2019 7th International Conference on Robotics and Mechatronics (ICRoM)最新文献

Robust Dynamic Surface Control of da Vinci Robot Manipulator Considering Uncertainties: A Fuzzy Based Approach 考虑不确定性的达芬奇机器人鲁棒动态面控制:一种基于模糊的方法

2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071876

Mohammad Hossein Hamedani, M. Selvaggio, Mahtab Rahimkhani, F. Ficuciello, Hamid Sadeghian, M. Zekri, F. Sheikholeslam

{"title":"Robust Dynamic Surface Control of da Vinci Robot Manipulator Considering Uncertainties: A Fuzzy Based Approach","authors":"Mohammad Hossein Hamedani, M. Selvaggio, Mahtab Rahimkhani, F. Ficuciello, Hamid Sadeghian, M. Zekri, F. Sheikholeslam","doi":"10.1109/ICRoM48714.2019.9071876","DOIUrl":"https://doi.org/10.1109/ICRoM48714.2019.9071876","url":null,"abstract":"da Vinci is a robotic platform used to perform surgical tasks. The use of this robotic platform can have a significant effect on the reduction of operation time and improvement of the surgical task outcomes. However, the dynamic model of the da Vinci robot especially the friction model of the prismatic joint is unknown. Therefore, the design of an adaptive torque controller for da Vinci system can be the optimal solution for autonomous control strategies. In this work, we propose a fuzzy dynamic surface controller as a suitable application of the fuzzy method to tune the gain of the dynamic surface as an adaptive and robust controller for the da Vinci robot. The proposed controller is able to observe and eliminate the uncertainties. Lyaponuv method is used to guarantee the stability of the closed loop system. Finally, experiments are conducted to verify the proper performance of the proposed approach. It is worth noting that the experimental results indicate the robustness of the controller against uncertainties of the system.","PeriodicalId":191113,"journal":{"name":"2019 7th International Conference on Robotics and Mechatronics (ICRoM)","volume":"4 4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127084406","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

3D path planning of the viscoelastic particles in the presence of random stationary and moving obstacles using AFM nano-robot 基于AFM纳米机器人的粘弹性颗粒在随机固定和移动障碍物存在下的三维路径规划

2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071899

Z. Rastegar

引用次数: 1

Fuzzy Static Sliding Mode Control for a Nonlinear Benchmark System 非线性基准系统的模糊静态滑模控制

2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071820

Sanam Hajipour, A. Bagheri

{"title":"Fuzzy Static Sliding Mode Control for a Nonlinear Benchmark System","authors":"Sanam Hajipour, A. Bagheri","doi":"10.1109/ICRoM48714.2019.9071820","DOIUrl":"https://doi.org/10.1109/ICRoM48714.2019.9071820","url":null,"abstract":"This paper is mainly about the control of a ball and beam system, which is an underactuated benchmark, where an ordinary static sliding mode controller and a fuzzy static sliding mode controller are proposed. Stability analysis of the system for both ordinary and fuzzy surfaces is studied in detail. As many researchers have investigated the control of such underactuated problems but there still exist the chattering phenomenon or wide range of tracking errors as problematic issues. The proposed control laws use complete nonlinear model without omitting the centrifugal term. However, for reducing the tracking errors, the Takagi-Sugeno fuzzy approach has been utilized on the sliding surface. The motivation of this paper is to suggest a method in which the unmodeled dynamics do not affect the robustness of the system and with the same control input, the tracking errors of states decrease considerably. Besides, stability for both ordinary static and fuzzy static sliding surfaces still remains. Simulation results indicate that the ordinary static sliding mode controller can converge the system's states to their desired values while the fuzzy static sliding mode controller can also reduce the effects of chattering immensely and improves the system tracking error.","PeriodicalId":191113,"journal":{"name":"2019 7th International Conference on Robotics and Mechatronics (ICRoM)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122862293","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

Optimal Control of a High Maneuverable Micro-Swimmer in Low Reynolds Number Flow to Reduce Energy Consumption 低雷诺数流动中高机动微游泳器的最优控制以降低能量消耗

2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071880

H. Abdi, H. N. Pishkenari

引用次数: 2

Adaptive Tracking Control Based on GFHM for a Reconfigurable Lower Limb Exoskeleton 基于GFHM的可重构下肢外骨骼自适应跟踪控制

2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071886

Amir-B.D. Amin, S. M. Tahamipour-Z., A. Akbarzadeh

引用次数: 5

A Calibration Framework for Deployable Cable Driven Parallel Robots with Flexible Cables 柔性电缆可展索驱动并联机器人的标定框架

2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071903

R. Khorrambakht, H. Damirchi, S. A. Khalilpour, H. Taghirad

引用次数: 3

Fault - Tolerant Control of a Multirotor Unmanned Aerial Vehicle applying Particle Swarm Optimization 基于粒子群优化的多旋翼无人机容错控制

2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071861

H. Mazeh, J. Sahili

引用次数: 0

Effect of sidewall on frequency response and flexural sensitivity of AFM cantilevers immersed in liquid based on modified couple stress theory 基于修正耦合应力理论的液浸AFM悬臂梁侧壁对频率响应和弯曲灵敏度的影响

2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071846

B. Saeedi, R. Vatankhah

{"title":"Effect of sidewall on frequency response and flexural sensitivity of AFM cantilevers immersed in liquid based on modified couple stress theory","authors":"B. Saeedi, R. Vatankhah","doi":"10.1109/ICRoM48714.2019.9071846","DOIUrl":"https://doi.org/10.1109/ICRoM48714.2019.9071846","url":null,"abstract":"In this paper, the flexural resonant frequency and flexural sensitivity of an atomic force microscope (AFM) with an assembled cantilever probe (ACP) immersed in a liquid environment are analyzed utilizing the modified couple stress (MCS) theory. The ACP including a horizontal cantilever, a vertical extension, and a tip fixed at the free end of the extension. For this aim, the governing partial differential equation (PDE) of motion and corresponding boundary condition is derived based on the Euler- Bernoulli theory and considering hydrodynamic functions in a liquid environment by employing the Hamilton principle. Then, according to this expression, the effect of the surface contact stiffness and the geometrical parameters such as ratio of beam thickness to the material length scale parameter and length of sidewall on the flexural resonance frequency and flexural sensitivity of ACP in liquid is assessed and compared with the case that the ACP works in the air environment. The result shows that the low-order vibration modes are more sensitive for low surface contact stiffness, so that, the best image contrast is obtained by excitation the first mode, but the situation is reversed when surface contact stiffness increasing. Also, the figures show that in contrast with the air environment, when the length of the assembled sidewall is smaller than one-half Quarter of the length of the horizontal cantilever, the assembled sidewall has no considerable impact on flexural sensitivity of ACP in the liquid environment.","PeriodicalId":191113,"journal":{"name":"2019 7th International Conference on Robotics and Mechatronics (ICRoM)","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124655396","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

Real -time Fall Detection and Alert System Using Pose Estimation 基于姿态估计的实时跌倒检测和警报系统

2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071856

Meysam Safarzadeh, Y. Alborzi, Ali Naiafi Ardekany

引用次数: 3

Simulation Analysis of Human-RoboWalk Augmented Model 人-机器人步行增强模型仿真分析

2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071874

Mohamad R. Mohamadi, Vahid Akbari, Omid Mahdizadeh, Mahdi Nabipour, S. Moosavian

{"title":"Simulation Analysis of Human-RoboWalk Augmented Model","authors":"Mohamad R. Mohamadi, Vahid Akbari, Omid Mahdizadeh, Mahdi Nabipour, S. Moosavian","doi":"10.1109/ICRoM48714.2019.9071874","DOIUrl":"https://doi.org/10.1109/ICRoM48714.2019.9071874","url":null,"abstract":"Exoskeletons are used in different applications including the area of physical therapy in order to facilitate the patient's exercises and as an assisting technology to assist the elderly carry out their ordinary activities. At the beginning of this paper, the RoboWalk assistive device is introduced. Before constructing the system, the performance of the device must be analyzed through different simulations. Hence, the dynamics of the human and RoboWalk are then obtained using the Newton-Euler (NE) and the Recursive Newton Euler Algorithm (RNEA). The obtained models are then augmented to the human model to estimate the RoboWalkjoint forces and torques, and those of the human model. then, RoboWalk is imported to the human model in Opensim software and the augmented model is obtained by defining some constraints and joint models. Controllers are then designed for the human and Robo Walk in Opensim. In the next step, The NE and RNEA models are then compared to the models obtained from Opensim software using the same gait data. It is shown that the NE and RNEA methods match very closely and both of the models possess the same behavior as the Opensim model.","PeriodicalId":191113,"journal":{"name":"2019 7th International Conference on Robotics and Mechatronics (ICRoM)","volume":"352 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123405112","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