2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM)最新文献_第2页

Derivation of dynamic equations and parametric analysis for dual arm mobile manipulators using recursive Gibbs-Appell formulation 基于Gibbs-Appell递推公式的双臂移动机械臂动力学方程推导及参数分析

2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2014-12-18 DOI: 10.1109/ICROM.2014.6990973

Ebrahim Seidi, A. M. Shafei, M. Korayem

{"title":"Derivation of dynamic equations and parametric analysis for dual arm mobile manipulators using recursive Gibbs-Appell formulation","authors":"Ebrahim Seidi, A. M. Shafei, M. Korayem","doi":"10.1109/ICROM.2014.6990973","DOIUrl":"https://doi.org/10.1109/ICROM.2014.6990973","url":null,"abstract":"Mobile manipulators with only single robotic arm have been successfully exploited in many tasks. The performance of these kinds of robotic system improves by assembling another robotic arm. In particular, the dual-arm mobile robotic manipulators have been applied in almost all the works that the human being can perform by two hands. Increasing the number of the links besides the dynamic interactions between the manipulator and the mobile platform as well as both nonholonomic constraints of the mobile base makes the manual derivation of motion equations almost impossible. So, this paper proposes a new solution to the problem of dynamic modeling of wheeled mobile manipulators with dual arms in an automatic and systematic approach. To avoid computing the \"Lagrange multipliers\" associated with the nonholonomic constraints, the equations of motion are derived according to the recursive Gibbs-Appell formulation. Also all the mathematical operations are performed by 3×3 and 3×1 matrices. Finally, this method is applied to a mobile manipulator with two robotic arms to demonstrate the ability of the proposed method in deriving the equations of motion and parametric analysis for such complex systems.","PeriodicalId":177375,"journal":{"name":"2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM)","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121472621","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

Analysis of tactile imprints for multi-fingered robot hands 多指机器人手部触觉印迹分析

2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2014-12-18 DOI: 10.1109/ICROM.2014.6990998

N. Gorges, S. E. Navarro, H. Worn

引用次数: 2

The effect of employing humanoid robots for teaching English on students' anxiety and attitude 使用人形机器人进行英语教学对学生焦虑和态度的影响

2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2014-12-18 DOI: 10.1109/ICROM.2014.6990994

M. Alemi, A. Meghdari, M. Ghazisaedy

引用次数: 17

Modeling and adaptive sliding mode control of Samen SpaceCam Samen SpaceCam的建模与自适应滑模控制

2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2014-12-18 DOI: 10.1109/ICROM.2014.6990960

A. Kiani, S. Mashhadi

引用次数: 0

Adaptive H∞ controller based on GA-hybrid wavelet RBF for robot arm 基于ga -混合小波RBF的机械臂自适应H∞控制器

2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2014-12-18 DOI: 10.1109/ICROM.2014.6990990

Bahar Ahmadi, Hamid NouriSola

引用次数: 1

Inverse dynamics and ground reaction force estimation during walking 行走过程中的逆动力学和地面反作用力估计

2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2014-12-18 DOI: 10.1109/ICROM.2014.6990972

Marzieh Mojaddarasil, M. Sadigh

{"title":"Inverse dynamics and ground reaction force estimation during walking","authors":"Marzieh Mojaddarasil, M. Sadigh","doi":"10.1109/ICROM.2014.6990972","DOIUrl":"https://doi.org/10.1109/ICROM.2014.6990972","url":null,"abstract":"This paper looks into the forces applied to the joints, and the ground reaction forces (GRFs) during walking. In this vein, inverse dynamics of a human being are studied by considering a 3-dimensional, 7-link dynamic model which has 18 degrees of freedom. During the double-support phase in which both feet are in contact with the ground, the distribution of the GRFs over the two feet is a result of the person's gait of walking, and various environmental conditions. Therefore, one can only obtain the total force applied to both feet in each direction and not the distribution of GRFs over the two feet. Specifically, in this phase we are faced with an indefinite problem, which should be solved by considering some extra assumptions. In this paper, for developing a completely theoretical model which has a good agreement with the reality, extra assumptions are developed, inspired by some experimental results. Within this framework of assumptions, the inverse dynamics problem is solved in the single and double support phases, by which the joint forces (especially the hip joint) during walking can be calculated. The analytic results are then compared with the experimental results, leading to a modified approach. In this way, a method for calculating the joint forces and the GRFs, independent of the experimental tests, is developed.","PeriodicalId":177375,"journal":{"name":"2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM)","volume":"137 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132864186","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

Development of a tactile robot for tumor detection and localization in biological liver tissue 生物肝组织肿瘤检测与定位触觉机器人的研制

2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2014-12-18 DOI: 10.1109/ICROM.2014.6990901

M. Farahnak, M. Keshavarz, A. Mojra, S. Sadati

引用次数: 2

Design, simulation and optimization of a novel DC electroosmotic micro-infusion pump 新型直流电渗微输液泵的设计、仿真与优化

2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2014-12-18 DOI: 10.1109/ICROM.2014.6990978

Firouz Safaifar, Nima Talebzadeh, H. Veladi

引用次数: 0

Dynamic modeling and computed torque control of a 3-DOF spherical parallel manipulator 三自由度球面并联机械臂动力学建模及转矩计算控制

2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2014-12-18 DOI: 10.1109/ICROM.2014.6990914

I. Yahyapour, M. Yazdani, M. T. Masouleh, Mahmoud Ghafouri Tabrizi

{"title":"Dynamic modeling and computed torque control of a 3-DOF spherical parallel manipulator","authors":"I. Yahyapour, M. Yazdani, M. T. Masouleh, Mahmoud Ghafouri Tabrizi","doi":"10.1109/ICROM.2014.6990914","DOIUrl":"https://doi.org/10.1109/ICROM.2014.6990914","url":null,"abstract":"This paper investigates the dynamic modeling of a 3-degree-of-freedom spherical parallel manipulator, called the Agile Eye, first build at Laval University. The approach used in this paper is based on detaching the manipulator into several subsystems and applying a consecutive synergy between kinematic analysis, Lagrangian and Newtonian approaches. In this regard, the manipulator under study is detached to four subsystems. After writing down the kinematic equations of all the three subsystems, the Lagrangian and Newtonian approaches are blended and finally the dynamic model of the 3-DOF Agile Eye is obtained. Finally, the problem leads to a system of 12 equations and 18 unknowns, which has been simplified to have a fully constraint system of equations. The results are put into contrast by the one obtained with a analyser software, MD-Adams. Then a co-simulation between MATLAB and MD-Adams has been accomplished in order to control the Agile Eye with computed torque control method. The latter method has led to the end-effector (EE) to follow the desired trajectory perfectly.","PeriodicalId":177375,"journal":{"name":"2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM)","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116362452","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

Improving transparency in macro-micro tele-manipulation by means of external force estimation 利用外力估计提高宏微遥控的透明性

2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2014-12-18 DOI: 10.1109/ICROM.2014.6990909

H. Amini, S. M. Rezaei, V. Dabbagh, A. Sarhan, N. A. Mardi

{"title":"Improving transparency in macro-micro tele-manipulation by means of external force estimation","authors":"H. Amini, S. M. Rezaei, V. Dabbagh, A. Sarhan, N. A. Mardi","doi":"10.1109/ICROM.2014.6990909","DOIUrl":"https://doi.org/10.1109/ICROM.2014.6990909","url":null,"abstract":"The use of teleoperation systems has been increased for micromanipulation tasks in the last decade. The most applications are where the operator is physically limited due to micro dimensions. The most common control approaches for nonlinear systems i.e. Proportional Derivative (PD) controllers, have a considerable deficiency in the contact motion transparency. In this paper, a novel control strategy is proposed for the nonlinear bilateral macro-micro teleoperation system with the time delay. In addition to position and velocity signals, force signals are also utilized in the control scheme. This modification significantly improves the poor transparency in contact with the environment. To eliminate the external force measurement, a new modified force estimation algorithm is proposed for the master and slave robots. The closed loop stability of the nonlinear macro-micro teleoperation system with the proposed control scheme is investigated by the Lyapunov theory. The main achievement is the stability of closed loop macro-micro teleoperation system in presence of the time varying human and environment forces. In addition, perfect tracking and force reflection have been proved in the steady state condition at the same time. Experimental results verify the efficiency of the new control scheme in the free motion and when slave robot is in contact with the environment.","PeriodicalId":177375,"journal":{"name":"2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122129137","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