Mechatronics and Robotics New Trends and Challenges

• Main Authors: Indri, Marina, Oboe, Roberto
• Format: eBook
• Language: English
• Published: Milton CRC Press 2021; Taylor & Francis Group
• Edition: 1
• Subjects: Dynamical Control Systems; ElectricalEngineeringnetBASE; ENGnetBASE; Mechatronics; Robotics & Cybernetics; SCI-TECHnetBASE; STMnetBASE; Systems & Control Engineering; Systems & Controls; Systems Engineering; Occupancy Grid Map; Humanoid Robots; Model Driven Software Development; EEG Device; robotics; Loop Closing; Optimal Control Problem; Mechatronic Devices; humanoids; Business Ecosystem; Mobile Robots; Vo; Single Integrator Agents; Redundant Robots; human-robot interaction; Task Space; Multi-robot System; mechatronics devices; Omnidirectional Image; Mechatronic System; HDGs; Slam Problem; Motion Control Problems; Visual Servoing; Wafer Stage; Slam Algorithm; Redundant DOF; OPC UA; Robotics Software
• ISBN: 9780367562045; 0367366584; 0367562049; 9780367366582
• DOI: 10.1201/9780429347474

The term "mechatronics" was coined in 1969, merging "mecha" from mechanism and "tronics" from electronics, to reflect the original idea at the basis of this discipline, i.e., the integration of electrical and mechanical systems into a single device. The spread of this t...

Table of Contents:

• 8.5.1 Ecosystem Tiers, Blocks, Ports, Connectors -- 8.5.2 The Software Component Model -- 8.5.3 Services, System Design, and Workflow -- 8.5.4 Models, Data Sheets, and Dependency Graphs -- 8.5.5 The Mixed Port Component as a Migration Path -- 8.5.6 Interoperability, Coverage, and Conformance -- 8.6 SmartMDSD Toolchain Version 3 -- 8.7 Future Opportunities: A Path to Sustainability -- References -- Chapter 9 Network Robotics -- 9.1 Introduction -- 9.2 State of the Art -- 9.2.1 Graph Theory and Consensus -- 9.2.2 Cooperative Multi-Robot Behaviors -- 9.2.3 Notation and Mathematical Operators -- 9.3 Decentralized Trajectory Tracking for Multi-Robot Systems -- 9.3.1 Model of the System -- 9.3.2 Periodic Setpoint Definition -- 9.3.3 Centralized Control Law for Setpoint Tracking -- 9.3.4 Decentralized Implementation -- 9.3.4.1 Decentralized Output Estimation -- 9.3.4.2 Decentralized Independent Robot State Estimation -- 9.3.4.3 Decentralized State Estimation and Control Strategy -- 9.4 Simulations and Experiments -- 9.5 Conclusions -- References -- Chapter 10 Intelligent, Adaptive Humanoids for Human Assistance -- 10.1 Humanoids-an Introduction -- 10.2 Coman Humanoid-Design and Construction -- 10.2.1 Compliant Actuation Unit -- 10.2.2 Torso and Arm Design -- 10.2.3 Leg, Hip, and Waist Design -- 10.2.4 Onboard Processing -- 10.2.5 Sensing -- 10.3 Robot Interfaces -- 10.3.1 Control Architecture -- 10.4 Conclusions and Future Challenges -- References -- Chapter 11 Advanced Sensors and Vision Systems -- 11.1 Overview -- 11.2 Visual Odometry -- 11.2.1 Feature Point Descriptor -- 11.2.2 Omnidirectional Vision-Based Rotation Estimation -- 11.2.3 Vanishing Points for Rotation Estimation -- 11.3 Advanced Sensors for Autonomous Navigation -- 11.3.1 Laser Range Finder for Motion Estimation -- 11.3.2 GPS for Rectifying Visual Odometry
• Cover -- Half Title -- Title Page -- Copyright Page -- Dedication -- Table of Contents -- Preface -- About the Editors -- Contributors -- Chapter 1 Mechatronics versus Robotics -- 1.1 Mechatronics: Definitions and Evolution -- 1.2 Mechatronics versus Robotics -- 1.3 Mechatronics and Robotics: New Research Trends and Challenges -- 1.3.1 Advanced Actuators for Mechatronics -- 1.3.2 Advanced Sensors for Mechatronics -- 1.3.3 Model-Based Control Techniques for Mechatronics -- 1.3.4 Control and Manipulation -- 1.3.5 Navigation, Environment Description, and Map Building -- 1.3.6 Path Planning and Collision Avoidance -- 1.3.7 Robot Programming -- 1.3.8 Network Robotics -- 1.3.9 Intelligent, Adaptive Humanoids for Human Assistance -- 1.3.10 Advanced Sensors and Vision Systems -- 1.3.11 Human-Robot Interaction -- References -- Chapter 2 Advanced Actuators for Mechatronics -- 2.1 Introduction -- 2.2 Actuators Including Strain Wave Gearings and Applications to Precision Control -- 2.2.1 Modeling of Angular Transmission Errors -- 2.2.2 Feedforward Compensation in Precision Positioning -- 2.3 Piezoelectric Actuators with Self-Sensing Techniques for Precision Stage -- 2.3.1 System Configuration of Piezo-Driven Stage System -- 2.3.2 Design of Plant System Including Bridge Circuit -- 2.3.3 Minor Loop Controller Design Considering Vibration Suppression -- 2.3.4 Experimental Verifications -- References -- Chapter 3 Advanced Sensors for Mechatronics -- 3.1 State of Art -- 3.2 Advanced Vision-Based Control Applications -- 3.3 Advanced Tactile Sensing -- 3.3.1 Classification of Tactile Sensing -- 3.3.2 Intrinsic Tactile Sensing -- 3.3.3 Extrinsic Tactile Sensing -- 3.4 Advanced Electroencephalography -- 3.5 Advanced Human Motion Sensing -- 3.5.1 Overview -- 3.5.2 Recent Trends -- 3.5.3 Activity Recognition as Child's Motion Sensing -- 3.5.4 For Further Consideration
• 6.1.2 How Do I Get There -- 6.1.2.1 Robotic Path Planning -- 6.1.2.2 Robotic Trajectory Following -- 6.1.3 Where Have I Been? And Where Am I -- 6.2 Environment Representations for Robotic Navigation -- 6.2.1 Feature-Based Maps -- 6.2.2 Occupancy Grid-Based Maps -- 6.3 Simultaneous Localization and Mapping-SLAM -- 6.3.1 SLAM: A Brief Overview -- 6.3.2 SLAM Front-End -- 6.3.3 SLAM Back-End -- 6.3.3.1 Filtering Techniques -- 6.3.3.2 Graph-Based Approaches -- 6.3.4 SLAM: Problem Definition -- 6.3.5 EKF-Based SLAM Algorithms -- 6.3.6 Rao-Blackwellized Particle Filters-Based SLAM Algorithms -- 6.3.7 Graph-Based SLAM Algorithms -- 6.3.8 Loop Closure Detection and Verification -- 6.3.8.1 Loop Closure Detection -- 6.3.8.2 Loop Closure Verification -- 6.4 Conclusions and Further Reading -- References -- Chapter 7 Path Planning and Collision Avoidance -- 7.1 State of the Art -- 7.2 Curve Descriptions -- 7.2.1 Polynomials -- 7.2.2 Non-Uniform Rational Basis Splines (NURBS -- 7.3 Geometric Path Planning -- 7.3.1 Continuous Paths -- 7.3.1.1 Geometric Primitives -- 7.3.1.2 Clothoids -- 7.3.1.3 Orientation Parametrization -- 7.3.2 Point-to-Point Paths -- 7.4 Dynamic Path Planning -- 7.4.1 Explicit Description Using Motion Primitives -- 7.4.2 Continuous Path Time-Optimal Motion -- 7.4.2.1 Dynamic Programming and Numerical Integration -- 7.4.2.2 Numerical Solution of the Optimal Control Problem -- 7.4.3 Continous Path Time-Optimal Motion for Redundant Robots -- 7.4.4 Point-to-Point Time-Optimal Motion -- 7.5 Collision Avoidance -- References -- Chapter 8 Robot Programming -- 8.1 History and State-of-the-Art -- 8.2 Software Engineering in Robotics: Goals, Objectives, Challenges -- 8.3 Software Engineering Technologies Beneficial in Robotics -- 8.4 The Step Change to Model-Driven Approaches in Robotics -- 8.5 Composable Models and Software for Robotic Systems
• 11.4 Intelligent Transportation Systems Based on a Combination of Multiple Sensors -- 11.5 Discussion -- References -- Chapter 12 Human-Robot Interaction -- 12.1 Human-Robot Interaction -- References -- Index
• 3.6 Advanced Approaches for Human Motion Detection -- References -- Chapter 4 Model-Based Control for High-Tech Mechatronic Systems -- 4.1 Introduction -- 4.1.1 Motion Systems -- 4.1.2 Industrial State of the Art -- 4.1.3 Developments in Lithography -- 4.1.4 Developments in Precision Motion Systems -- 4.1.5 Towards Next-Generation Motion Control: The Necessity of a Model-Based Approach -- 4.1.6 Contribution: From Manual Tuning to Model-Based Synthesis -- 4.2 Motion Systems -- 4.3 Feedback Control Design -- 4.3.1 System Identification-Obtaining an FRF -- 4.3.2 Loop-Shaping-the SISO Case -- 4.3.3 Loop-Shaping-the MIMO Case -- 4.3.3.1 Interaction Analysis -- 4.3.3.2 Decoupling and Independent SISO Design -- 4.3.3.3 Multi-loop Feedback Control Design with Robustness for Interaction -- 4.3.3.4 Sequential Loop Closing -- 4.4 Model-Based Control Design -- 4.4.1 Standard Plant Approach -- 4.4.1.1 Weighting Filter Selection for Performance Specification -- 4.4.1.2 Obtaining a Nominal Model -- 4.4.1.3 Uncertainty Modeling -- 4.4.2 Case Study 1: Multivariable Robust Control -- 4.4.3 Case Study 2: Overactuation and Oversensing -- 4.4.4 Case Study 3: Inferential Control -- 4.5 Conclusion -- 4.6 Acknowledgment -- References -- Chapter 5 Control and Manipulation -- 5.1 Introduction -- 5.2 Motion Control -- 5.2.1 Joint Space Control -- 5.2.2 Control of Robots with Elastic Joints -- 5.2.3 Task Space Control -- 5.2.4 Multi-Priority Control -- 5.3 Force Control -- 5.3.1 Interaction of the End Effector with the Environment -- 5.3.2 Holonomic Constraints -- 5.3.3 Hybrid Force/Motion Control -- 5.3.4 Impedance Control -- 5.3.5 Multi-Priority Interaction -- 5.4 Future Directions and Recommended Reading -- References -- Chapter 6 Navigation, Environment Description, and Map Building -- 6.1 The Robotic Navigation Problem -- 6.1.1 Where Am I Going