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

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

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

Robust Adaptive Bilateral Control of Teleoperation Systems with Uncertain Parameters and Unmodeled Dynamics 具有不确定参数和未建模动力学的遥操作系统鲁棒自适应双边控制

2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466184

Mojtaba Esfandiari, Kiyanoush Nazari, F. Farahmand

{"title":"Robust Adaptive Bilateral Control of Teleoperation Systems with Uncertain Parameters and Unmodeled Dynamics","authors":"Mojtaba Esfandiari, Kiyanoush Nazari, F. Farahmand","doi":"10.1109/ICROM.2017.8466184","DOIUrl":"https://doi.org/10.1109/ICROM.2017.8466184","url":null,"abstract":"Kinematic and dynamic parameters of robot manipulators are difficult to measure exactly. Also, time varying unknown dynamical parameters of human arm, during interaction with the master robot and unknown parameters of environment during interaction with the slave robot, in teleoperation systems, insert further uncertainties. Furthermore, unknown parameters, unmodeled dynamics of master/slave robots, human arm model and environment introduce more uncertainties. In this paper, a robust adaptive master-slave teleoperation control strategy is introduced which require neither the exact knowledge about the parameters of the master/slave robots, human arm and environment, because of the adaptability with the unknown parameters, nor the exact dynamical equation of master/slave Falcon robot, because of the robustness against the unmodeled dynamics. Two Novint Falcon robots are used as master/slave robots and due to having the highly nonlinear complexity of these robots, they are considered as a single translational equivalent mechanism with known inertia, damping and stiffness coefficient and an unmodeled dynamic term because of this approximation. The human arm and environment are modeled as a 1-DoF mass, spring and damper model (MSD) with unknown coefficients. Moreover, an additional nonlinear spring and nonlinear damper has been used for better approximation of nonlinear property of the human arm and the environment. A Lyapunov function is introduced for stability and the position tracking convergence proof of the entire teleoperation system. The validity of the theory is confirmed by simulations.","PeriodicalId":166992,"journal":{"name":"2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM)","volume":"642 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":"131886672","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

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

Terramechanics-based performance enhancement of the wide robotic wheel on the soft terrains, Part II: torque control of the optimized wheel 基于地形力学的宽幅机器人车轮在软地形上的性能提升，第二部分:优化车轮的转矩控制

2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466156

A. Mardani, S. Ebrahimi

引用次数: 7

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

Analysis of the Stiffness Feasible Workspace of the Cable-Driven Parallel Robots 缆索驱动并联机器人刚度可行工作空间分析

2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466232

Javad Bolboli, M. Khosravi, F. Abdollahi

引用次数: 1

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

An Experimental Study on Control of a Pneumatic 6-DoF Gough-Stewart Robot Using Backstepping-Sliding Mode and Geometry-Based Quasi-Forward Kinematic Method 基于后步-滑模和基于几何的准正运动学方法的气动六自由度高架机器人控制实验研究

2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466136

Amir Salimi Lafmejani, Behzad Danaei, A. Kalhor, M. T. Masouleh

{"title":"An Experimental Study on Control of a Pneumatic 6-DoF Gough-Stewart Robot Using Backstepping-Sliding Mode and Geometry-Based Quasi-Forward Kinematic Method","authors":"Amir Salimi Lafmejani, Behzad Danaei, A. Kalhor, M. T. Masouleh","doi":"10.1109/ICROM.2017.8466136","DOIUrl":"https://doi.org/10.1109/ICROM.2017.8466136","url":null,"abstract":"In this paper, the trajectory tracking control problem is addressed for a pneumatically actuated 6- DoF Gough-Stewart parallel robot. At first, dynamic model of the pneumatic system of each link of the robot which comprises a pneumatic actuator and a proportional electrical control valve is extracted. Unknown parameters of the obtained dynamic model consisting friction force, viscous coefficient and the parameters of the valve are identified by employing an evolutionary algorithm. Then, position control of the robot's pneumatic actuator is investigated based on designing Backstepping-Sliding Mode controller according to the nonlinear dynamic model of the pneumatic system. Moreover, kinematic equations of the 6- DoF parallel robot are achieved and a novel method is proposed, the so-called Geometry-based Quasi-Forward Kinematic, which calculates position of the end-effector of the robot without using expensive position sensors. Accordingly, kinematically closed-loop control of the parallel robot, which is based on simultaneous joint space and task space control, is investigated for trajectory tracking using potentiometers, a rotation sensor and based on the computed position of the end-effector by the proposed method. Desired sinusoidal pure rotations and translations are tracked in which root mean square error of the pure translations and rotations are lower than 1.3 (cm) and 2.6 (deg), respectively. The experimental results reveal that trajectory tracking control of the pneumatic 6-DoF Gough-Stewart parallel robot performs properly based on the proposed control strategies and the novel method for calculating position of the end-effector.","PeriodicalId":166992,"journal":{"name":"2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM)","volume":"21 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":"131415290","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: 5