Top > IJAT > Compact USB Camera-Based Navigation Device with Repetitive Com ...

single-au.php

IJAT Vol.5 No.6 pp. 883-890
doi: 10.20965/ijat.2011.p0883
(2011)

Paper:

Views over last 60 days: 351

Compact USB Camera-Based Navigation Device with Repetitive Compensation of Input Signals for Omnidirectional Inchworm Robot

Ohmi Fuchiwaki* and Hisayuki Aoyama**

*Yokohama National University, 79-1 Tokiwadai, Hodogaya, Yokohama, Kanagawa, Japan

**University of Electro-Communications, 1-5-1 Chofugaoka, Chofu, Tokyo, Japan

Received:
April 7, 2011
Accepted:
June 1, 2011
Published:
November 5, 2011
Creative Commons License
Keywords:
omnidirectional, inchworm, piezoelectric actuator, visual feedback, compensation
Abstract
In this paper, we describe the design and development of a navigation device for a 3-DOF inchworm robot. The robot has been developed to provide flexible and omnidirectional microscopic operations. The robot can move in any direction in the manner of an inchworm. However, many positioning errors exist because of an assembling error in four piezoelectric actuators and two electromagnets. In this report, we propose a USB camera-based navigation device with a signal compensation function. In experiments, we have succeeded in controlling the robot on an octagonal path, freely controlling the posture angle. When we compensate the input signal, the positioning time decreases to 62.9% of that when there is no compensation. The robot is 35 mm3, so we can attach it to various devices. As the navigation device is also compact, we can carry the device easily and set it up in a small work area. The design procedure to realize flexible and omnidirectional positioning and basic performance are also discussed.
Cite this article as:
O. Fuchiwaki and H. Aoyama, “Compact USB Camera-Based Navigation Device with Repetitive Compensation of Input Signals for Omnidirectional Inchworm Robot,” Int. J. Automation Technol., Vol.5 No.6, pp. 883-890, 2011.
Data files:
References
  1. [1] H. Asama, M. Sato, L. Bongoni, H. Kaetsu, A. Matsumoto, and I. Endo, “Development of an Omni-Directional Mobile Robot with 3 DOF Decoupling Drive Mechanism,” Proc. of 1995 ICRA, pp. 1925-1930, 1995.
  2. [2] A. S. Conceicao, A. P.Moreira, and P. J. Costa, “Practical Approach of Modeling and Parameters Estimation for Omnidirectional Mobile Robots,” IEEE/ASME Trans. on Mechatronics, Vol.14, Issue 3, pp. 377-381, 2009.
  3. [3] D. Zhao, X. Deng, and J. Yi, “Motion and Internal Force Control for Omnidirectional Wheeled Mobile Robots,” IEEE/ASME Trans. on Mechatronics, Vol.14, Issue 3, pp. 382-387, 2009.
  4. [4] T. L. Lam, H. Qian, and Y. Xu, “Omnidirectional Steering Interface and Control for a Four-Wheel Independent Steering Vehicle,” IEEE/ASME Trans. on Mechatronics, Vol.15, Issue 3, pp. 329-338, 2010.
  5. [5] J.-M. Breguet and Ph. Renaud, “A 4-degrees-of-freedom microrobot with nanometer resolution,” Robotica, Vol.14, pp. 199-203, 1996.
  6. [6] S. Martel, M. Sherwood, C. Helm, and W. G. de Quevedo, “Threelegged wireless miniature robots for mass-scale operations at the sub-atomic scale,” Proc. of 2001 ICRA, Vol.4, pp. 3423-3428, 2001.
  7. [7] S. Fatikow, T. Wich, H. Hulsen, T. Sievers, and M. Jahnisch, “Microrobot System for Automatic Nanohandling Inside a Scanning Electron Microscope,” IEEE Trans. on Mechatronics, Vol.12, No.3, pp. 1402-1407, 2007.
  8. [8] S. Fatikow, T. Wich, H. Hulsen, T. Sievers, and M. Jahnisch, “Microrobot System for Automatic Nanohandling Inside a Scanning Electron Microscope,” IEEE Trans. on Mechatronics, Vol.12, No.3, pp. 1402-1407, 2007.
  9. [9] J. Li, Z. Li, and J. Chen, “An Omni-directional mobile millimetersized microrobot with 3-mm electromagnetic micromotors for micro-factory,” Advanced Robotics, Vol.21, No.12, pp. 1369-1391, 2007.
  10. [10] L. Xu and B. Yao, “Adaptive Robust Precision Motion Control of Linear Motors With Negligible Electrical Dynamics: Theory and Experiments,” IEEE/ASME Trans. on Mechatronics, Vol.6, Issue 4, pp. 444-452, 2002.
  11. [11] B. A. Awaddy, W.-C. Shih, and D. M. Auslander, “Nanometer positioning of a linear motion stage under static loads,” IEEE Trans. on instrumentation and measurement, Vol.52, No.3, pp. 113-119, 2003.
  12. [12] K.-S. Low and M.-T. Keck, “Advanced precision linear stage for industrial automation applications,” IEEE/ASME Trans. on instrumentation and measurement, Vol.52, No.3, pp. 785-789, 2003.
  13. [13] W. Gao, K. Horie, S. Dian, K. Katakura, and S. Kiyono, “Improvement in a Surface Motor-Driven Planar Motion Stage,” Robotics and Mechatronics, Vol.18, No.6, pp. 808-815, 2006.
  14. [14] U. Simu and S. Johansson, “Analysis of quasistatic and dynamic motion mechanisms for piezoelectric miniature robots,” Sensors and Actuators A: Physical, Vol.132, Issue 2, pp. 632-642, 2006.
  15. [15] J.-M. Breguet and Ph. Renaud, “A 4-degrees-of-freedom microrobot with nanometer resolution,” Robotica, Vol.14, pp. 199-203, 1996.
  16. [16] Y. Okazaki, “Microfactories – A New Methodology for Sustainable Manufacturing –,” Int. J. of Automation Technology, Vol.4, No.2, pp. 82-87, 2010.
  17. [17] A. Burisch, A. Raatz, and J. Hesselbach, “Strategies and Devices for a Modular Desktop Factory,” in IFIP Int. Federation for Information Processing, Vol.260, Micro-Assembly Technologies and Applications, pp. 337-344, 2008.
  18. [18] H. Aoyama, F. Iwata, and A. Sasaki, “Desktop Flexible Manufacturing System by Movable Miniature Robots with Micro Tool and Sensor,” Proc. of 1995 ICRA, pp. 660-665, 1995.
  19. [19] O. Fuchiwaki and K. Arafuka, “Dynamical Analysis and Improvement of Velocity for 3 DOF Precise Inchworm Mechanism,” Proc. of 2010 IROS, pp. 2837-2842, 2010.
  20. [20] O. Fuchiwaki and H. Aoyama, “Micromanipulation by Miniature Robots in a SEM Vacuum Chamber,” J. of Robotics and Mechatronics, Vol.14, No.3, pp. 221-226, 2002.
  21. [21] O. Fuchiwaki, A. Ito, D. Misaki, and H. Aoyama, “Multi-axial Micromanipulation Organized by Versatile Micro Robots and Micro Tweezers,” Proc. of 2008 ICRA, pp. 893-898, 2008.
  22. [22] O. Fuchiwaki, T. Kawai, A. Ohta, D. Misaki, and H. Aoyama, “Development of a Positioning & Compensation Device for a Versatile Micro Robot,” Proc. of 2008 IROS, pp. 83-88, 2008.
  23. [23] http://www.nec-tokin.com/english/
  24. [24] http://www.cedrat.com

Creative Commons License  This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

*This site is desgined based on HTML5 and CSS3 for modern browsers, e.g. Chrome, Firefox, Safari, Edge, Opera.

Last updated on Apr. 18, 2024