2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM)最新文献_第9页

Swing up and Arm Trajectory Tracking of the Furuta Pendulum with Sliding Mode Control 滑模控制古田摆的上摆和臂轨迹跟踪

2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466146

Mohammad Javad Karamin Manesh, Akbar Nikzad Goltapeh

{"title":"Swing up and Arm Trajectory Tracking of the Furuta Pendulum with Sliding Mode Control","authors":"Mohammad Javad Karamin Manesh, Akbar Nikzad Goltapeh","doi":"10.1109/ICROM.2017.8466146","DOIUrl":"https://doi.org/10.1109/ICROM.2017.8466146","url":null,"abstract":"In this paper, the swing-up problem of the Furuta pendulum has been solved by introducing a new combined method based on the frequency response, and the sliding mode method. Furthermore, a trajectory tracking controller has been introduced and applied to the Furuta pendulum; which the pendulum remained regulated at the upward position, while the arm tracks a desired time-varying trajectory. The hierarchical sliding mode control (HSMC) approach has been employed to achieve the mentioned goals. The Furuta system is made up of two subsystems. Based on this physical structure, the hierarchical structure of the sliding surfaces is designed as follows: first, the sliding surface of each subsystem is defined. Then the sliding surface of one subsystem is established as the first layer sliding surface. Eventually, this layer is used to construct the second layer sliding surface with the sliding surface of the other subsystem. According to the hierarchical structure, the total control law is deduced, and stability of the closed-loop system has been proved by the Lyapunov theorem. Simulation results have been shown the validity of the proposed method. Finally, the tracking performance of the mentioned method has been compared with the feedback linearization controller and superiority of the HSMC has been revealed.","PeriodicalId":166992,"journal":{"name":"2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM)","volume":"38 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":"131299910","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

Pretensioned Structures as Multi Axis Force Sensors 作为多轴力传感器的预紧结构

2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466200

A. Molaei, Amir Hooshiar Ahmadi, V. Karamzadeh, E. Abedloo, J. Dargahi

引用次数: 1

Passive vibration control of a cantilever beam using shunted piezoelectric element 采用分流式压电元件的悬臂梁被动振动控制

2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466191

Arman Mohammadi, M. Zakerzadeh, A. Yousefi-Koma, Sadaf Mohajerin, S. Zohoori

引用次数: 1

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

引用次数: 6

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

引用次数: 2

A Simulator for Investigating the Effects of Morphological Variations on the Behavior of Compliant Quadruped Robots 用于研究形态变化对柔性四足机器人行为影响的模拟器

2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466170

Atoosa Parsa, H. J. Bidgoly, M. N. Ahmadabadi

引用次数: 0

Control of a two degree-of-freedom parallel robot as a stabilization platform 二自由度并联机器人作为稳定平台的控制

2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466213

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

引用次数: 7

Calibration of Stewart-Gough Parallel Robot with Minimum Sensor and Position Control in Joint Space 最小传感器与关节空间位置控制Stewart-Gough并联机器人标定

2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466172

Hamed Navvabi, Behnam Hosseinkhani, Farbood Shokouhi, Amir Hossein Davaei Markazi

{"title":"Calibration of Stewart-Gough Parallel Robot with Minimum Sensor and Position Control in Joint Space","authors":"Hamed Navvabi, Behnam Hosseinkhani, Farbood Shokouhi, Amir Hossein Davaei Markazi","doi":"10.1109/ICROM.2017.8466172","DOIUrl":"https://doi.org/10.1109/ICROM.2017.8466172","url":null,"abstract":"The Stewart-Gough Platform (SGP) is defined as a 6-DOF parallel robot. It consists of two rigid plates; moving platform (MP) in top and base platform (BP) in bottom and also six actuating links that connect them to each other and provide up to six DOF for the MP with respect to the BP. SGP's impressive features are high load carrying capacity, low inertia, high stiffness, better repetition and precise positioning. This paper focuses on the accuracy enhancement of a six DOF SGP robot through kinematic calibration. In this method minimum number of sensors have been used for SGP kinematic calibration. This method is presented with details and is implemented on an experimental robot. The assumption of the methodology is that the orientation of MP can be measured by two inclinometers. Calibration involves of a nonlinear function optimization with 36 unknown parameters. Nonlinear least square scheme is used for the optimization. Experimental studies reveal that the proposed method is effective in enhancing the SGP accuracy. The main contribution of this work is implementation of the proposed method on an experimental robot and achievement acceptable results by position control of SGP in joint space. The robot position is controlled in the joint space; results show that calibrated robot follows command signal more accurate than before the calibration.","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":"130113183","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

Design and Implementation of a Cable Driven Lower Limb Exoskeleton for Stair Climbing 爬楼梯用电缆驱动下肢外骨骼的设计与实现

2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466230

Payman Joudzadeh, Alireza Hadi, K. Alipour, Bahram Tarvirdizadeh

引用次数: 3

Design and Realization of a totally Embedded smart Insole 全嵌入式智能鞋垫的设计与实现

2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466201

M. M. Tabrizi, Hossein Mirzanejad, A. Fathian, A. Sharifnejad, M. Agheli

{"title":"Design and Realization of a totally Embedded smart Insole","authors":"M. M. Tabrizi, Hossein Mirzanejad, A. Fathian, A. Sharifnejad, M. Agheli","doi":"10.1109/ICROM.2017.8466201","DOIUrl":"https://doi.org/10.1109/ICROM.2017.8466201","url":null,"abstract":"Because of their professional activities, athletes use a personalized insole in order to get the best performance while practicing. To develop a personalized insole, athletes' gait must be measured first and then an efficient personalized insole can be developed based on the gathered information from the measurement results. Therefore, a reliable measurement of the gait is necessary. There has been extensive research conducted to measure people's gaits, but they usually need to be done in an equipped laboratory imposing artificial constraints, which causes, in most cases, to get non-realistic measurement results. The long purpose of this research is to create a shoe pad with embedded sensitive electronics that can be placed in a shoe to measure and store an athlete's gait information without imposing any artificial constraints to be used in designing an efficient personalized insole for the athlete. However, as the first step of the research, in this paper, an in-shoe insole consisting selective number of force sensitive resistors is introduced, developed, and validated under static condition. Choosing silicone as the material for the shoe pad and force sensors for data acquisition, a prototype shoe pad was to measure the weight distribution for the different sections of the foot. A computer program was developed to visually depict the force distribution of the foot. To validate the capability of the created insole in measuring the desired data, weight distribution of a healthy person with a normal foot force distribution was measured experimentally. Collected data from sensors embedded under selected areas, as the candidates of highest pressure bearing areas of foot sole, complies with the expectations as from the literature. This indicates that a viable shoe pad as described could indeed be made, and utilized to gather data from the person's gait usable in making an efficient personalized insole.","PeriodicalId":166992,"journal":{"name":"2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM)","volume":"250 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":"114071904","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