2019 7th International Conference on Robotics and Mechatronics (ICRoM)最新文献_第5页

A Cascaded kalman filter model-aided inertial navigation system for underwater vehicle 级联卡尔曼滤波模型辅助水下航行器惯性导航系统

2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071894

H. Alawieh, J. Sahili

引用次数: 0

Influence of Tilting Rotors on Maneuverability and Agility Indicators of an H -shaped Quadrator 倾转旋翼对H型正交器机动性和敏捷性指标的影响

2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071808

Yalda Aslani Darandashi, Hadi Najd, Rasul Fesharakifard, A. Ohadi, H. Ghafarirad

{"title":"Influence of Tilting Rotors on Maneuverability and Agility Indicators of an H -shaped Quadrator","authors":"Yalda Aslani Darandashi, Hadi Najd, Rasul Fesharakifard, A. Ohadi, H. Ghafarirad","doi":"10.1109/ICRoM48714.2019.9071808","DOIUrl":"https://doi.org/10.1109/ICRoM48714.2019.9071808","url":null,"abstract":"This article investigates flight functionality indicators for H-shaped quadrotors with different tilting angles of rotors. Two major indicators that determine the dynamic functionality of a quadrotor are maneuverability and agility. These indicators are used to determine the performance of different structures of quadrotor in terms of ease of complex motions and response quickness. Three different configuration of H-shaped quadrotor composed of conventional quadrotor, quadrotor by rotors tilted inward and quadrotor by rotors tilted outward is compared using the mentioned indicators by numerical simulation. The results indicate some noticeable improvement in functionality of the quadrotor as the rotors are titled. More descriptions about the effect of tilting the rotors inward or outward around two lateral axis of x and y are given that permits to find a proper structure for a desired functionality. Finally, a comparison between three new selected configurations by the aim of increasing maneuverability and agility around all directions, is performed for results verification.","PeriodicalId":191113,"journal":{"name":"2019 7th International Conference on Robotics and Mechatronics (ICRoM)","volume":"69 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":"127142553","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

Mathematical Model Extraction and State Space Construction for Nylon Based Smart Force Sensor 基于尼龙的智能力传感器数学模型提取与状态空间构建

2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071891

S. Rezaeian, Ahmad Reza Alghooneh, A. Yousefi-Koma, Reyhaneh HosseiniNejad

引用次数: 1

Stabilization of Unstable Limit Cycles in a Push-off Based Dynamic Walker by Reversible Switching Surfaces 基于推脱的动态行走器不稳定极限环的可逆切换曲面镇定

2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071813

Rana Danesh, A. Safa, M. Naraghi

引用次数: 0

Human-Robot Interaction based on Facial Expression Imitation 基于面部表情模仿的人机交互

2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071837

Alireza Esfandbod, Zeynab Rokhi, A. Taheri, M. Alemi, A. Meghdari

引用次数: 3

Path tracking of an autonomous vehicle by means of an indirect adaptive neural controller 基于间接自适应神经控制器的自动驾驶汽车路径跟踪

2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071897

A. Amirkhani, Masoud Shirzadeh, Nastaran Tork, S. B. Shokouhi

引用次数: 1

A New Method of Dynamic Modelling and Optimal Energy Distribution for Cooperative Closed Chain Manipulators 一种新的协作闭链机械臂动力学建模与能量优化分配方法

2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071871

Sadegh Hajiabadi, S. F. Dehkordi

{"title":"A New Method of Dynamic Modelling and Optimal Energy Distribution for Cooperative Closed Chain Manipulators","authors":"Sadegh Hajiabadi, S. F. Dehkordi","doi":"10.1109/ICRoM48714.2019.9071871","DOIUrl":"https://doi.org/10.1109/ICRoM48714.2019.9071871","url":null,"abstract":"Cooperative manipulators' capability to perform different tasks rather than single-arm robots, has motivated researchers to develop dynamic models. In particular, cooperative manipulators with a closed kinematic chain become more sophisticated to formulate as the kinematic and dynamic constraints should be satisfied. Moreover, by increasing the number of joints and links, deriving motion equations for the whole system requires more calculations. In this paper, dynamic modeling of rigid cooperative manipulators has been done by the recursive Gibbs-Appell formulation for any degree of freedom. Also, there are numerous answers to the inverse dynamic problem due to the redundancy and torques have been calculated by considering optimum energy distribution. In this method, a cost function has been defined in which load can be distributed by specifying arbitrary coefficients for each joint. This approach helps the designer to predict the optimum motor size or calculate the most optimum inputs to an existing robot's joints regarding its motors' capacity. Finally, in order to validate the accuracy of the model, simulation has been conducted and results compared with a similar modeled system in ADAMS software. The cooperative manipulators with closed kinematic chains are used to performing special missions such as displacement of large or heavy objects, assembling or forming parts and etc.","PeriodicalId":191113,"journal":{"name":"2019 7th International Conference on Robotics and Mechatronics (ICRoM)","volume":"32 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":"123174557","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

Dynamics Modeling and Position Control of a Robotic Carrier for Solar Panel Cleaning System 太阳能板清洗机器人搬运系统动力学建模与位置控制

2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071821

F. Hajiahmadi, P. Zarafshan, M. Dehghani, S. Moosavian, S. R. Hassan-Beygi

引用次数: 3

Designing a self-tuning regulator controller for a non-linear and MIMO Exoskeleton system assist test setup with adaptive decoupling 为非线性和MIMO外骨骼系统设计一个自调谐调节器控制器，辅助自适应解耦测试设置

2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071900

Sh. Zarrabi Rad, S. K. H. Sani, Alireza Akbarzadeh

{"title":"Designing a self-tuning regulator controller for a non-linear and MIMO Exoskeleton system assist test setup with adaptive decoupling","authors":"Sh. Zarrabi Rad, S. K. H. Sani, Alireza Akbarzadeh","doi":"10.1109/ICRoM48714.2019.9071900","DOIUrl":"https://doi.org/10.1109/ICRoM48714.2019.9071900","url":null,"abstract":"The assistive exoskeleton robots are designed in order to help immobile patients and augment healthy individual's muscle power. Assistive robots help humans with control algorithms and providing the needed power for users walking. The control algorithm must be in a manner that provides a share of the torque the person requires for walking and consequently, the force the person needs to endure in order to walk will reduce. Considering the integration of the robot to the human, it is essential to assure the safety and practicality of the control algorithm before implementing it on a real user. In this paper, a new test setup is designed and built for simulating human joints and implementing the assistive control algorithm on the robots provided with the series elastic actuator. In this test setup incorporation of a set of motor and gearbox along with a series elastic actuator for simulating motion and torques exerted to human joints is used. A series elastic actuator is considered as an actuating system for the robot and for implementing the assistive control algorithm. This test setup includes a non-linear and multiple inputs-multiple outputs (MIMO) system. Considering the complexities of MIMO non-linear control methods, in this paper after linearization, the test setup is decoupled. Subsequently, an adaptive control method for the trajectories and actuator torques is employed. The proposed control method is immune to systems parameters uncertainty and is able to adapt to the system parameters varying. In the end, the practicality of the proposed controller is shown in comparison with the PD controller.","PeriodicalId":191113,"journal":{"name":"2019 7th International Conference on Robotics and Mechatronics (ICRoM)","volume":"2 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":"131728945","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

LinBot - Design, Analysis, and Field Test of a Novel Power Transmission Lines Inspection Robot LinBot——一种新型输电线路巡检机器人的设计、分析和现场测试

2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071839

A. Fakhari, A. Mostashfi

{"title":"LinBot - Design, Analysis, and Field Test of a Novel Power Transmission Lines Inspection Robot","authors":"A. Fakhari, A. Mostashfi","doi":"10.1109/ICRoM48714.2019.9071839","DOIUrl":"https://doi.org/10.1109/ICRoM48714.2019.9071839","url":null,"abstract":"In this study, design, analysis, and field test of an innovative inspection robot (which is named LinBot) for highvoltage power transmission lines are investigated. This robot is utilized for moving on ground wires of transmission lines with the aim of inspection and fault detection of phase lines. Thanks to active and passive mechanisms designed in this robot, it is able to surmount all different ground wire obstacles including warning balls, clamps, and tower tips, and this is a unique capability of this robot among all other line inspection robots. The active mechanisms comprise four vertical rollers attached to the robot chassis by four arms, three horizontal rollers, and six mechanisms to control the vertical position of these horizontal rollers. Moreover, four sets of rotational springs and dampers are located in the joints of vertical rollers arms as passive mechanisms. To validate stability and feasibility of the robot in obstacle surmount and achieve the best selection for the robot required motors, a simulation study in MSC ADAMS software is conducted. The dynamical behavior of the robot including the motors torques is presented based on the simulation results. Furthermore, effect of wind on the stability of the robot is studied. Finally, practical performance of robot prototype manufactured in a laboratory is evaluated in the real field experimentally.","PeriodicalId":191113,"journal":{"name":"2019 7th International Conference on Robotics and Mechatronics (ICRoM)","volume":"31 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":"128314605","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