INTELLIGENT MECHATRONICS Edited by Ganesh R. Naik Intelligent Mechatronics Edited by Ganesh R. Naik Published by InTech Janeza Trdine 9, 51000 Rijeka, Croatia Copyright © 2011 InTech All chapters are Open Access articles distributed under the Creative Commons Non Commercial Share Alike Attribution 3.0 license, which permits to copy, distribute, transmit, and adapt the work in any medium, so long as the original work is properly cited. After this work has been published by InTech, authors have the right to republish it, in whole or part, in any publication of which they are the author, and to make other personal use of the work. Any republication, referencing or personal use of the work must explicitly identify the original source. Statements and opinions expressed in the chapters are these of the individual contributors and not necessarily those of the editors or publisher. No responsibility is accepted for the accuracy of information contained in the published articles. The publisher assumes no responsibility for any damage or injury to persons or property arising out of the use of any materials, instructions, methods or ideas contained in the book. Publishing Process Manager Katarina Lovrecic Technical Editor Teodora Smiljanic Cover Designer Martina Sirotic Image Copyright 1971yes, 2010. Used under license from Shutterstock.com First published February, 2011 Printed in India A free online edition of this book is available at www.intechopen.com Additional hard copies can be obtained from
[email protected] Intelligent Mechatronics, Edited by Ganesh R. Naik p. cm. ISBN 978-953-307-300-2 free online editions of InTech Books and Journals can be found at www.intechopen.com Contents Preface Part 1 Chapter 1 IX Intelligent Robotics 1 A Mechatronic Perspective on Robotic Arms and End-Effectors Pinhas Ben-Tzvi and Paul Moubarak 3 Chapter 2 A Torque Cancelling System for Quick-Motion Robots 21 Daigoro Isobe Chapter 3 Locomotion Control for Legged Robot by Virtual Contact Impedance Method Fumiaki Takemori 41 Chapter 4 Development of a Simulation Environment Applied to the Study of Fault-Tolerant Control Systems in Robotic Manipulators. Theoretical and Practical Comparisons 51 Claudio Urrea and John Kern Chapter 5 Kinematic Task Space Control Scheme for 3DOF Pneumatic Parallel Robot 67 Luis Hernández, Eduardo Izaguirre, Ernesto Rubio, Orlando Urquijo and Jorge Guerra Part 2 System Interfacing, Instrumentation and Control Chapter 6 Blind Source Separation Based Classification Scheme for Myoelectric Prosthesis Hand 87 Ganesh R. Naik and Dinesh Kumar Chapter 7 Feedback Control and Time-Optimal Control about Overhead Crane by Visual Servo and These Combination Control 103 Yasuo Yoshida 85 VI Contents Chapter 8 Part 3 Chapter 9 Intelligent Methods for Condition Diagnosis of Plant Machinery 119 Huaqing Wang and Peng Chen Physical System Modelling and Real Time Applications 141 Methodology for Reusing Real-time HiL Simulation Models in the Commissioning and Operation Phase of Industrial Production Plants 143 Sebastian Kain, Frank Schiller, and Sven Dominka Chapter 10 Hybrid Planning for Self-Optimization in Railbound Mechatronic Systems 169 Philipp Adelt, Natalia Esau, Christian Hölscher, Bernd Kleinjohann, Lisa Kleinjohann, Martin Krüger and Detmar Zimmer Chapter 11 An Evidence Accrual Data Fusion Technique for Situational Assessment 195 Stephen C. Stubberud and Kathleen A. Kramer Chapter 12 Intelligent Mechatronic System for Automaticall