Showing papers in "Mechatronics in 1996"

TL;DR: In this paper, an advanced continuous path tracking controller and its application to accurate control of two different linear synchronous motor machine tool axes is described, which consists of state feedback, feedforward, and motor ripple compensation.

TL;DR: A new type of mechanical guiding system has been designed, based on the use of dynamic constraints; this passive arm is actuated by the surgeon who keeps, therefore, fully involved in the execution of the surgical strategy.

TL;DR: In this paper, a class of robust stable controllers to control the tip position of a multi-link flexible robot is presented. But unlike traditional model-based methods, the controllers are derived by using a basic relationship of system energy and are independent of the system dynamics.

TL;DR: In this article, a robotic seam tracking system is developed to achieve robustness against optical noises such as arc glares, welding spatters, fume, and other unexpected brightness sources.

TL;DR: In this article, a theoretically ideal motion profile for point-to-point control under acceleration was derived by adopting Pontryagin's minimum principle, and the performance of this energy efficient motion profile was compared to those of three conventional profiles widely used in practice: trapezoidal, variable-rate transymmetric, and exponential.

TL;DR: In this article, the authors developed and validated experimentally a model for the description of bone/soft tissue breakthroughs during the penetration of long bones, which can be used for real-time detection of breakthroughs and be included in a mechatronic drill.

TL;DR: The development of a hydraulic gripper with force-feedback which is designed for use in laparoscopic surgery and which exerts a force with a significantly better distribution on the tissue compared to conventional grippers.

TL;DR: Initial results indicate that force feedback could play a major role in the safety protocol of such an invasive system, and the generic vision-guided robotic system for orthopaedic applications described in this paper is typical of this trend.

TL;DR: In this article, an alternative navigation scheme for an outdoor horticultural robot vehicle is proposed, which relies only on local sensing capabilities, without reference to absolute positions; instead the rows of crop themselves are employed as a navigational aid.

TL;DR: In this paper, an automatically controlled tool is described for the precise drilling of flexible bone tissues during ear surgery, which is able to drill through bone tissue to a surface whose position is unknown.

TL;DR: In this article, a more accurate mass matrix was used instead of the constant mass matrix, force derivatives instead of position derivatives were used in the TDC law to reject positional disturbance from the environment, and a novel scheme was adopted to enhance the resolution of A/D conversion for the force sensor.

TL;DR: In this article, a magnetically levitated wafer transport system was developed for the semiconductor fabrication process to get rid of the particle and oil contaminations that normally exist in conventional transport systems.

TL;DR: The underlying theory and control of a telemanipulator demonstrator is described, together with a discussion of system requirements, and a number of test results are discussed which illustrate the capability of this mechatronics device for use both as a surgeon assistant and as a training aid.

TL;DR: In this paper, a model reference adaptive control (MRAC) with a nonlinear feedback loop and a disturbance compensation loop is proposed to suppress the nonlinear dynamics of the linkage and external force, respectively, while other feedback loops are designed to achieve the desired specifications.

TL;DR: In this paper, a new six DOF parallel robot which is derived from a classic Stewart platform is presented, which is used as an equestrian simulator and the corresponding control laws have been deduced from data which have been experimentally measured on an actual horse.

TL;DR: In this article, a new Optimum Error Separation Technique (OEST) is described for in-situ measurement of a workpiece without an accurate instrument datum, i.e. without a precise guideway.

TL;DR: A learning control architecture using multilayered neural networks is presented and evaluated for trajectory tracking control of robot manipulators which employs a stability-guaranteeing feedback controller (SGFC) which ensures that the tracking error is ultimately bounded.

TL;DR: In this article, a variable structure control method for output tracking of uncertain nonlinear systems, with experimental application to an electro-hydraulic servo system, is proposed, where a state transformation is performed to convert the system to the normal form.

TL;DR: In this paper, a concept for robotizing the process of winding asymmetric parts based on two manipulating devices, one mandrel manipulator and one payout tool carrier, is presented.

TL;DR: The design of a novel instrument for the measurement of toothbrushing force applied through the bristle axis using an off-the-shelf hollow-handled toothbrush is presented.

TL;DR: In this article, a precompensation structure, which comprises a linearizer and a stabilizer, is used to modify the dynamics of the robot manipulator so that the standard IMC structure can be implemented without violating its original straightforward and intuitive design principle.

TL;DR: In this paper, an error compensation scheme for the improvement of workpiece roundness error in a diamond turning process is described, which entails an in situ error measurement system, an error separating technique, a piezoelectric micropositioning system, and a P-integrator repetitive controller.

TL;DR: In this article, a two-degree-of-freedom spring-lumped mass system sliding on a guide pillar, with two internal vibration disturbance sources, was designed and constructed.

TL;DR: In this article, a study on the kinematics, dynamics and control algorithms for a three-joint revolute manipulator is conducted, where the acceleration and velocities of the manipulator are modeled as different from those used in conventional manipulators.

TL;DR: In this article, the effect of machining imperfections like out-of-roundness and taper in the piston on the mechanical and volumetric efficiency of the motor, in the speed range where the viscous friction is dominant, is studied.

TL;DR: In this paper, a generalized calibration method and an exact 3D range data extraction algorithm for an omnidirectional laser range finder are described, which roughly transforms a point on a 2D image plane into a position in a 3D spatial coordinate system.

TL;DR: The main focus of this paper is on the design of a system that combines the Texas Instruments TMS320C30 floating-point DSP with a parallel processing system based on Intel i860 RISC processors and Inmos transputers to achieve excellent real-time response and superior computational power.

TL;DR: In this paper, the use of the natural modes of oscillation for efficient performing of complex space motions of a robot with changeable parameters and dynamically interacting degrees of freedom is discussed.

TL;DR: In this article, a series of simulations and experiments are performed; the results show that a better simulation result can be obtained if the relief valve characteristics are considered in the system model, and adverse influence of relief valve on the performance of the pump or inverter controlled hydraulic motor system can be avoided if a self-tuning adaptive controller is employed.