2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM)最新文献

Control Tuning of a Heart Motion Tracking System in Off-pump Heart Surgery 无泵心脏手术中心脏运动跟踪系统的控制调谐

2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466219

Z. Rahmati, S. Behzadipour

{"title":"Control Tuning of a Heart Motion Tracking System in Off-pump Heart Surgery","authors":"Z. Rahmati, S. Behzadipour","doi":"10.1109/ICROM.2017.8466219","DOIUrl":"https://doi.org/10.1109/ICROM.2017.8466219","url":null,"abstract":"Design, implementation and experimental evaluation of a classic PID, and a modern Generalized Predictive Control (GPC) for an off-pump heart tracking system were carried out. Following the design and simulation analysis of the controllers, experimental evaluation was conducted on the slave robot of SINA tele-operational surgical system. Results revealed that considering the volatile high-frequency/speed pattern of heart motion, the agility of the controlled system is the most influential factor on its performance. With this in mind, unlike the Ziegler-Nichols-based tuned PID with emphasis on steady-state condition, the PID control with more transient behavior showed a superior performance. The same rule holds for GPC tuning. Furthermore, the GPC demonstrated a better performance compared to the PID, thanks to its predictive characteristic; mainly if the “Look-Ahead” feature of the GPC control is provided with the utmost correct data of future heart motion. In this case, the RMS of tracking error reached to 0.236 mm and showed 61% enhancement in tracking performance. Analysis in time/frequency-domain modeling also proved that the real-time GPC control benefits highly from simpler models due to less computational burden.","PeriodicalId":166992,"journal":{"name":"2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM)","volume":"63 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124901785","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A Stabilizing Model Predictive Control for Nonlinear Fractional Order Systems with Polytopic Model 具有多边形模型的非线性分数阶系统的稳定模型预测控制

2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466133

K. Arnavaz, S. Nikravesh

引用次数: 0

Push Recovery of a Position-Controlled Humanoid Robot Based on Capture Point Feedback Control 基于捕获点反馈控制的位置控制人形机器人推力恢复

2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466226

M. Shafiee-Ashtiani, A. Yousefi-Koma, Reihaneh Mirjalili, Hessam Maleki, M. Karimi

引用次数: 12

A Trajectory Planning for a 3-RRR manipulator to remove Backlash in Actuating Joints 消除运动关节间隙的3-RRR机械手轨迹规划

2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466235

Ismail Mobasher, Y. Farzaneh, B. Lotfi, J. Enferadi

引用次数: 2

A Novel Stable Robust Adaptive Impedance Control Scheme for Ankle Prostheses 一种踝关节假体稳定鲁棒自适应阻抗控制方法

2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466160

S. Heidarzadeh, M. Sharifi, H. Salarieh, A. Alasty

引用次数: 0

Hip Rehabilitation Mechanism Optimization 髋关节康复机制优化

2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466135

M. Hadipour, Zahra Ghobadpour, F. Najafi

引用次数: 0

Hybrid Piecewise Affine Modeling of Cement Grinding Mechatronic Systems 水泥粉磨机电系统的混合分段仿射建模

2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466220

Ebrahim Dastorani, P. Zarafshan, Masoud Ghanbari

{"title":"Hybrid Piecewise Affine Modeling of Cement Grinding Mechatronic Systems","authors":"Ebrahim Dastorani, P. Zarafshan, Masoud Ghanbari","doi":"10.1109/ICROM.2017.8466220","DOIUrl":"https://doi.org/10.1109/ICROM.2017.8466220","url":null,"abstract":"Interaction of continuous and discrete dynamical behavior yields to the formation of hybrid models. Various models have been developed to represent the dynamics of hybrid systems. In this paper, hybrid modeling of cement grinding system is studied. Cement grinding plant possesses nonlinear dynamics with an intractable and costly control routine. Further to the nonlinearity, the plant's dynamics varies upon sever changes in working conditions. Hence, piecewise affine modeling method is a proper candidate that enables the onset of nonlinear system control with a set of linear controllers. Hybrid modeling necessitates the precise identification of parameters affecting the quality of output cement such as input values and cement grinding pressure difference. Therefore, in this study, a piecewise affine model is developed for all pressure differences into three intervals. By this method, it is shown that the hybrid model shows a better performance compared to the uniform models. Furthermore, three simple linear controllers can be applied rather than a nonlinear controller. Simulation results revealed the merits of the proposed method as the model output is close to actual behavior even while the plant's dynamics is changing. Another core contribution of this method is the major reduction in cost and complexity of controller design for huge cement grindingplants.","PeriodicalId":166992,"journal":{"name":"2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM)","volume":"73 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131517278","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Design and implementation of a new body weight support (BWS) system 一种新型体重支撑系统的设计与实现

2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466140

Mahdi Rad, S. Behzadipour

{"title":"Design and implementation of a new body weight support (BWS) system","authors":"Mahdi Rad, S. Behzadipour","doi":"10.1109/ICROM.2017.8466140","DOIUrl":"https://doi.org/10.1109/ICROM.2017.8466140","url":null,"abstract":"Gait training is a critical rehabilitation procedure for patients suffering from walking problems. It, however, puts the therapist in high orthopedic risk since he should prevent the patient from possible falling. Body weight support system is a new technology helping such patients and the involved therapist by unloading a percent of the patient's weight. A new over-ground body weight support is introduced in this article. The system is composed of two main modules namely unloading and traction. The unloading module is capable of suspending an individual's weight up to 1000N dynamically. The whole system is attached to an overhead rail, moving over the head of the patient by the traction subsystem in order to keep the rope as vertical as possible. The performance of both modules is controlled by an error-based closed loop controller and the results are evaluated in different working conditions. This system is able to keep the average root-mean-square of the unloading force error within 10% of its desired amount. It can also maintain the root-mean-square of the rope angle in the range of 4 to 7 degrees by the traction motor, trying to minimize the horizontal force exerted to the individual.","PeriodicalId":166992,"journal":{"name":"2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM)","volume":"54 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131868699","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 3

A Reactive and Efficient Walking Pattern Generator for Robust Bipedal Locomotion 一种基于鲁棒双足运动的反应型高效步行模式生成器

2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466173

Fatemeh Nazemi, A. Yousefi-Koma, F. A. Shirazi, M. Khadiv

{"title":"A Reactive and Efficient Walking Pattern Generator for Robust Bipedal Locomotion","authors":"Fatemeh Nazemi, A. Yousefi-Koma, F. A. Shirazi, M. Khadiv","doi":"10.1109/ICROM.2017.8466173","DOIUrl":"https://doi.org/10.1109/ICROM.2017.8466173","url":null,"abstract":"Available possibilities to prevent a biped robot from falling down in the presence of severe disturbances are mainly Center of Pressure (CoP) modulation, step location and timing adjustment, and angular momentum regulation. In this paper, we aim at designing a walking pattern generator which employs an optimal combination of these tools to generate robust gaits. In this approach, first, the next step location and timing are decided consistent with the commanded walking velocity and based on the Divergent Component of Motion (DCM) measurement. This stage which is done by a very small-size Quadratic Program (QP) uses the Linear Inverted Pendulum Model (LIPM) dynamics to adapt the switching contact location and time. Then, consistent with the first stage, the LIPM with flywheel dynamics is used to regenerate the DCM and angular momentum trajectories at each control cycle. This is done by modulating the CoP and Centroidal Momentum Pivot (CMP) to realize a desired DCM at the end of current step. Simulation results show the merit of this reactive approach in generating robust and dynamically consistent walking patterns.","PeriodicalId":166992,"journal":{"name":"2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM)","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127408143","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 10

Explicit dynamic and MTJ Control of a 3-RRS Parallel Manipulator with mass Compensator 带质量补偿器的3-RRS并联机器人的显式动态与MTJ控制

2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466192

Roya Khajepour, Hassan Khajvand, H. Daniali, M. Rastin, S. A. A. Moosavian

{"title":"Explicit dynamic and MTJ Control of a 3-RRS Parallel Manipulator with mass Compensator","authors":"Roya Khajepour, Hassan Khajvand, H. Daniali, M. Rastin, S. A. A. Moosavian","doi":"10.1109/ICROM.2017.8466192","DOIUrl":"https://doi.org/10.1109/ICROM.2017.8466192","url":null,"abstract":"In this paper, a 3-RRS ball and plate parallel manipulator is discussed to obtain the exact kinematics and kinetics of the robot. Numerous types of ball and plate systems, reckoned as multivariable and nonlinear workbenches, are exploited to conduct researches to evaluate advanced control algorithms. Although most of these equipment have been presented as two degrees of freedom (DOF), the presented mechanism possesses 3 DOF. Floating plate of this system has three independent motion, two rotational movements and a translation along the vertical axis. Moreover, three dependent motion, two translational and one rotational, are also available. In order to reduce the required torques produced by servomotors, a mass compensator is designed and exploited. Control of the system has been investigated after deriving kinematics and dynamics equations of motion. In the control section, due to the high complexity of kinematics and dynamics equations, Modified Transpose Jacobian (MTJ) control algorithm which is based on feedback linearization approach is used. The goal is to cause the ball follow the chosen trajectories with properly controlled inputs. Simulation results indicate the ability of the suggested controller to accomplish its task.","PeriodicalId":166992,"journal":{"name":"2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM)","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114358016","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 3