2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM)最新文献_第6页

Adaptive Visual Servoing Control of robot Manipulator for Trajectory Tracking tasks in 3D Space 面向三维空间轨迹跟踪任务的机械臂自适应视觉伺服控制

2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466231

Hamed Behzadi-Khormouji, V. Derhami, M. Rezaeian

{"title":"Adaptive Visual Servoing Control of robot Manipulator for Trajectory Tracking tasks in 3D Space","authors":"Hamed Behzadi-Khormouji, V. Derhami, M. Rezaeian","doi":"10.1109/ICROM.2017.8466231","DOIUrl":"https://doi.org/10.1109/ICROM.2017.8466231","url":null,"abstract":"This paper presents an adaptive visual servoing controller for trajectory tracking in the robotic manipulators. The proposed controller is based on the inverse kinematic model of a robotic manipulator (Arm-6Ax18) and position-based visual servoing control. In this research work a Kinect camera, which is fixed as an eye-to-hand configuration, is used for extracting the trajectory in the color and depth images. Using this information, the geometric coordinates of points in Kinect coordinate space are calculated. Afterwards, these coordinates are converted to the robot's coordinate space using an obtained transformation matrix. The parameters of this matrix are calculated using Linear Least Squares Estimator (LSE) method. Then, the inverse kinematic model of manipulator is applied on these coordinates to determine the angle of each robot's joint. Due to the brightness intensity and other uncertainties, the Kinect camera has error in the calculation of depths. To cope this problem, an adaptive learning algorithm, called Weighted Recursive Least Square Estimator (WRLSE), is applied. This algorithm adaptively tunes the parameters of transformation matrix in order to reduce the distances between end-effector's trajectory and reference trajectory. For tracking the reference trajectory, Canny edge detector is used to detect the trajectory in the image. Thereafter, the detected trajectory is discretized to the set of target points which should be reached by the end-effector. The proposed adaptive controller is applied on a real robotic manipulator. The experimental results show that by using the adaptive learning algorithm, the end-effector can track the trajectory with high accuracy.","PeriodicalId":166992,"journal":{"name":"2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM)","volume":"45 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":"114664275","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

Experimental Path Planning of a Three-Wheeled Mobile Robot using Particle Swarm Optimization 基于粒子群算法的三轮移动机器人实验路径规划

2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466176

F. Gholami, P. Monfared, Alireza Mousavi

引用次数: 1

Mobile robot navigation based on Fuzzy Cognitive Map optimized with Grey Wolf Optimization Algorithm used in Augmented Reality 基于灰狼优化算法的模糊认知地图移动机器人导航在增强现实中的应用

2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466169

E. Malayjerdi, M. Yaghoobi, M. Kardan

引用次数: 9

Sub-optimal Sliding Mode Control on a Cooperative Manipulator using Stereo Vision Machine Feedback 基于立体视觉反馈的协作机械臂次优滑模控制

2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466180

A. H. Korayem, S. Kazemi, S. R. Nekoo

引用次数: 1

Improving Robot Navigation and Obstacle Avoidance using Kinect 2.0 利用Kinect 2.0改进机器人导航和避障功能

2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466145

Amin Basiri, M. A. Oskoei, A. Basiri, A. M. Shahri

引用次数: 4

Attitude Control of Spacecraft Simulator with Reaction Wheels Regulation 反作用轮调节的航天器模拟器姿态控制

2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466171

M. Malekzadeh, Hamid Sadeghian

引用次数: 0

How to Develop Learners' Politeness: A Study of RALL's Impact on Learning Greeting by Young Iranian EFL Learners 如何培养学习者的礼貌:RALL对伊朗青年英语学习者学习问候的影响研究

2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466206

M. Alemi, Nafiseh Sadat Haeri

{"title":"How to Develop Learners' Politeness: A Study of RALL's Impact on Learning Greeting by Young Iranian EFL Learners","authors":"M. Alemi, Nafiseh Sadat Haeri","doi":"10.1109/ICROM.2017.8466206","DOIUrl":"https://doi.org/10.1109/ICROM.2017.8466206","url":null,"abstract":"This study explores the effect of RALL (Robot Assisted Language Learning) on instructing greeting to young EFL (English as Foreign Language) students in Tehran, Iran. To this end, 38 preschool EFL children ranging from 3 to 6 years old were randomly assigned to the RALL (19 students) and game-based (19 students) groups, and the greeting sentences were extracted from the Functional Communication in English book [1] and ESL library website scenarios. In addition, the robot for the RALL group was used as an assistant to the teacher while for the game-based group the instruction was based on gaming methods such as command, mystery bag, and pass the ball. The instructional duration for both groups took eight sessions in which the RALL group was 8 hours and the non-RALL group took 32 hours to cover the same materials. After completion, the post-test of both groups were analyzed using independent samples t-test. The results revealed that there was a significant difference between the RALL and game-based groups' posttest performance. Thus, it can be argued that the RALL instruction was more effective than the game-based one in improving students' performance in posttest. Finally, the current study introduced a new teaching method for teaching greeting to EFL kids by employing a humanoid robot as a teaching assistant in the field of language teaching and learning.","PeriodicalId":166992,"journal":{"name":"2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM)","volume":"5 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":"121063234","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

An Experimental Study on Controlling and Obstacle Avoidance of a Four Mecanum Wheeled Robot 四机构轮式机器人控制与避障实验研究

2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466182

Parastoo Azizinezhad, Rasoul Sadeghian, Mehdi Tale Masouleh

{"title":"An Experimental Study on Controlling and Obstacle Avoidance of a Four Mecanum Wheeled Robot","authors":"Parastoo Azizinezhad, Rasoul Sadeghian, Mehdi Tale Masouleh","doi":"10.1109/ICROM.2017.8466182","DOIUrl":"https://doi.org/10.1109/ICROM.2017.8466182","url":null,"abstract":"This paper presents the process of designing a Fuzzy-PID controller and its implementation on a four Mecanum-wheeled robot. The aforementioned robot can be controlled manually and autonomously. A remote joystick is used for manual controlling of the robot under study. The Fuzzy-PID controller is applied in order to synchronize the proposed robot motors. In the aforesaid controller, the Fuzzy logic are used as tuner of the PID controller coefficients. According to the experimental results, which are obtained based on implementing the proposed Fuzzy-PID controller on the designed four Mecanum-wheeled robot, the proposed controller performance in terms of synchronizing the aforementioned robot's Dc-encoder motors is acceptable. The deviation value of the robot from the desired path is reduced significantly. Furthermore, based on implementing the proposed Fuzzy-PID controller on the robot under study, its the performance in term of steering is improved. Moreover, for the obstacle avoidance task, based on the ultrasonic sensors which are set on the proposed robot, the Fuzzy logic are used. The experimental results revealed that the aforementioned robot performance in terms of obstacle avoidance based on the Fuzzy logic implementation by means of ultrasonic sensors is acceptable. The robot passes the obstacles based on the defined safe distance accurately.","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":"116333107","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

Social Virtual Reality Robot (V2R): A Novel Concept for Education and Rehabilitation of Children with Autism 社交虚拟现实机器人(V2R):自闭症儿童教育与康复的新概念

2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466148

M. Shahab, A. Taheri, Seyed Ramezan Hosseini, M. Mokhtari, A. Meghdari, M. Alemi, H. Pouretemad, A. Shariati, Ali Ghorbandaei Pour

引用次数: 19

Grasp that optimises objectives along post-grasp trajectories 把握，优化目标沿着把握后的轨迹

2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466161

E. AmirM.Ghalamzan, Nikos Mavrakis, R. Stolkin

{"title":"Grasp that optimises objectives along post-grasp trajectories","authors":"E. AmirM.Ghalamzan, Nikos Mavrakis, R. Stolkin","doi":"10.1109/ICROM.2017.8466161","DOIUrl":"https://doi.org/10.1109/ICROM.2017.8466161","url":null,"abstract":"In this article, we study the problem of selecting a grasp pose on the surface of an object to be manipulated by considering three post-grasp objectives. These objectives include (i) kinematic manipulation capability [1], [2], (ii) torque effort [3] and (iii) impact force in case of collision [4] during post-grasp manipulative actions. In these works [1]-[4], the main assumption is that a manipulation task, i.e. trajectory of the centre of mass (CoM) of an object is given. In addition, inertial properties of the object to be manipulated is known. For example, a robot needs to pick an object located at point A and place it at point B by moving it along a given path. Therefore, the problem to be solved is to find an initial grasp pose that yields the maximum kinematic manipulation capability, minimum joint effort and effective mass along a given post-grasp trajectories. However, these objectives may conflict in some cases making it impossible to obtain the best values for all of them. We perform a series of experiments to show how different objectives change as the grasping pose on an object alters. The experimental results presented in this paper illustrate that these objectives are conflicting for some desired post-grasp trajectories. This indicates that a detailed multi-objective optimisation is needed for properly addressing this problem in a future work.","PeriodicalId":166992,"journal":{"name":"2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM)","volume":"35 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":"115948552","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