2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM)最新文献_第4页

Finite Time Identification and Adaptive Robust Tracking Control of wheeled Mobile Robot with Constraint in Inputs 输入有约束的轮式移动机器人有限时间辨识与自适应鲁棒跟踪控制

2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466158

H. Mohammadi, M. Kheirandish

引用次数: 0

Combined Direct and Indirect Adaptive Control of Nonlinear Four-bar Linkage Robot Manipulator 非线性四连杆机器人机械臂直接与间接相结合的自适应控制

2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466228

M. Kankashvar, S. Mashhadi

引用次数: 0

Designing a Control Architecture for the Knee Prosthesis Using ANFIS and Supervisory PI Controller 基于ANFIS和监督PI控制器的膝关节假体控制体系设计

2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466209

Shayan Jannati, A. Yousefi-Koma, M. Ayati, M. Farajollahi

引用次数: 0

Kinematic Sensitivity Evaluation of Revolute and Prismatic 3-DOF Delta Robots 旋转和棱镜三自由度Delta机器人的运动灵敏度评价

2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466159

B. Mehrafrooz, M. Mohammadi, M. T. Masouleh

{"title":"Kinematic Sensitivity Evaluation of Revolute and Prismatic 3-DOF Delta Robots","authors":"B. Mehrafrooz, M. Mohammadi, M. T. Masouleh","doi":"10.1109/ICROM.2017.8466159","DOIUrl":"https://doi.org/10.1109/ICROM.2017.8466159","url":null,"abstract":"The Delta parallel robot establishes itself as one of the most successful parallel robot designs thanks to its intrinsic properties. Generally, based on the type of actuator, the 3-DOF Delta robot falls into two groups, namely, revolute-input and prismatic-input. The main aim of this paper consists in evaluating and comparing the kinematic performance of the two foregoing types of Delta robots. So far, different kinematic sensitivity indices have been proposed. In this paper, by employing different kinematic sensitivity indices such as manipulability, dimensionally kinematic sensitivity and weighted kinematic sensitivity indices. the kinetostatic performance of the aforementioned robots are compared over a certain workspace. The obtained results showed that the sensitivity of prismatic Delta robot is high in the center of the workspace and the sensitivity increases when the end-effector moves to edges from the center. However sensitivity of the revolute Delta robot is totally different. It is high on the edges and it decreases by moving to center. weighted kinematic sensitivity results show that geometrical features of the robots are very important and it changes the sensitivity values and trend greatly. Moreover, in order to enhance the kinematic performance of the robots, the configuration of the robots are redesigned using optimization of the kinematic sensitivity indices. The results of this paper revealed that kinematic sensitivity indices can be employed in the design step of the robot to reach an optimal kinematic sensitivity in the workspace.","PeriodicalId":166992,"journal":{"name":"2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM)","volume":"26 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":"124831440","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: 4

Dynamic Modeling and Path Following of a Scaled-Up Helical Swimmer Robot 一种按比例放大的螺旋游泳机器人动力学建模与路径跟踪

2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466152

H. Sayyaadi, S. Bahmanyar, M. Ghasemi

{"title":"Dynamic Modeling and Path Following of a Scaled-Up Helical Swimmer Robot","authors":"H. Sayyaadi, S. Bahmanyar, M. Ghasemi","doi":"10.1109/ICROM.2017.8466152","DOIUrl":"https://doi.org/10.1109/ICROM.2017.8466152","url":null,"abstract":"Helical micro swimmers capable of propulsion at low Reynolds numbers have been proposed for future therapeutic medical applications. However, Maneuverability and control of swimming untethered micro robots with internal actuation are still challenging. In this paper, at first, we propose a new method for maneuverability for the helical swimmer robots with single helical flagellum which by inclining between the helical axis and body axis enables them to perform turning maneuvers. To predict the behavior of this swimmer robot at various inclination angles, the swimmer's hydrodynamics model is extracted and the effect of different inclination angles on motion trajectories is investigated. Then, in order to verify the hydrodynamics model, an experimental prototype of a macro-size swimmer robot with specific inclination angles was fabricated. By using dynamics modeling of the helical swimmer motion in different inclination angles, a suitable controller is designed for path tracking purposes. From the simulation results, the tracking performance of the designed control system is perfectly guaranteed which enables the micro robot to perform the desired maneuvers and follow the defined trajectories.","PeriodicalId":166992,"journal":{"name":"2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM)","volume":"51 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":"124778563","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

Dynamic Modeling and Base Inertial Parameters Determination of 3- DoF Planar Parallel Manipulator 三自由度平面并联机构动力学建模及基本惯性参数确定

2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466186

A. Arian, Behzad Danaei, M. T. Masouleh, A. Kalhor

引用次数: 1

Forward Kinematics Resolution of A Deployable Cable Robot 一种可展开缆索机器人的正运动学解析

2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466157

S. A. Khalilpour, A. Bourbour, R. Khorrambakht, S. Kariminasab, H. Taghirad

引用次数: 6

Force control of series elastic actuators in the presence of motor torque saturation, load side movement and gearbox friction 存在电机转矩饱和、负载侧移和齿轮箱摩擦时串联弹性致动器的力控制

2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466203

F. Rajabi, Abbas Ehsani-Seresht

{"title":"Force control of series elastic actuators in the presence of motor torque saturation, load side movement and gearbox friction","authors":"F. Rajabi, Abbas Ehsani-Seresht","doi":"10.1109/ICROM.2017.8466203","DOIUrl":"https://doi.org/10.1109/ICROM.2017.8466203","url":null,"abstract":"In many robots that interact with human or the environment, series elastic actuators (SEA) are used because of their inherent compliance and force controllability. Several methods have been proposed for the force control of these actuators. However, the effectiveness of these methods in the presence of limitations such as motor torque saturation, load side movement and gearbox friction has not been evaluated. In this paper, the two common methods of SEAs force control, namely, motor torque-based and motor speed-based control are studied and the effect of above limitations on the stability and bandwidth of the closed loop system is investigated. The results of this research reveal that the motor speed-based control can well overcome disturbances such as gearbox friction and load side movement. However, in the presence of motor torque saturation, there is a possibility that the closed loop system to become unstable. In contrast, the motor torque-based control has lower bandwidth in the presence of load side movement and gearbox friction. Instead, its closed loop system is always stable even in the presence of motor torque saturation.","PeriodicalId":166992,"journal":{"name":"2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM)","volume":"10 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":"128575394","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

Backstepping-Sliding mode Control Performance Enhancement using Close Loop Identification for Quadrotor Trajectory Tracking 基于闭环辨识的四旋翼飞行器反步滑模控制性能增强

2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466155

A. Parsa, A. Kalhor, M. A. Atashgah

{"title":"Backstepping-Sliding mode Control Performance Enhancement using Close Loop Identification for Quadrotor Trajectory Tracking","authors":"A. Parsa, A. Kalhor, M. A. Atashgah","doi":"10.1109/ICROM.2017.8466155","DOIUrl":"https://doi.org/10.1109/ICROM.2017.8466155","url":null,"abstract":"In this paper, using both linear and nonlinear identification methods based on iterative and recursive least-square, the performance of a backstepping-sliding mode control system of a quadrotor in the presence of uncertainties is improved. At first, the dynamic model of a quadrotor is introduced and descriptive equations are presented in an appropriate state-space in order to design a controller based on backstepping method. Then the backstepping-sliding mode controller is designed using virtual controller for trajectory tracking. In this control system, the control performance is not satisfied because of the physical uncertainties existed in quadrotor. Consequently, an online identification method is introduced and used to improve the performance of the controller. In this regard, some parameters, which are linear in the model structure, are identified by least square error technique and iterative least square method is used for identifying other parameters. The results indicate that the steady-state error is decreased and the ability of tracking of a desired trajectory in the presence of uncertainties is increased. Furthermore, the result demonstrate the stabilization of roll and pitch angles, while, the method prevents the vibration of control forces.","PeriodicalId":166992,"journal":{"name":"2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM)","volume":"93 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":"133274593","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

Forward kinematic analysis of tensegrity mechanism using hybrid method 张拉整体机构的混合正运动学分析

2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466177

Mohammad Sheikhpour, M. Bamdad

引用次数: 1