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Proceedings Paper

Sensing rich drive trains for modern mechatronic systems: second year progress report
Author(s): M. Tomizuka; Chun-Chih Wang; Soo Jeon; Haifei Cheng
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Paper Abstract

This paper explores the advantages of sensing rich approaches to the design and operation of the power transmission mechanism or drive train under servo control. The drive train is a fundamental element of any motion control system. Three specific cases are presented: 1) vision-based online trajectory generation for contour following for a two link manipulator, 2) the use of vision image and other sensors such as accelerometers and gyros for end-effector sensing, and 3) sensor-based controller tuning of indirect drive train using accelerometers on the load side. For each of the three cases, the advantages are demonstrated by experiments.

Paper Details

Date Published: 8 April 2008
PDF: 12 pages
Proc. SPIE 6932, Sensors and Smart Structures Technologies for Civil, Mechanical, and Aerospace Systems 2008, 69323Y (8 April 2008); doi: 10.1117/12.776277
Show Author Affiliations
M. Tomizuka, Univ. of California, Berkeley (United States)
Chun-Chih Wang, Univ. of California, Berkeley (United States)
Soo Jeon, Univ. of California, Berkeley (United States)
Haifei Cheng, Univ. of California, Berkeley (United States)


Published in SPIE Proceedings Vol. 6932:
Sensors and Smart Structures Technologies for Civil, Mechanical, and Aerospace Systems 2008
Masayoshi Tomizuka, Editor(s)

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