Preface xi
Chapter 1. Mechatronics Systems Based on CAD/CAM 1
Fusaomi NAGATA, Yukihiro KUSUMOTO, Keigo WATANABE and Maki K.
HABIB
1.1. Introduction 1
1.2. Five-axis NC machine tool with a tilting head 1
1.3. Three-axis NC machine tool with a rotary unit 4
1.4. Articulated-type industrial robot 8
1.5. Desktop Cartesian-type robot 21
1.6. Conclusions 26
1.7. Bibliography 27
Chapter 2. Modeling and Control of Ionic Polymer?Metal
Composite Actuators for Mechatronics Applications 29
Andrew MCDAID, Kean AW and Sheng Q XIE
2.1. Introduction 29
2.2. Electromechanical IPMC model 33
2.3. IPMC stepper motor 44
2.4. Robotic rotary joint 49
2.5. Discussions 63
2.6. Concluding remarks 63
2.7. Bibliography 64
Chapter 3. Modeling and Simulation of Analog Angular Sensors
for Manufacturing Purposes 69
Joao FIGUEIREDO
3.1. Introduction 69
3.2. Pancake resolver model 73
3.3. Simulation and experimental results 94
3.4. Conclusions 99
3.5. Acknowledgment 99
3.6. Bibliography 99
Chapter 4. Robust Control of Atomic Force Microscopy
103
Bilin AKSUN GUVENC, Serkan NEC_PO_LU, Burak DEM_REL and Levent
GUVENC
4.1. Introduction 103
4.2. Repetitive control of the vertical direction motion 104
4.3. MIMO disturbance observer control of the lateral directions
117
4.4. Concluding remarks 128
4.5. Acknowledgments 129
4.6. Bibliography 130
Chapter 5. Automated Identification 133
Hiroo WAKAUMI
5.1. Introduction 133
5.2. Serial binary barcode 134
5.3. Two-dimensional binary barcode 140
5.4. Ternary barcode 149
5.5. RFID 160
5.6. Application examples 163
5.7. Concluding remarks 164
5.8. Acknowledgments 164
5.9. Bibliography 165
Chapter 6. An Active Orthosis for Gait Rehabilitation
169
Shahid HUSSAIN and Sheng Q. XIE
6.1. Introduction 169
6.2. Compliant active orthosis design 178
6.3. Modeling 182
6.4. Control 184
6.5. Simulation results 187
6.6. Conclusions 189
6.7. Acknowledgment 189
6.8. Bibliography 190
Chapter 7. Intelligent Assistive Knee Exoskeleton
195
Mervin CHANDRAPAL, Xiaoqi CHEN and Wenhui WANG
7.1. Introduction 195
7.2. Overview of knee exoskeleton system 202
7.3. Modeling and control of pneumatic artificial muscle (PAM)
205
7.4. Modeling of high-speed on/off solenoid valve 211
7.5. Self-organizing fuzzy control 214
7.6. Surface electromyography 224
7.7. Hardware implementation 229
7.8. Concluding remarks 231
7.9. Acknowledgment 232
7.10. Bibliography 232
List of Authors 239
Index 241
