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

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Modeling and simulation of the parallel robot's structure with LabVIEW™ instrumentation 利用LabVIEW™仪器对并联机器人的结构进行建模与仿真
2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466195
A. Olaru, S. Olaru, Niculae Mihai
{"title":"Modeling and simulation of the parallel robot's structure with LabVIEW™ instrumentation","authors":"A. Olaru, S. Olaru, Niculae Mihai","doi":"10.1109/ICROM.2017.8466195","DOIUrl":"https://doi.org/10.1109/ICROM.2017.8466195","url":null,"abstract":"The paper describe one assisted method for modeling and simulation of the parallel robot's structure. Was developed one complex matrix method for the forward and inverse kinematics and for the animation of parallel robot's structure. In this paper are established the matrix relations of calculus for the kinematics model of robot, represented by multiple closed kinematics chains. With numerical simulation and experimental research using one didactical arm type robot was possible to validate the complex mathematical matrix model and was established the real value for the time acceleration, the real variation of the velocities, accelerations and compare them with the simulated values. Was animated the complex movements of the parallel closed robot's structure. The presented methodology and the virtual instrumentation for the animation of the parallel robot's structure is generally; it can be applied in all mechanical parallel structures.","PeriodicalId":166992,"journal":{"name":"2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM)","volume":"56 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":"126794750","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
Fault Detection Algorithm based on Sliding-mode method for spherical Rolling Robots 基于滑动模态法的球面滚动机器人故障检测算法
2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466187
M. Ayati, S. Zarei
{"title":"Fault Detection Algorithm based on Sliding-mode method for spherical Rolling Robots","authors":"M. Ayati, S. Zarei","doi":"10.1109/ICROM.2017.8466187","DOIUrl":"https://doi.org/10.1109/ICROM.2017.8466187","url":null,"abstract":"Spherical rolling robot is a nonlinear non-holonomic system, due to its unique structure, thus it cannot be controlled using simple control methods. Also, several sensor and actuator faults may occur in the robot mechanism, thereby decreasing control performance. In this paper, a fault detection algorithm is proposed which is based on a sliding mode observer. In addition, a robust sliding-mode controller is designed for the spherical robot control based on Lyapunov stability theorem. In order to control the spherical robot, the controller guides the states towards the equilibrium point which is the desired position. The closed-loop system and fault detection algorithm are numerically simulated by MATLAB. The obtained results confirm the performance of the closed-loop system and fault detection algorithm.","PeriodicalId":166992,"journal":{"name":"2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM)","volume":"32 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":"132214027","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
Nonsingular Terminal Sliding Mode Control of ROV system with three methods 基于三种方法的ROV系统非奇异终端滑模控制
2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466237
A. S. S. Abadi, P. A. Hosseinabadi
{"title":"Nonsingular Terminal Sliding Mode Control of ROV system with three methods","authors":"A. S. S. Abadi, P. A. Hosseinabadi","doi":"10.1109/ICROM.2017.8466237","DOIUrl":"https://doi.org/10.1109/ICROM.2017.8466237","url":null,"abstract":"Finite time stability is a more complete concept than asymptotic stability. In this paper, The Terminal Sliding Mode Control (TSMC) method is proposed to design three finite time control inputs with different settling time. The control inputs of the system are derived firstly according to three different lemmas and Lyapunov theorem and subsequently, they are simulated in MATLAB Simulink environment, and comparison is made between them. The designed control inputs, in addition to finite time stability, have other advantages such as robustness against uncertainties and external disturbances, as well as remove undesirable chattering occurrence completely.","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":"131120501","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
Kinetostatic Performance and Collision-free Workspace Analysis of a 3-DOF Delta Parallel Robot 三自由度Delta并联机器人的动静态性能及无碰撞工作空间分析
2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466178
Parnyan Ataei, Zolfa Anvari, M. T. Masouleh
{"title":"Kinetostatic Performance and Collision-free Workspace Analysis of a 3-DOF Delta Parallel Robot","authors":"Parnyan Ataei, Zolfa Anvari, M. T. Masouleh","doi":"10.1109/ICROM.2017.8466178","DOIUrl":"https://doi.org/10.1109/ICROM.2017.8466178","url":null,"abstract":"In this paper, the kinetostatic performance and collision-free workspace of a developed 3-DOF parallel robot is investigated. Kinetostatic indices that examine the performance of robot are essential in robot design and control. The popular indices, manipulability, dexterity and kinematic sensitivity are all investigated in order to evaluate the performance of the developed 3-DOF Delta parallel robot. In addition, as parallel robots generally have a limited workspace, obtaining the workspace by considering the mechanical interference is of paramount importance. The mechanical interference, including collision of links, collision of links with obstacles, collision of the end-effector with obstacles, are also examined by using a new geometrical approach. The proposed method is based on the segment-to-segment intersection test and can be expanded to a wide range of robotic mechanical systems, including, among others, cable-driven parallel robots. Moreover, in this paper, a new CFW index is defined which can be used to investigate the workspace with respect to mechanical interference. Furthermore, the aforesaid index provides some insight into obtaining a well-conditioned workspace.","PeriodicalId":166992,"journal":{"name":"2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM)","volume":"17 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":"122211392","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
Theoretical and Numerical Investigation of Liquid-Gas Interface Location of Capillary Driven Flow During the Time Throughout Circular Microchannels 毛细管驱动流动在圆形微通道内液气界面位置的理论与数值研究
2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466144
Arshya Bamshad, A. Nikfarjam, M. Sabour, H. Raji
{"title":"Theoretical and Numerical Investigation of Liquid-Gas Interface Location of Capillary Driven Flow During the Time Throughout Circular Microchannels","authors":"Arshya Bamshad, A. Nikfarjam, M. Sabour, H. Raji","doi":"10.1109/ICROM.2017.8466144","DOIUrl":"https://doi.org/10.1109/ICROM.2017.8466144","url":null,"abstract":"The main aim of this study is to find the best, most rapid, and the most accurate numerical method to find the liquid-gas interface of capillary driven flow during the time in circular Microchannels by using COMSOL Multiphysics software. Capillary driven flow by eliminating micropumps or any physical pressure gradient generators can make the microfluidic devices cheaper and more usable. Hence, by using this two-phase flow, the final costs of lots of microfluidic devices and lab-on-a-chip can significantly be decreased and help them to be commercialized. The first step to employing the capillary flow in these devices is the simulation of this flow inside the microchannels. One of the most common and valid software for this work is COMSOL Multiphysics; this fact reveals the importance of this study. In this research study, simulation results obtained by using two possible numerical methods in this software, for capillary flows of water and ethanol in two different circular micro channels, verified and compared with four other methods, which verified experimentally before. Finally, the most accurate and time-saving numerical method of this software will be specified. This appropriate technique can contribute to simulate microfluidic and lab-on-a-chip devices, which are made of different mechanical and electrical parts, in COMSOL Multiphysics software by choosing the best method.","PeriodicalId":166992,"journal":{"name":"2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM)","volume":"60 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":"128144393","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: 8
Identification and Position Control of a Continuum Robotic Arm 连续体机械臂的识别与位置控制
2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466208
A. Parvaresh, S. A. Moosavi, S. A. A. Moosavian
{"title":"Identification and Position Control of a Continuum Robotic Arm","authors":"A. Parvaresh, S. A. Moosavi, S. A. A. Moosavian","doi":"10.1109/ICROM.2017.8466208","DOIUrl":"https://doi.org/10.1109/ICROM.2017.8466208","url":null,"abstract":"Compared to traditional robots, continuum robotic arms have many advantages, including higher maneuverability, lower cost and weight, secure operation and so on, which motivate researchers in this field. Modeling and identifying these systems are very important due to their use in control applications; however, due to the complex nonlinear nature and presence of uncertainties, achieving an appropriate model is a great challenge. In this paper, after evaluating the repeatability of the system, which influences the model identification, the NARX model is presented and neural network is employed for developing the model. The model is validated by the experimental results. Then, contolling the end-effector position of the system using the identified model is performed.","PeriodicalId":166992,"journal":{"name":"2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM)","volume":"15 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":"128084915","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: 9
Structural and Dynamic Analysis of a Wheeled Mobile Robot with different Wheel Configurations 轮式移动机器人不同车轮构型的结构与动力学分析
2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466234
A. Habibian, Yalda Aslani Darandashi, Rasul Fesharakifard, A. Ohadi, H. Ghafarirad
{"title":"Structural and Dynamic Analysis of a Wheeled Mobile Robot with different Wheel Configurations","authors":"A. Habibian, Yalda Aslani Darandashi, Rasul Fesharakifard, A. Ohadi, H. Ghafarirad","doi":"10.1109/ICROM.2017.8466234","DOIUrl":"https://doi.org/10.1109/ICROM.2017.8466234","url":null,"abstract":"Design of a Wheeled Mobile Robot (WMR), structural analysis and description of the dynamics of the mobile robot with two drive wheels and two distinct configurations for caster wheels are proposed in the paper. The first configuration is with two casters and the second one is with four caster wheels. The commencement of the work is with designing the architecture of the robot. First, the designed structures have been analyzed using a Finite Element Analysis (FEA) software to be sure of the robot's operation under severe static and dynamic conditions. Then, a dynamic analysis is performed for both of configurations and motion equations are obtained. Lastly, the operation of the robot is examined considering the stress distribution of the robot and the compulsory torques for each drive wheel, where the robot is moving on a certain circuitous path.","PeriodicalId":166992,"journal":{"name":"2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM)","volume":"127 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":"114492364","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
Robustness Enhancement of optical flow sensors accuracy to surface texture variations using point tracking algorithm 利用点跟踪算法增强光流传感器对表面纹理变化的精度
2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466142
Saeed Takaloo, G. Vossoughi
{"title":"Robustness Enhancement of optical flow sensors accuracy to surface texture variations using point tracking algorithm","authors":"Saeed Takaloo, G. Vossoughi","doi":"10.1109/ICROM.2017.8466142","DOIUrl":"https://doi.org/10.1109/ICROM.2017.8466142","url":null,"abstract":"Novel architecture of high precision localization using optical flow sensor (OFS) combined with Iterative Point Tracking Algorithm (IPTA) is proposed. This work focuses on attenuation of OFS’ sensitivity dependency on texture of surface over which sensor is moving. The aim for the design of experimental setup is to verify how much a robustness of OFS's sensitivity on various surfaces improves. In this regard, four different surfaces' texture including iron, paper, textile and granite stone is opted. Experimental results indicate that sensor's resolution via IPTA on surfaces of iron, paper, textile and granite stone respectively equal to 382, 460, 528 and 448 CPI. Optimal value of the algorithm parameters is calculated via Genetic Algorithm (GA). We show that IPTA is one of the effective algorithms that can enhance the robustness of OFS’ resolution to surface's texture variations.","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":"124545763","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 New Scheme for Robust Control of Uncertain Series Elastic Actuator System 不确定串联弹性作动器系统鲁棒控制新方案
2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466163
Sevved Ali Moafi, Farid Naiafi
{"title":"A New Scheme for Robust Control of Uncertain Series Elastic Actuator System","authors":"Sevved Ali Moafi, Farid Naiafi","doi":"10.1109/ICROM.2017.8466163","DOIUrl":"https://doi.org/10.1109/ICROM.2017.8466163","url":null,"abstract":"Series elastic actuator (SEA) is widely used in new generation of robotic systems, particularly rehabilitation robots. The existence of noise and disturbance in the model of most industrial systems is inevitable, where SEA model is also not an exception. Presence of disturbance and uncertainty leads to deviation of the response of system from desired inputs. Kalman filter is a practical method to identify the model and also filtration of noisy data. The approach of this paper is to improve the efficiency of uncertain SEAs in control engineering aspects. Hence, a robust control design including combination of unscented Kalman filter (UKF) and sliding mode control (SMC) is developed for linear force-controlled SEA system. Simulation results show improved performance of the proposed controller to track desired force.","PeriodicalId":166992,"journal":{"name":"2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM)","volume":"67 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":"134475080","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
Estimation of Moving Obstacle Dynamics with Mobile RGB-D Camera 基于移动RGB-D相机的移动障碍物动力学估计
2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466139
Saeed Bakhshi Germi, Alireza Zamanian, Mojtaba Ahangar Arzati, M. Khosravi, Rasul Fesharakifard
{"title":"Estimation of Moving Obstacle Dynamics with Mobile RGB-D Camera","authors":"Saeed Bakhshi Germi, Alireza Zamanian, Mojtaba Ahangar Arzati, M. Khosravi, Rasul Fesharakifard","doi":"10.1109/ICROM.2017.8466139","DOIUrl":"https://doi.org/10.1109/ICROM.2017.8466139","url":null,"abstract":"With the increasing use of autonomous robots, the concept of obstacle detection and avoidance is becoming vital. While estimating true position of obstacles is a rudimentary prerequisite for avoiding them, to optimize the path, the robots should use the velocity and acceleration of obstacles to estimate their course and take the best path according to them. This paper presents an algorithm that calculates the position and estimates the dynamics of moving obstacles with an RGB-D camera mounted on a mobile robot. In this algorithm, the depth map is used to detect the obstacles and their position. Furthermore, velocity and acceleration of the obstacles are estimated using fusion of derivative of position and optical flow. To validate this algorithm, a series of tests are conducted and the results confirm the effectiveness of the proposed algorithm in obstacles detection and their dynamics estimation.","PeriodicalId":166992,"journal":{"name":"2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM)","volume":"365 ","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134545819","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
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