Mechatronics and Robotics New Trends and Challenges
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...
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| Main Authors | , |
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| Format | eBook |
| Language | English |
| Published |
Milton
CRC Press
2021
Taylor & Francis Group |
| Edition | 1 |
| Subjects | |
| Online Access | Get full text |
| ISBN | 9780367562045 0367366584 0367562049 9780367366582 |
| DOI | 10.1201/9780429347474 |
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| Abstract | 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 term, and of mechatronics itself, has been growing in the years, including new aspects and disciplines, like control engineering, computer engineering and communication/information engineering.
Nowadays mechatronics has a well-defined and fundamental role, in strict relation with robotics. Drawing a sharp border between mechatronics and robotics is quite impossible, as they share many technologies and objectives. Advanced robots could be defined as mechatronic devices equipped with a "smart brain", but there are also up-to-date mechatronic devices, used in tight interaction with humans, that are governed by smart architectures (e.g., for safety purposes).
Aim of this book is to offer a wide overview of new research trends and challenges for both mechatronics and robotics, through the contribution of researchers from different institutions, providing their view on specific subjects they consider as "hot topics" in both fields, with attention to new fields of application, new challenges to the research communities and new technologies available.
The reader of this book will enjoy the various contributions, as they have been prepared with actual applications in mind, along a journey from advanced actuators and sensors to human-robot interaction, through robot control, navigation, planning and programming issues. The book presents several state-of-the-art solutions, like multiple-stage actuation to cope with conflicting specification of large motion-spans and ultra-high accuracy, model-based control for high-tech mechatronic systems, modern approaches of software systems engineering to robotics, humanoids for human assistance, etc. The reader can find also new techniques in approaching the design of mechatronic systems in some possible industrial and service robotics scenarios, with a particular attention for the interaction between humans and mechanisms. |
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| AbstractList | This book offers a wide overview of new research trends and challenges for both mechatronics and robotics, through the contribution of researchers from different institutions, with attention to new fields of application, new challenges to the research communities and new technologies available. 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 term, and of mechatronics itself, has been growing in the years, including new aspects and disciplines, like control engineering, computer engineering and communication/information engineering. Nowadays mechatronics has a well-defined and fundamental role, in strict relation with robotics. Drawing a sharp border between mechatronics and robotics is quite impossible, as they share many technologies and objectives. Advanced robots could be defined as mechatronic devices equipped with a "smart brain", but there are also up-to-date mechatronic devices, used in tight interaction with humans, that are governed by smart architectures (e.g., for safety purposes). Aim of this book is to offer a wide overview of new research trends and challenges for both mechatronics and robotics, through the contribution of researchers from different institutions, providing their view on specific subjects they consider as "hot topics" in both fields, with attention to new fields of application, new challenges to the research communities and new technologies available. The reader of this book will enjoy the various contributions, as they have been prepared with actual applications in mind, along a journey from advanced actuators and sensors to human-robot interaction, through robot control, navigation, planning and programming issues. The book presents several state-of-the-art solutions, like multiple-stage actuation to cope with conflicting specification of large motion-spans and ultra-high accuracy, model-based control for high-tech mechatronic systems, modern approaches of software systems engineering to robotics, humanoids for human assistance, etc. The reader can find also new techniques in approaching the design of mechatronic systems in some possible industrial and service robotics scenarios, with a particular attention for the interaction between humans and mechanisms. 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, that is, the integration of electrical and mechanical systems into a single device. The spread of this term, and of mechatronics itself, has been growing in the years, including new aspects and disciplines, like control engineering, computer engineering and communication/information engineering. Nowadays mechatronics has a well-defined and fundamental role, in strict relation with robotics. Drawing a sharp border between mechatronics and robotics is impossible, as they share many technologies and objectives. Advanced robots could be defined as mechatronic devices equipped with a “smart brain”, but there are also up-to-date mechatronic devices, used in tight interaction with humans, that are governed by smart architectures (for example, for safety purposes). Aim of this book is to offer a wide overview of new research trends and challenges for both mechatronics and robotics, through the contribution of researchers from different institutions, providing their view on specific subjects they consider as “hot topics” in both fields, with attention to new fields of application, new challenges to the research communities and new technologies available. The reader of this book will enjoy the various contributions, as they have been prepared with actual applications in mind, along a journey from advanced actuators and sensors to human-robot interaction, through robot control, navigation, planning and programming issues. The book presents several state-of-the-art solutions, like multiple-stage actuation to cope with conflicting specification of large motion-spans, ultra-high accuracy, model-based control for high-tech mechatronic systems, modern approaches of software systems engineering to robotics, aand humanoids for human assistance. The reader can also find new techniques in approaching the design of mechatronic systems in some possible industrial and service robotics scenarios, with a particular attention for the interaction between humans and mechanisms. Chapter 1 Mechatronics versus Robotics Marina Indri and Roberto Oboe Chapter 2 Advanced Actuators for Mechatronics Makoto Iwasaki Chapter 3 Advanced Sensors for Mechatronics Naoki Oda, Toshiaki Tsuji, Yasue Mitsukura, Takahiro Ishikawa, Yuta Tawaki, Toshiyuki Murakami, Satoshi Suzuki, and Yasutaka Fujimoto Chapter 4 Model-Based Control for High-Tech Mechatronic Systems Tom Oomen and Maarten Steinbuch Chapter 5 Control and Manipulation Bruno Siciliano and Luigi Villani Chapter 6 Navigation, Environment Description, and Map Building Henry Carrillo, Yasir Latif, and Jos é A. Castellanos Chapter 7 Path Planning and Collision Avoidance Hubert Gattringer, Andreas M¨uller, and Klemens Springer Chapter 8 Robot Programming Christian Schlegel, Dennis Stampfer, Alex Lotz, and Matthias Lutz Chapter 9 Network Robotics Lorenzo Sabattini, Cristian Secchi, and Claudio Melchiorri Chapter 10 Intelligent, Adaptive Humanoids for Human Assistance Darwin G Caldwell, Arash Ajoudani, Jinoh Lee, and Nikos Tsagarakis Chapter 11 Advanced Sensors and Vision Systems Van-Dung Hoang and Kang-Hyun Jo Chapter 12 Human–Robot Interaction Kouhei Ohnishi Marina Indri is currently an Associate Professor at the Department of Electronics and Telecommunications of Politecnico di Torino, Italy, teaching Robotics and Automatic Control. She serves as an Associate Editor of the IEEE Transactions on Industrial Informatics, and as a Technical Editor of the IEEE/ASME Transactions on Mechatronics. Roberto Oboe is an Associate Professor in Automatic Control at the University of Padova, Italy. He is currently VP for Technical Activities, Chair of the Management Committee of the IEEE/ASME Transactions on Mechatronics and Associate Editor of the IEEE Transactions on Industrial Electronics. |
| Author | Roberto Oboe Marina Indri |
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| Copyright | 2021 by Taylor & Francis Group, LLC |
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| DOI | 10.1201/9780429347474 |
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| Keywords | 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 |
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| PublicationDate | 2021 20201124 2020 |
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| PublicationPlace | Milton |
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| Snippet | 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... 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... This book offers a wide overview of new research trends and challenges for both mechatronics and robotics, through the contribution of researchers from... |
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| SourceType | Publisher |
| SubjectTerms | Dynamical Control Systems ElectricalEngineeringnetBASE ENGnetBASE Mechatronics Robotics & Cybernetics SCI-TECHnetBASE STMnetBASE Systems & Control Engineering Systems & Controls Systems Engineering |
| Subtitle | New Trends and Challenges |
| TableOfContents | 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 |
| Title | Mechatronics and Robotics |
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