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

Design of Robust Finite-Time Nonlinear Controllers for a n-DOF Robot Manipulator Subjected to Dead-Zone Input Nonlinearities 基于死区输入非线性的n-DOF机器人机械臂鲁棒有限时间非线性控制器设计

2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466181

A. Abooee, Hamidreza Ahmadzadeh, Fatemeh Sedghi, M. Arefi

引用次数: 2

Explicit Inverse Kinematic Solution for the Industrial FUM Articulated Arm using Dual Quaternion Approach 用对偶四元数法求解工业FUM关节臂的显式逆运动解

2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466222

Ebrahim Amininan, Fattah Hanafi Sheikhha, Farhad Baghyari, S. Hosseini, M. Najmabadi, A. Akbarzadeh

引用次数: 2

Back-Stepping Sliding Mode Control of Quadrotor under Dynamic Uncertainties 动态不确定条件下四旋翼飞行器的反步滑模控制

2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466210

S. J. Haddadi, P. Zarafshan, Maysam Shahsavari

引用次数: 1

Adaptive Control for Reducing Nonlinear Vibrations of a Flexible Arm 降低柔性臂非线性振动的自适应控制

2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466179

H. Mohammadi, S. Salighe

引用次数: 0

Design of a Pneumatic Weight Compensation System for the FUM Stewart Robot FUM Stewart机器人气动重量补偿系统设计

2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466164

Morteza Shariatee, A. Akbarzadeh, N. Nabavi

引用次数: 3

A mechatronic approach for real-time process control to achieve a uniform bead shape of robotic welding 一种实时过程控制的机电一体化方法，以实现机器人焊接焊缝形状均匀

2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466238

Vahid OstadAliAkbari, Rasul Fesharakifard, S. M. Rezaei

{"title":"A mechatronic approach for real-time process control to achieve a uniform bead shape of robotic welding","authors":"Vahid OstadAliAkbari, Rasul Fesharakifard, S. M. Rezaei","doi":"10.1109/ICROM.2017.8466238","DOIUrl":"https://doi.org/10.1109/ICROM.2017.8466238","url":null,"abstract":"Gas metal arc welding (GMAW) process is one of the most widespread welding processes in industries and using robots to manipulate the welding torch leads to excellent production quality, reliability, efficiency, and cost-effectiveness. In the previous researches, the automatic GMAW system including robotic arm, moving workpiece table and vision capability are developed for real-time seam tracking and welding of complex parts. Despite a precise tracking result achieved by the robotic methods, the welding metal deposit is uncontrolled and generates a varying bead shape on the seam. This problem comes from the variable relative speed between the torch and the curved seam and deteriorate the welded product mechanical properties. In this article, a novel approach is proposed to adjust the GMAW parameters in real-time according to the measured relative speed. Based on the process affecting parameters, a control algorithm is designed. Then some mechatronic elements are added to the system to accomplish the process control. The experimental results indicate the approach efficiency on the bead shape uniformity.","PeriodicalId":166992,"journal":{"name":"2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM)","volume":"6 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":"129056795","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

Motion equation derivation and tip-over evaluations for K mobile manipulators with the consideration of motors mass by the use of Gibbs-Appell formulation 基于Gibbs-Appell公式的考虑电机质量的K个移动机械臂的运动方程推导与倾覆评估

2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466214

Shoja Amini, S. F. Dehkordi, Sajad Hosseini Fahraji

{"title":"Motion equation derivation and tip-over evaluations for K mobile manipulators with the consideration of motors mass by the use of Gibbs-Appell formulation","authors":"Shoja Amini, S. F. Dehkordi, Sajad Hosseini Fahraji","doi":"10.1109/ICROM.2017.8466214","DOIUrl":"https://doi.org/10.1109/ICROM.2017.8466214","url":null,"abstract":"in this paper, the dynamic model of mobile manipulator contains N-rigid links developed for multiple ones with the consideration of the joint motor's mass and end effector load. The single mobile manipulator restrictions and the needs to do the jobs and object manipulation cooperatively and respectively cause to suggest the multiple mobile manipulators. But, the requested precision and the predefined path feature leads to model improvements and system's tip-over evaluations by ZMP and MHS approaches. The extra mathematical operations necessitate for computing the motion equations of K mobile manipulators. Therefore, the recursive Gibbs-Appell formulation has been used to derive the motion equations. In comparison to Lagrange equations, the eliminations of Lagrange multiplier for non-holonomic constraints don't need in this formulation. As well as, the computational complexity decrease comparatively. The tip-over checking approaches define and used for stable robot manipulations. But, the explained approaches just provide the stable margins without sensing about the physical events happen during the motion instability. The angle of reversal calculates for the suggested system to represent the domain that turnover occurs when this angle seen during the motion. The Simulations results perform for a five-link mobile manipulator in MAT LAB software. Next, by using stability checking approaches, it has been cleared that the reversal limit of rotation should be defined to improve the previous criterion margins.","PeriodicalId":166992,"journal":{"name":"2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM)","volume":"11 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":"131936869","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

Suppressing Transversal Vibration of a Moving String by Back-stepping and Sliding Mode Control Systems 用反步和滑模控制系统抑制运动管柱的横向振动

2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466216

M. Zakerzadeh, S. Madani, M. Bayat, M. Hairi-Yazdi

引用次数: 0

A Comparative Study of Deterministic and Probabilistic Mobile Robot Path Planning Algorithms 确定性和概率移动机器人路径规划算法的比较研究

2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466197

E. Khanmirza, Morteza Haghbeigi, Milad Nazarahari, Samira Doostie

引用次数: 12

Balance Strategy for Human Imitation by a NAO Humanoid Robot NAO仿人机器人仿人平衡策略研究

2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466225

Pourya Shahverdi, Mohammad Javad Ansari, M. T. Masouleh

引用次数: 1