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

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Motion Control of an Underactuated Parallel Robot with First Order Nonholonomic Constraint 一阶非完整约束下欠驱动并联机器人的运动控制
2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466189
M. J. Harandi, H. Taghirad
{"title":"Motion Control of an Underactuated Parallel Robot with First Order Nonholonomic Constraint","authors":"M. J. Harandi, H. Taghirad","doi":"10.1109/ICROM.2017.8466189","DOIUrl":"https://doi.org/10.1109/ICROM.2017.8466189","url":null,"abstract":"Adding nonholonomic constraints in parallel manipulators, allows reduction of the actuated-joint number without affecting the reachable workspace. This principle applies to wrist robot in some underactuated designs. This paper studies steady state motion control for an nS-2SPU underactuated parallel wrist robot. First, a suitable Euler angles representation is selected and a new method for forward kinematic problem without extra sensor is proposed. Next, differential kinematics of the robot is analyzed considering first order nonholonomic constraint on angular velocity of the robot. By some manipulations, the derived equations are transformed into chain form, and a hierarchical sliding mode controller is designed for the system. Closed-loop performance of the proposed controller is compared to that of a traditional controller reported in the literature through simulations.","PeriodicalId":166992,"journal":{"name":"2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM)","volume":"31 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":"131421028","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
Synchronization of Interconnected Robots Using Distributed H∞ Controllers 基于分布式H∞控制器的互联机器人同步
2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466174
Haniyeh Seyed Alinezhad, R. M. Esfanjani
{"title":"Synchronization of Interconnected Robots Using Distributed H∞ Controllers","authors":"Haniyeh Seyed Alinezhad, R. M. Esfanjani","doi":"10.1109/ICROM.2017.8466174","DOIUrl":"https://doi.org/10.1109/ICROM.2017.8466174","url":null,"abstract":"Synchronization problem of networked robotic manipulators in the presence of dynamical uncertainties is investigated in this paper. The notion of nonlinear H∞ control is employed in order to design distributed static feedback controllers to achieve synchronized trajectory tracking in a team of connected robots with balanced and strongly connected communication topology. By using appropriate forms for storage function and uncertainties, solving Hamilton Jacobi (HJ) inequality (or equality) which is commonly encountered in H∞ framework, is avoided in the proposed scheme. Gains of static feedback controllers are determined by solving computationally amenable matrix inequalities. Simulation results for a network of two-link manipulators are given to demonstrate the effectiveness of the proposed control strategy.","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":"130068304","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
Terramechanics-based performance enhancement of the wide robotic wheel on the soft terrains, Part I: wheel shape optimization 基于地形力学的宽阔机器人车轮在软地形上的性能增强，第一部分:车轮形状优化
2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466134
S. Ebrahimi, A. Mardani
{"title":"Terramechanics-based performance enhancement of the wide robotic wheel on the soft terrains, Part I: wheel shape optimization","authors":"S. Ebrahimi, A. Mardani","doi":"10.1109/ICROM.2017.8466134","DOIUrl":"https://doi.org/10.1109/ICROM.2017.8466134","url":null,"abstract":"the first part of this paper presents an approach for characterization of the essential terra mechanic and dynamic parameters of the wide robotic wheels moving on soft soil using the soil contact model (SCM) method. This method will be used in a complex optimization algorithm based on the direct search approach to find the optimized shape of the wheels whereby the rovers can properly steer and move. The sinkage of the wheel, the lateral and longitudinal interaction forces, the pressure distribution and some new measures such as effective radius will be investigated as the optimization cost functions to achieve the elite shapes. According to the results of this optimization, the complete spatial dynamics of a four-wheeled rover will be extracted in part II of this paper. Using the optimized wheels, the rover will be empowered to rove on the rough and soft soil or sand. Indeed, the main idea of the part I of this paper is to dynamically optimize the shape of the super wide wheels according to the terra mechanic principles of the wheel-soil interaction.","PeriodicalId":166992,"journal":{"name":"2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM)","volume":"78 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":"132052137","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: 6
Optimization of the Power Consumption for the Biped Robots in a Single Support Phase 双足机器人单支撑阶段的功耗优化
2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466162
Vida Shams Esfanabadi, M. Rostami, Seyyed Mohammadali Rahmati, Soroush Sadeghnejad
{"title":"Optimization of the Power Consumption for the Biped Robots in a Single Support Phase","authors":"Vida Shams Esfanabadi, M. Rostami, Seyyed Mohammadali Rahmati, Soroush Sadeghnejad","doi":"10.1109/ICROM.2017.8466162","DOIUrl":"https://doi.org/10.1109/ICROM.2017.8466162","url":null,"abstract":"Robots have to be able to move on different surfaces while ensuring the motion feasibility. One of the issues that have always attracted the attention of researchers in this field is optimization of power consumption along with maximum stability during the motion. Lots of basic gait parameters can be expressed by a planned seven-linked bipedal robot. In this study, parameter optimization being used in order to optimize the problem of motion obtained in a way that maximizing stability of robot and minimizing energy and also preserving its stability. Zero moment point scale is being used to calculate the stability of a robot. Experimental tests were performed for motion analysis of walking correctly and the results were validated. Finally, due to the presented model and optimized issue and predicted path, the robot can move like a person in a way that has maximum stability along with minimum power consumption. Comparison of experimental results versus presented model was used in each step to validate the accuracy of the proposed method.","PeriodicalId":166992,"journal":{"name":"2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM)","volume":"100 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":"124699557","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
An experimental study on controlling a fast response SMA-actuated rotary actuator 快速响应sma驱动旋转驱动器控制的实验研究
2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466198
Azadeh Doroudchi, M. Zakerzadeh
{"title":"An experimental study on controlling a fast response SMA-actuated rotary actuator","authors":"Azadeh Doroudchi, M. Zakerzadeh","doi":"10.1109/ICROM.2017.8466198","DOIUrl":"https://doi.org/10.1109/ICROM.2017.8466198","url":null,"abstract":"Shape Memory Alloy (SMA) applications as actuators have been increased nowadays due to their large force-to-mass ratio, light-weight, and noiseless operation. Therefore, in this paper a rotary actuator actuated by a pair of antagonistic SMA wires is controlled for trajectory tracking purposes. In addition, a set-up is designed to validate the controller performance with experimental data. The results indicate that the rotary actuator controlled via PID method is able to track the reference inputs accurately even in high frequency bandwidth (5 Hz). The latter achievement is a big step in improving the speed of SMA-actuated systems.","PeriodicalId":166992,"journal":{"name":"2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM)","volume":"20 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":"126942401","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
Multi-lateral Nonlinear Time-Delayed Teleoperation in a Multi-agent Systems Framework 多智能体系统框架下的多侧非线性时滞遥操作
2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466167
I. Sharifi, H. Talebi, M. Tavakoli
{"title":"Multi-lateral Nonlinear Time-Delayed Teleoperation in a Multi-agent Systems Framework","authors":"I. Sharifi, H. Talebi, M. Tavakoli","doi":"10.1109/ICROM.2017.8466167","DOIUrl":"https://doi.org/10.1109/ICROM.2017.8466167","url":null,"abstract":"In this paper, the issue of non-linear multi-lateral teleoperation has been considered. The multifaceted nature of controller designation for multi-lateral teleoperation frameworks increment by increasing the quantity of operators. The multiagent System (MAS) based structure is presented as a solution to this issue. The MAS-based framework focuses in light of structures that many intelligent and smart agent interact with each other. A sort of self-intelligence exists inside every agents; implying that each of them knows how different agents are working in the system. Along these lines, the strategy in this paper has some preferences over multi-lateral structure in conventional teleoperation frameworks. In light of the MAS structure, a brought together structure will deal with the overall system. Thusly, there is no compelling reason to upgrade the controller while exchanging the topography of multi-lateral framework. Besides, there is no constraint in the quantity of operators. Moreover, the structure of the proposed controller is to such an extent that some scenarios about the behavior of the operators can be characterized and used in practical manners. At long last, this paper presents a structure for concurrent training and therapy in multi-lateral rehabilitation frameworks as a case study. In this framework, a specialist therapist, various understudy learners and a patient interact with each other to perform both patient recovery and student training. Experiments are done to affirm the performance in presence of stability of the proposed system.","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":"116647537","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 Prototyping a New Add-on Module to Increase Traction Force of a Wheeled Sewer Inspection Robot 增加轮式下水道检测机器人牵引力的新型附加模块设计与原型制作
2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466212
Alireza Hadi, M. Abdollahi, K. Alipour, Bahram Tarvirdizadeh
{"title":"Design and Prototyping a New Add-on Module to Increase Traction Force of a Wheeled Sewer Inspection Robot","authors":"Alireza Hadi, M. Abdollahi, K. Alipour, Bahram Tarvirdizadeh","doi":"10.1109/ICROM.2017.8466212","DOIUrl":"https://doi.org/10.1109/ICROM.2017.8466212","url":null,"abstract":"Wheeled mobile robots have been a common apparatus of interior pipe inspection for many years. One of the major drawbacks of these systems is low traction force when traversing in special conditions, such as inclined pipes. Unanticipated area and obstacles along the robot path are the major challenges of the robot in the mission success. In this paper a novel add-on module is developed to increase the robot traction when encounters obstacles, paddle and large deposit, or when move in highly inclination pipes. The developed mechanism consists of two links mounted beside the robot and causes that to pass obstacles in the path. The links' angular position or the length may be changed using an actuator. A locking mechanism, may provide switching between the two active modes in the robot. The analysis and simulation results show the capability of the developed mechanism in increasing the robot traction force. Further, using the manufactured prototype, the functionality of the developed device as a separate add-on module was verified.","PeriodicalId":166992,"journal":{"name":"2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM)","volume":"80 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":"114581696","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
An Observer-based Force Reflection Robust Control for Dual User Haptic Surgical Training System 基于观测器的双用户触觉手术训练系统力反射鲁棒控制
2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466211
M. Motaharifar, H. Taghirad
{"title":"An Observer-based Force Reflection Robust Control for Dual User Haptic Surgical Training System","authors":"M. Motaharifar, H. Taghirad","doi":"10.1109/ICROM.2017.8466211","DOIUrl":"https://doi.org/10.1109/ICROM.2017.8466211","url":null,"abstract":"This paper investigates the controller design problem for the dual user haptic surgical training system. In this system, the trainer and the trainee are interfaced together through their haptic devices and the surgical operations on the virtual environment is performed by the trainee. The trainer is able to interfere into the procedure in the case that any mistakes is made by the trainee. In the proposed structure, the force of the trainer's hands is reflected to the hands of the trainee to give necessary guidance to the trainee. The force signal is obtained from an unknown input high gain observer. The position of the trainee and the contact force with the environment are sent to the trainer to give him necessary information regarding the status of surgical operations. Stabilizing control laws are also designed for each haptic device and the stability of the closed loop nonlinear system is proven. Simulation results are presented to show the effectiveness of the proposed controller synthesis.","PeriodicalId":166992,"journal":{"name":"2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM)","volume":"3 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":"128461846","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
Theoretical and experimental dynamic evaluations of revolute-prismatic joints manipulator contains N-rigid links and hubs 包含n个刚性连杆和轮毂的旋转-移动关节机械臂的理论和实验动力学评估
2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466217
P. Monfared, M. Mojarradi, S. F. Dehkordi
{"title":"Theoretical and experimental dynamic evaluations of revolute-prismatic joints manipulator contains N-rigid links and hubs","authors":"P. Monfared, M. Mojarradi, S. F. Dehkordi","doi":"10.1109/ICROM.2017.8466217","DOIUrl":"https://doi.org/10.1109/ICROM.2017.8466217","url":null,"abstract":"in this paper, a rigid manipulator that is composed of revolute-prismatic joints has been designed and modeled by recursive Gibbs-Appell formulation. The manipulator contains N-rigid links and sleeves and in comparison to previous researches, the mass of joint's hub has been added in dynamic equations. Therefore, the obtained equations are complicated, because of the combined reciprocating and rotating link's motion, as well as, the joint's hub act as one extra part considered in a collection with the link as one arm. The results are evaluated by the experimental setup that is designed and manufactured in Robotic Laboratory of Iran University of Science and Technology and appropriate system simulated in MATLAB SimMechanics simulator. The concluded system with the dynamic equation and simulated system can be used for precise positioning, repetitive task and object manipulations.","PeriodicalId":166992,"journal":{"name":"2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM)","volume":"212 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":"122880516","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
Tracking Control of an Underwater Robot in the Presence of Obstacles 水下机器人存在障碍物时的跟踪控制
2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466153
S. A. A. Moosavian, A. K. Khalaji, Fahimeh S Tabataba’i-Nasab
{"title":"Tracking Control of an Underwater Robot in the Presence of Obstacles","authors":"S. A. A. Moosavian, A. K. Khalaji, Fahimeh S Tabataba’i-Nasab","doi":"10.1109/ICROM.2017.8466153","DOIUrl":"https://doi.org/10.1109/ICROM.2017.8466153","url":null,"abstract":"In recent years, underwater robot has attracted more attention due to its various applications. Some of the challenges in the study of this class of robots includes nonlinear underactuated equations of motion, structured and unstructured uncertainties and dependence of the model parameters to the float velocity. One of the critical points of the study of these robots is the purpose of designing a desired control method for the trajectory tracking problem in different conditions. The sliding mode control algorithm is utilized in order to steer the mobile robot to asymptotically follow reference trajectories. A prominent feature of the proposed control algorithm is employing artificial potential function along with sliding mode algorithm to prevention of obstacle collision and intended trajectory tracking. Obtained results in different case studies indicate the effectiveness of the proposed method.","PeriodicalId":166992,"journal":{"name":"2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM)","volume":"80 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":"132951258","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: 6
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