Evidence map›Paper›PMID 36838076›Full record

ArticleMicromachines2023

Precise Position Control of Holonomic Inchworm Robot Using Four Optical Encoders.

Kengo Tanabe, Masato Shiota, Eiji Kusui, Yohei Iida, Hazumu Kusama, Ryosuke Kinoshita, Yohei Tsukui, Rintaro Minegishi, Yuta Sunohara, Ohmi Fuchiwaki

Abstract read
PubMed Full text at PMC Publisher
In one paragraph

Article in Micromachines, 2023. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 1 paper.

0numbers the graph read from it
0cells of the map it votes in
1citing papers in PubMed
–field-weighted citation impact
1 · What the graph read from it

What it found

Each row is one number read from the abstract, on the scale the paper reported it, with its interval. Left of the dashed line favours the treatment, right favours the comparator. Under each row is the sentence it came from. New to these charts? A ten-minute tutorial.

The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.

2 · The registry

The trial behind it

Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.

Neither the registry nor the abstract names a trial number. If this is a trial report, that itself is worth knowing.

3 · Its place in the literature

Who cites it

1 citing paper in PubMed.

  1. Article
4 · The record

Corrections and comments

PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.

5 · Who and what money

Authors and funding

10 authors.

Kengo TanabeDepartment of Mechanical Engineering, Yokohama National University, 79-5 Tokiwadai, Hodogaya-ku, Yokohama 2408051, Kanagawa, Japan.
Masato ShiotaDepartment of Mechanical Engineering, Yokohama National University, 79-5 Tokiwadai, Hodogaya-ku, Yokohama 2408051, Kanagawa, Japan.
Eiji KusuiDepartment of Mechanical Engineering, Yokohama National University, 79-5 Tokiwadai, Hodogaya-ku, Yokohama 2408051, Kanagawa, Japan.ORCID 0000-0003-1351-0619
Yohei IidaDepartment of Mechanical Engineering, Yokohama National University, 79-5 Tokiwadai, Hodogaya-ku, Yokohama 2408051, Kanagawa, Japan.
Hazumu KusamaDepartment of Mechanical Engineering, Yokohama National University, 79-5 Tokiwadai, Hodogaya-ku, Yokohama 2408051, Kanagawa, Japan.
Ryosuke KinoshitaDepartment of Mechanical Engineering, Yokohama National University, 79-5 Tokiwadai, Hodogaya-ku, Yokohama 2408051, Kanagawa, Japan.
Yohei TsukuiDepartment of Mechanical Engineering, Yokohama National University, 79-5 Tokiwadai, Hodogaya-ku, Yokohama 2408051, Kanagawa, Japan.
Rintaro MinegishiDepartment of Mechanical Engineering, Yokohama National University, 79-5 Tokiwadai, Hodogaya-ku, Yokohama 2408051, Kanagawa, Japan.
Yuta SunoharaDepartment of Mechanical Engineering, Yokohama National University, 79-5 Tokiwadai, Hodogaya-ku, Yokohama 2408051, Kanagawa, Japan.
Ohmi FuchiwakiDepartment of Mechanical Engineering, Yokohama National University, 79-5 Tokiwadai, Hodogaya-ku, Yokohama 2408051, Kanagawa, Japan.ORCID 0000-0003-2357-2899

Funding

Chubu Electric Power Foundation R-29229Grant-in-Aid for Scientific Research C 16K06178Japan Keirin Autorace Foundation 27JKA-Mech-232Mazak Foundation 2021-OhmiFuchiwakiTakano Foundation H26-OhmiFuchiwakiTsugawa Foundation 2021-OhmiFuchiwaki
6 · The paper itself

Abstract

In this study, an XYθ position sensor is designed/proposed to realize the precise control of the XYθ position of a holonomic inchworm robot in the centimeter to submicrometer range using four optical encoders. The sensor was designed to be sufficiently compact for mounting on a centimeter-sized robot for closed-loop control. To simultaneously measure the XYθ displacements, we designed an integrated two-degrees-of-freedom scale for the four encoders. We also derived a calibration equation to decrease the crosstalk errors among the XYθ axes. To investigate the feasibility of this approach, we placed the scale as a measurement target for a holonomic robot. We demonstrated closed-loop sequence control of a star-shaped trajectory for multiple-step motion in the centimeter to micrometer range. We also demonstrated simultaneous three-axis proportional-integral-derivative control for one-step motion in the micrometer to sub-micrometer range. The close-up trajectories were examined to determine the detailed behavior with sub-micrometer and sub-millidegree resolutions in the MHz measurement cycle. This study is an important step toward wide-range flexible control of precise holonomic robots for various applications in which multiple tools work precisely within the limited space of instruments and microscopes.

Indexed as

calibrationclosed-loop controlcrosstalk errorholonomic inchworm robotoptical encoderXYθ position control

Identifiers

PMID36838076
PMCPMC9967612

What OpenQuestion holds

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LicenceCC BY
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Registered trials

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Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.