machines demanding outspread hydraulic systems involves at least two major trade-offs, regarding the distribution and configuration of hydraulic components and the degree of distributed computer control within the machines. As a case study the “NODDATOR” project is described, in which a distributed control approach utilizing the Controller Area Network was applied to control a hydraulic application, a drill arm - boom - on a tunnelling machine. Practical experience in the project and advantages of the technique compared with the technique used today - a more or less strict implementation of a central control system - are pointed out. Further, the benefits which can be obtained by fully exploiting the possibilities of hydraulic distribution and distributed computer control, i.e. reduced cabling and cost, increased functionality and modularity are discussed. Among the new problems that arise, the multidisciplinarity of the technique and reliability issues are the most difficult ones. Reliability is a very relevant area for mechatronics where more research is needed as computer control systems increasingly replace mechanical solutions. The conclusion of the article is clear: Machines based on distributed technology are clearly the winners compared to current machines.
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| 7. |
- Ahmad, Aftab, et al.
(författare)
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A model-based and simulation-driven methodology for design of haptic devices
- 2014
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Ingår i: Mechatronics (Oxford). - : Elsevier BV. - 0957-4158 .- 1873-4006. ; 24:7, s. 805-818
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Tidskriftsartikel (refereegranskat)abstract
- High precision and reliable haptic devices are highly complex products. The complexity that has to be carefully treated in the design process is largely due to the multi-criteria and conflicting character of the functional and performance requirements. These requirements include high stiffness, large work-space, high manipulability, small inertia, low friction, high transparency, as well as cost constraints. The requirements are a basis for creating and assessing design concepts. Concept evaluation relies to a large extent on a systematic usage of kinematic, dynamic, stiffness, friction, and control models. The design process can benefit from a model-based and simulation-driven approach, where one starts from an abstract top-level model that is extended via stepwise refinements and design space exploration into a detailed and integrated systems model that can be physically realized. Such an approach is presented, put in context of the V-model, and evaluated through a test case where a haptic device, based on a Stewart platform, is designed and realized. It can be concluded, based on simulation and experimental results that the performance of this deterministically optimized haptic device satisfies the stated user requirements. Experiences from this case indicate that the methodology is capable of supporting effective and efficient development of high performing haptic devices. However, more test cases are needed to further validate the presented methodology.
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| 8. |
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| 9. |
- Carvalho Bittencourt, André, 1984-, et al.
(författare)
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A data-driven approach to diagnostics of repetitive processes in the distribution domain : Applications to gearbox diagnosticsin industrial robots and rotating machines
- 2014
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Ingår i: Mechatronics (Oxford). - : Elsevier. - 0957-4158 .- 1873-4006. ; 24:8, s. 1032-1041
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Tidskriftsartikel (refereegranskat)abstract
- This paper presents a data-driven approach to diagnostics of systems that operate in a repetitive manner. Considering that data batches collected from a repetitive operation will be similar unless in the presence of an abnormality, a condition change is inferred by comparing the monitored data against an available nominal batch. The method proposed considers the comparison of data in the distribution domain, which reveals information of the data amplitude. This is achieved with the use of kernel density estimates and the Kullback–Leibler distance. To decrease sensitivity to disturbances while increasing sensitivity to faults, the use of a weighting vector is suggested which is chosen based on a labeled dataset. The framework is simple to implement and can be used without process interruption, in a batch manner. The approach is demonstrated with successful experimental and simulation applications to wear diagnostics in an industrial robot gearbox and for diagnostics of gear faults in a rotating machine.
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| 10. |
- Chellapurath, Mrudul, et al.
(författare)
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USLIP dynamics emerges in underwater legged robot with foot kinematics of punting crabs
- 2024
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Ingår i: Mechatronics (Oxford). - : Elsevier BV. - 0957-4158 .- 1873-4006. ; 99
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Tidskriftsartikel (refereegranskat)abstract
- This article investigates bioinspired solutions for achieving stable dynamic gaits in legged robots through leg coordination and foot trajectories. In this study, we recorded the kinematics of underwater running of the crab, Pachygrapsus marmoratus, and implemented the parameterized foot trajectories and inter-leg coordination on an underwater legged robot, SILVER 2.0. The robot's design parameters like legs’ stiffness, leg length, and body mass are based on the Underwater Spring Loaded Inverted Pendulum (USLIP), a model that describes underwater running in animals. With this implementation, we observed the spontaneous emergence of USLIP dynamics in 20% of the strides in the robot. This approach allowed SILVER 2.0 to leverage the advantages of stable dynamic gaits while optimizing the foot trajectory and inter-leg coordination, resulting in improved locomotion performances. The robot achieved a forward velocity of 0.16 m/s, twice the value obtained in previous gaits. Our study presents a promising approach for improving the locomotion performance of legged robots, enabling their effective use in various field applications, and further confirms a broad embedding of controllers generating template dynamics.
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