发布求助
文献互助 智能选刊 最新文献

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

筛选
英文 中文
Calibration of Stewart-Gough Parallel Robot with Minimum Sensor and Position Control in Joint Space 最小传感器与关节空间位置控制Stewart-Gough并联机器人标定
2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466172
Hamed Navvabi, Behnam Hosseinkhani, Farbood Shokouhi, Amir Hossein Davaei Markazi
{"title":"Calibration of Stewart-Gough Parallel Robot with Minimum Sensor and Position Control in Joint Space","authors":"Hamed Navvabi, Behnam Hosseinkhani, Farbood Shokouhi, Amir Hossein Davaei Markazi","doi":"10.1109/ICROM.2017.8466172","DOIUrl":"https://doi.org/10.1109/ICROM.2017.8466172","url":null,"abstract":"The Stewart-Gough Platform (SGP) is defined as a 6-DOF parallel robot. It consists of two rigid plates; moving platform (MP) in top and base platform (BP) in bottom and also six actuating links that connect them to each other and provide up to six DOF for the MP with respect to the BP. SGP's impressive features are high load carrying capacity, low inertia, high stiffness, better repetition and precise positioning. This paper focuses on the accuracy enhancement of a six DOF SGP robot through kinematic calibration. In this method minimum number of sensors have been used for SGP kinematic calibration. This method is presented with details and is implemented on an experimental robot. The assumption of the methodology is that the orientation of MP can be measured by two inclinometers. Calibration involves of a nonlinear function optimization with 36 unknown parameters. Nonlinear least square scheme is used for the optimization. Experimental studies reveal that the proposed method is effective in enhancing the SGP accuracy. The main contribution of this work is implementation of the proposed method on an experimental robot and achievement acceptable results by position control of SGP in joint space. The robot position is controlled in the joint space; results show that calibrated robot follows command signal more accurate than before the calibration.","PeriodicalId":166992,"journal":{"name":"2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM)","volume":"1 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":"130113183","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
Control of a two degree-of-freedom parallel robot as a stabilization platform 二自由度并联机器人作为稳定平台的控制
2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466213
Behzad Danaei, M. Alipour, A. Arian, M. T. Masouleh, A. Kalhor
{"title":"Control of a two degree-of-freedom parallel robot as a stabilization platform","authors":"Behzad Danaei, M. Alipour, A. Arian, M. T. Masouleh, A. Kalhor","doi":"10.1109/ICROM.2017.8466213","DOIUrl":"https://doi.org/10.1109/ICROM.2017.8466213","url":null,"abstract":"The application of stabilization platform is to stabilize pointing direction of equipment, such as cameras and radars, toward a specific object or direction by isolating the device from the mechanical disturbances made by the environment. The objective of this research is to present a 2-DoF gimbal system with parallel kinematic chain for the first time. As a prerequisite to controlling design, the inverse and the forward kinematic problem of the proposed manipulator are derived. Then, by resorting to the kinematic model, two control algorithms of exponentially decay and sliding mode control are developed and validated by using simulation and experimental on board implementation. The algorithm performances are evaluated and compared by considering external disturbance and sensor noise effects.","PeriodicalId":166992,"journal":{"name":"2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM)","volume":"4 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":"122413143","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: 7
Design of a High Level Controller for Active Foot Prostheses using Gaussian Process Intent Recognition 基于高斯过程意图识别的主动足假体高级控制器设计
2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466218
M. Eslamy, K. Alipour
{"title":"Design of a High Level Controller for Active Foot Prostheses using Gaussian Process Intent Recognition","authors":"M. Eslamy, K. Alipour","doi":"10.1109/ICROM.2017.8466218","DOIUrl":"https://doi.org/10.1109/ICROM.2017.8466218","url":null,"abstract":"Active prosthetic feet seem to be promising alternatives for the passive ones. These devices can potentially emulate ankle function close to that of able-bodied people. In this path, however, a number of challenges exist. One main issue is the control of such equipments. The controller here means the master controller that is in charge to provide desirable motor positions. To deal with this challenge, in this paper, we investigate on the feasibility to design a master controller based on Gaussian process (GP) regression. The aim is to develop a master controller that could be continuously used for several speeds in active foot prostheses. To this end, different input types are used to examine which scenario results in acceptable performance of the master controller and brings appropriate prediction quality. The results show that GP-based master controller has the potentials for use in active foot prostheses. The root mean square errors of the predicted and expected motor positions, were found to be between 0.8 mm and 2.1 mm for five different walking speeds.","PeriodicalId":166992,"journal":{"name":"2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM)","volume":"78 12 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":"134196858","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
Accuracy Comparison of Spherical Parallel Manipulators Based on Joint Clearance 基于关节间隙的球面并联机器人精度比较
2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466141
Seyed Mojtaba, S. Mousavi, A. Khoogar, M. T. Masouleh
{"title":"Accuracy Comparison of Spherical Parallel Manipulators Based on Joint Clearance","authors":"Seyed Mojtaba, S. Mousavi, A. Khoogar, M. T. Masouleh","doi":"10.1109/ICROM.2017.8466141","DOIUrl":"https://doi.org/10.1109/ICROM.2017.8466141","url":null,"abstract":"In this paper, three types of Spherical Parallel Manipulators (SPM) are compared from accuracy point of view based on joint clearances. The 3-RRR SPM is an overconstraint parallel mechanism and one can presume that it may exhibits an accurate motion. But beside the foregoing advantage, this structure has some drawbacks such as requiring high manufacturing precision and the difficulty of assembling the mechanism. Two other types, 3-RRS and 3-RSR, are non-overconstrained and do not have the above disadvantages, therefore these two types with 3- RRR are put into contrast from accuracy point of view. First, a method to obtain a model of moving platform pose (position and orientation) error is introduced which leads to a standard convex optimization problem. Since error calculation depends on the end-effector configuration, more than 1000 configurations are taken into account in order to cover SPMs workspaces. Then maximum values of six components of the pose error in each configuration are computed for each type. Finally, the three SPMs are compared based on maximum position and orientation error for given joint clearances. The obtained results revealed that the 3- RRR SPM has better position accuracy while in the case of orientation, the 3-RRS SPM has lowest maximum error between SPMs under study in the prescribed workspace.","PeriodicalId":166992,"journal":{"name":"2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM)","volume":"517 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":"133465351","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: 2
Modeling and Simulation of a Novel Hydraulic Spherical Rolling Robot Using Bond graph Approach 一种新型液压球形滚动机器人的键合图建模与仿真
2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466233
Roya Khajepour, A. Novinzadeh
{"title":"Modeling and Simulation of a Novel Hydraulic Spherical Rolling Robot Using Bond graph Approach","authors":"Roya Khajepour, A. Novinzadeh","doi":"10.1109/ICROM.2017.8466233","DOIUrl":"https://doi.org/10.1109/ICROM.2017.8466233","url":null,"abstract":"This paper deals with modeling of a novel spherical robot using bond graph approach, in which a hydraulic driver mechanism is deployed. The proposed method is used to describe the dynamics of the system in various physical domains. The Newton-Euler formalism with body fixed coordinates is exploited in order to model the dynamics of the proposed spherical robot. Ground interaction as Coulomb friction is considered. Simulation results are obtained for equal inputs in open-loop physical model.","PeriodicalId":166992,"journal":{"name":"2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM)","volume":"1 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":"133364166","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
Updating LQR Control for Full Dynamic of a Quadrotor 四旋翼飞行器全动态的LQR控制更新
2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466151
Ramin Afhami, Rasul Fesharakifard, M. Khosravi
{"title":"Updating LQR Control for Full Dynamic of a Quadrotor","authors":"Ramin Afhami, Rasul Fesharakifard, M. Khosravi","doi":"10.1109/ICROM.2017.8466151","DOIUrl":"https://doi.org/10.1109/ICROM.2017.8466151","url":null,"abstract":"This paper is focused on the dynamic modeling and control of a quadrotor. The main objective of this paper is providing a complete governing quadrotor dynamic equation system using the Euler-Lagrange method considering all aerodynamic forces which affect its motion and designing an Updating LQR control for dynamic equations. The system's performance is tested by simulation of two numerical examples and the results of full dynamic model and designed controller are validated by these benchmarks. In the first example, altitude control and trajectory of the quadrotor is tested by normal LQR and updating LQR. In the second one, same items are tested by accounting the influence of a connected robotic arm which changes continuously the dynamics of the system. In both examples successful trajectory and altitude control are achieved.","PeriodicalId":166992,"journal":{"name":"2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM)","volume":"8 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":"114159617","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: 2
Implementation of Multi -Goal Motion Planning Under Uncertainty on a Mobile Robot 不确定条件下移动机器人多目标运动规划的实现
2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466202
Ali Noormohammadi-Asl, H. Taghirad, A. Tamjidi
{"title":"Implementation of Multi -Goal Motion Planning Under Uncertainty on a Mobile Robot","authors":"Ali Noormohammadi-Asl, H. Taghirad, A. Tamjidi","doi":"10.1109/ICROM.2017.8466202","DOIUrl":"https://doi.org/10.1109/ICROM.2017.8466202","url":null,"abstract":"Multi-goal motion planning under motion and sensor uncertainty is the problem of finding a reliable policy for visiting a set of goal points. In this paper, the problem is formulated as a formidable traveling salesman problem in the belief space. To solve this intractable problem, we propose an algorithm to construct a TSP-FIRM graph which is based on the feedback-based information roadmap (FIRM) algorithm. Also, two algorithms are proposed for the online planning of the obtained policy in the offline mode and overcoming changes in the map of the environment. Finally, we apply the algorithms on a physical nonholonomic mobile robot in the presence of challenging situations like the discrepancy between the real and computation model, map updating and kidnapping.","PeriodicalId":166992,"journal":{"name":"2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM)","volume":"98 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":"122413417","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
Adaptive Neural Network-based Synchronization Control of Multiple Robotic Manipulators: Dynamic Surface Control Approach 基于自适应神经网络的多机械臂同步控制:动态曲面控制方法
2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466154
Maedeh Taj, M. Shahriari-kahkeshi
{"title":"Adaptive Neural Network-based Synchronization Control of Multiple Robotic Manipulators: Dynamic Surface Control Approach","authors":"Maedeh Taj, M. Shahriari-kahkeshi","doi":"10.1109/ICROM.2017.8466154","DOIUrl":"https://doi.org/10.1109/ICROM.2017.8466154","url":null,"abstract":"This work proposes an adaptive synchronization control scheme for multiple robotic manipulators to track a desired trajectory. The radial basis function-neural networks (RBF-NNs) are used to represent the model of the uncertain and heterogeneous dynamics of the follower robots in the multiple robotic systems. Then, the proposed method based on the dynamic surface control approach is designed. Stability analysis of the closed-loop system shows that all the signals of the closed-loop system are uniformly ultimately bounded. The proposed method solves the synchronization and tracking problem in the multiple robotic systems with uncertain dynamics. Furthermore, it eliminates the “explosion of complexity” problem. The proposed method is applied to a set of Euler-Lagrange multiple robotic manipulators. The simulation results demonstrate the efficiency of the proposed method.","PeriodicalId":166992,"journal":{"name":"2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM)","volume":"79 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":"116017382","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: 1
Design and Kinematics Modeling of a Novel Haptic Device 一种新型触觉装置的设计与运动学建模
2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466215
M. Khorasani, A. Shahri
{"title":"Design and Kinematics Modeling of a Novel Haptic Device","authors":"M. Khorasani, A. Shahri","doi":"10.1109/ICROM.2017.8466215","DOIUrl":"https://doi.org/10.1109/ICROM.2017.8466215","url":null,"abstract":"In recent years use of haptic devices in different fields and their application increased. Novel mechanical design for a 3DOF haptic device presented according to the problems. Design the novel 3DOF haptic device done according several purposes such as decrease the inertia, support different workspaces and transmission the motion by new approach. Common and commercial impedance haptic devices analyses from the viewpoint of workspace and price. Parallel and serial mechanism compared. The kinematics formulas of designed 3DOF haptic device calculated. In order to simulation and validation the formulas, two scenarios defined. Initial and final values of revolute joints define in scenarios. To perform the scenarios MATLAB and RoboAnalyze softwares used. The results confirm that formulas are accurate.","PeriodicalId":166992,"journal":{"name":"2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM)","volume":"28 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":"123492012","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
Pattern Generation for Walking on Slippery Terrains 在湿滑地形上行走的模式生成
2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-08-06 DOI: 10.1109/ICROM.2017.8466188
M. Khadiv, S. A. A. Moosavian, Alexander Herzog, Ludovic Righeni
{"title":"Pattern Generation for Walking on Slippery Terrains","authors":"M. Khadiv, S. A. A. Moosavian, Alexander Herzog, Ludovic Righeni","doi":"10.1109/ICROM.2017.8466188","DOIUrl":"https://doi.org/10.1109/ICROM.2017.8466188","url":null,"abstract":"In this paper, we extend state of the art Model Predictive Control (MPC) approaches to generate safe bipedal walking on slippery surfaces. In this setting, we formulate walking as a trade off between realizing a desired walking velocity and preserving robust foot-ground contact. Exploiting this formulation inside MPC, we show that safe walking on various flat terrains can be achieved by compromising three main attributes, i. e. walking velocity tracking, the Zero Moment Point (ZMP) modulation, and the Required Coefficient of Friction (RCoF) regulation. Simulation results show that increasing the walking velocity increases the possibility of slippage, while reducing the slippage possibility conflicts with reducing the tip-over possibility of the contact and vice versa.","PeriodicalId":166992,"journal":{"name":"2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM)","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132759586","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: 7
首页 上一页
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整，为了账户安全，请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
请完成安全验证×
相关产品
×
本文献相关产品
联系我们：info@booksci.cn Book学术提供免费学术资源搜索服务，方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号：481959085
Book学术官方微信