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

Design and Fabrication of a Control Setup for a Miniature Mobile Robot Excited by Magnetic Field 磁场激励下微型移动机器人控制装置的设计与制造

2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071895

Mobin Salehi, H. N. Pishkenari, H. Zohoor

引用次数: 0

Skill Assessment Using Kinematic Signatures: Geomagic Touch Haptic Device 使用运动签名的技能评估:Geomagic Touch触觉设备

2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071892

N. Hojati, M. Motaharifar, H. Taghirad, A. Malekzadeh

引用次数: 1

Omnidirectional mobile robot design with height and width adaptation 具有高度和宽度自适应的全向移动机器人设计

2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071898

E. Karamipour, S. F. Dehkordi

引用次数: 1

Design -and Experimental Analysis of a Force Sensitive Gripper for Safe Robot Applications 安全机器人力敏夹持器的设计与实验分析

2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071887

A. Saboukhi, M. Gorji, E. Amirpour, M. Savabi, Rasul Fesharakifard, H. Ghafarirad, S. M. Rezaei

{"title":"Design -and Experimental Analysis of a Force Sensitive Gripper for Safe Robot Applications","authors":"A. Saboukhi, M. Gorji, E. Amirpour, M. Savabi, Rasul Fesharakifard, H. Ghafarirad, S. M. Rezaei","doi":"10.1109/ICRoM48714.2019.9071887","DOIUrl":"https://doi.org/10.1109/ICRoM48714.2019.9071887","url":null,"abstract":"In order to obtain haptic interaction with precise force feedback from the environment, for an exoskeleton, a robotic 2-jaw gripper is proposed. To reach this goal, a gripper is designed based on optimizing the link lengths to maximize the amount of weight that the gripper could hold and built with parallel jaws and two Force Sensitive Resistor (FSR) sensors for measuring the force applied on the jaws. The gripper is used as an end effector for a palletizing 3-DOF robotic arm and is interfaced to a computer using an Arduino board. The FSRs are both calibrated before object grasping, and as a result, the force exerted on each jaw while grasping objects is obtained. This data is consequently used to achieve four goals: detect an object presence, prevent the object from being damaged during grasp, evaluate the object weight through the coefficient of friction and obtain safe haptic feedback for a master exoskeleton (HEXON11Hand Exoskeleton of New technologies research center). The experimental results are provided within the mechanism relations and numerical simulation to validate the desired tasks.","PeriodicalId":191113,"journal":{"name":"2019 7th International Conference on Robotics and Mechatronics (ICRoM)","volume":"253 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":"115007758","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

Data-driven observer-based model-free adaptive discrete-time terminal sliding mode control of rigid robot manipulators 基于数据驱动观测器的刚性机械臂无模型自适应离散时间终端滑模控制

2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071819

B. Esmaeili, M. Salim, M. Baradarannia, A. Farzamnia

引用次数: 11

Data-Driven Identification of the Jacobian Matrix of a 2- DoF Spherical Parallel Manipulator 二自由度球面并联机器人雅可比矩阵的数据驱动辨识

2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071873

S. Askarinejad, A. Fahim, M. Yazdi, M. T. Masouleh

{"title":"Data-Driven Identification of the Jacobian Matrix of a 2- DoF Spherical Parallel Manipulator","authors":"S. Askarinejad, A. Fahim, M. Yazdi, M. T. Masouleh","doi":"10.1109/ICRoM48714.2019.9071873","DOIUrl":"https://doi.org/10.1109/ICRoM48714.2019.9071873","url":null,"abstract":"Modeling is the first step in identification of the behavior of a system. Moreover, the first step in controlling a system consists in identifying its behavior, accurately. In general, analytical methods were used to identify the kinematics behavior of a system. In the kinematic analysis, the most important issue is to find the Jacobian matrix which maps the angular velocities of the end-effector to the angular velocities of the actuated joints. Furthermore, the Jacobian matrix is needed for control purposes. In recent years, several data-driven methods were presented for the identification of linear and nonlinear dynamical systems. The Sparse Identification of Nonlinear Dynamics (SINDy) is one which characterizes the nonlinear equation of the system solely using input/output data. In this study, the foregoing method is applied in order to find the Jacobian matrix of a two Degree-of-Freedom Agile Eye robot which performs spherical motion. The aforementioned robot is an over-constrained mechanism which adds number of difficulties in computing the Jacobian matrix using the analytical method. Finally the nonlinear equations of the Jacobian matrix are acquired using the SINDy method. Comparing the results obtained by the SINDy method with the values obtained by simulation indicates the accuracy of the method. Moreover, the calculation time has been significantly reduced compared to the analytical approaches, which is a definite asset for real-time modeling and control purposes.","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":"121341188","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

RobcWalk: Conceptual and Optimal Design RobcWalk:概念与优化设计

2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071854

Sina Ghanaat, Mahdi Nabipour, S. Moosavian

引用次数: 1

On thedynamics of a magnetostriction-based soft robotic manipulator: Closed form and Machine Learning approaches 基于磁致伸缩的软机械臂动力学:封闭形式和机器学习方法

2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071860

P. Abdollahzadeh, S. Azizi

{"title":"On thedynamics of a magnetostriction-based soft robotic manipulator: Closed form and Machine Learning approaches","authors":"P. Abdollahzadeh, S. Azizi","doi":"10.1109/ICRoM48714.2019.9071860","DOIUrl":"https://doi.org/10.1109/ICRoM48714.2019.9071860","url":null,"abstract":"The impetus of this study is to investigate the dynamics of a flexible manipulator. The model consists of two beams, each of which is surrounded by an electric coil. Each beam consists of two layers, including Metglas 2605SC as the magnetostrictive material and steel. Once an electric current is applied to the coils surrounding the beams due to generation of magnetic field the Metglas on the steel undergoes mechanical deformation which is accordingly conveyed to the whole structure. The end-effector control parameters are the two currents applied to the electric coils. The governing motion equations based on Euler-Bernoulli beam assumptions and large deformation conditions are derived and discretized to reduced order model based on Galerkin technique. The resulted equation is then numerically solved by means of Runge-Kutta method in Matlab software. To control the end-effector position of the manipulator in the defined work space, the relation between the applied electric currents and the end effector position and orientation were determined by means of the solution of the governing equations. However, in order to achieve the inverse relation between the essential currents needed for manipulator to reach a desired position, deep machine learning methods were used. Two learning algorithms including a four-layered artificial neural network and a neurofuzzy network were applied to capture the inverse dynamics relation. The results revealed that the network based on fuzzy logic exhibited less error than the neural network.","PeriodicalId":191113,"journal":{"name":"2019 7th International Conference on Robotics and Mechatronics (ICRoM)","volume":"74 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":"127124985","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

Linear vs. Nonlinear Modeling of Continuum Robotic Arms Using Data-Driven Method 基于数据驱动方法的连续体机械臂线性与非线性建模

2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071914

A. Parvaresh, S. Moosavian

引用次数: 3

Force and state estimation and control in robotic hand of Surena IV based on limited measurements 基于有限测量的Surena IV机械手力与状态估计与控制

2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071855

Ahmad Reza Alghooneh, A. Yousefi-Koma, Ahmad Esmailzadeh

{"title":"Force and state estimation and control in robotic hand of Surena IV based on limited measurements","authors":"Ahmad Reza Alghooneh, A. Yousefi-Koma, Ahmad Esmailzadeh","doi":"10.1109/ICRoM48714.2019.9071855","DOIUrl":"https://doi.org/10.1109/ICRoM48714.2019.9071855","url":null,"abstract":"In this paper, an alternative solution is proposed for robotic hands force control by using optimal estimators and controller. This approach does not rely on high cost sensory setup for force sensors. As we considered least cost sensors for a robotic hand (rotary encoder and current sensor), we estimate both grasp force and full states simultaneously using dual Kalman filter algorithm. The dual Kalman filter used in this paper does not have the observability and rank deficiency problem which exist is in augmented state parameter formulation. For control we consider two approaches; first is control through Deep Deterministic Policy Gradient (DDPG) which is an actor critic based reinforcement learning algorithm, this network capture robotic hand experience during different trials and trains actor and critic networks for maximizing accumulative reward in every episode. The control method does not rely on dynamic modelling and can model uncertainty within the networks. Second approach is classical Linear Quadratic Regulator (LQR), which is an optimal state feedback controller. Both of the controllers make the hand follow different reference forces with 0.1% error in 0.3 second.","PeriodicalId":191113,"journal":{"name":"2019 7th International Conference on Robotics and Mechatronics (ICRoM)","volume":"7 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":"130332636","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