发布求助
文献互助 智能选刊 最新文献

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

筛选
英文 中文
N-axis mobile robotmotion equations derivations by considering the effects of nonlinear phenomena: slip and wheels' motor backlash 考虑滑移和车轮电机间隙非线性现象影响的n轴移动机器人运动方程推导
2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071822
M. Aghajari, S. F. Dehkordi
{"title":"N-axis mobile robotmotion equations derivations by considering the effects of nonlinear phenomena: slip and wheels' motor backlash","authors":"M. Aghajari, S. F. Dehkordi","doi":"10.1109/ICRoM48714.2019.9071822","DOIUrl":"https://doi.org/10.1109/ICRoM48714.2019.9071822","url":null,"abstract":"In this article, using Euler-Lagrange equations, the motion equation of an n-axis wheeled mobile robot is derived. The robot motion is limited by holonomic and non-holonomic constraints. To obtain the solution, the positions of robot wheels and the mass center of the robot platform are found in two coordinate systems. Then, based on the velocity vectors of these two points, the dynamic equations of the robot are calculated. In view of the effects of flexibility, backlash, and friction of wheels, one should not neglect these parameters when the number of axes rises. Accordingly, these non-linear parameters are taken into consideration when deriving the motion equations. Finally, the resulting equations are simulated for a 4-axis mobile platform with 4 mobile wheels and the results are compared in three different cases of surface slipping ratio. This robot can be utilized in space exploration and uncharted territories as a rescue robot.","PeriodicalId":191113,"journal":{"name":"2019 7th International Conference on Robotics and Mechatronics (ICRoM)","volume":"4 1-2 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":"132365025","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
Finding the optimal contact function and path in nanomanipulation process-based on AFM nanorobot 基于AFM纳米机器人的纳米操作过程中最优接触函数和路径的寻找
2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071812
H. Khaksar
{"title":"Finding the optimal contact function and path in nanomanipulation process-based on AFM nanorobot","authors":"H. Khaksar","doi":"10.1109/ICRoM48714.2019.9071812","DOIUrl":"https://doi.org/10.1109/ICRoM48714.2019.9071812","url":null,"abstract":"In the area of the body of literature based on AFM nanorobot, various contact theories have been presented. But, choosing the best contact theory entails taking in different situations. Also, during the nanomanipulation of particles, finding the optimal path to move takes on importance. Therefore, in this research, choosing the optimal contact equation to be applied in manipulation and also finding the optimal path of movement using hybrid genetic algorithm method have been investigated. The findings of this study reflect that Jamari theory with an area of 21.689 nm2 creates the highest level of contact compared to the two JKR and Hertz models. Also, in the sphere of finding the optimal path on a real path, it was found that the optimal length of the created path is 13.29 µm on a plate full of silver.","PeriodicalId":191113,"journal":{"name":"2019 7th International Conference on Robotics and Mechatronics (ICRoM)","volume":"43 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":"133523075","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
Virtual Reality Robot for Rehabilitation of Children with Cerebral Palsy (CP) 用于脑瘫儿童康复的虚拟现实机器人
2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071878
M. Shahab, M. Raisi, M. Hejrati, A. Taheri, A. Meghdari
{"title":"Virtual Reality Robot for Rehabilitation of Children with Cerebral Palsy (CP)","authors":"M. Shahab, M. Raisi, M. Hejrati, A. Taheri, A. Meghdari","doi":"10.1109/ICRoM48714.2019.9071878","DOIUrl":"https://doi.org/10.1109/ICRoM48714.2019.9071878","url":null,"abstract":"Children with Cerebral Palsy (CP) suffer from sequential movement disorders during their life. One of the common methods in CP's rehabilitation is physiotherapy that can be accelerated by means of modern technology. Virtual reality (VR) is one of the emerging technologies that has various applications in rehabilitation and therapy nowadays. It has been illustrated that utility of this technology can improve the physical skills of children with cerebral palsy. In this paper, we have presented a novel VR therapy game in which the children get motivated to do different activities according to their physiotherapy schedule and finally the child's behavior was automatically assessed. The game consists of a virtual playground with a virtual robot that guides the children between different items and encourages them to do their best during the designed assignments. Furthermore, we managed a pilot game-session to study the acceptance of the VR game and we observed that the acceptance rate is about 75% among children with cerebral palsy, while all of the typically developing children attending the session enjoyed the game. Finally, by investigating the results, it is indicated that the performance of CPs in all the activities was significantly weaker than their typically developing peers.","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":"132675695","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: 4
Design and Construction of a Planar Robotic Exoskeleton for Assessment of Upper Limb Movements 用于上肢运动评估的平面机器人外骨骼的设计与构建
2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071807
Akbar Nikzad Goltapeh, S. Behzadipour, M. Hajihosseinali
{"title":"Design and Construction of a Planar Robotic Exoskeleton for Assessment of Upper Limb Movements","authors":"Akbar Nikzad Goltapeh, S. Behzadipour, M. Hajihosseinali","doi":"10.1109/ICRoM48714.2019.9071807","DOIUrl":"https://doi.org/10.1109/ICRoM48714.2019.9071807","url":null,"abstract":"Robotic assessment devices aimed at patients with motor disorders offer a comprehensive insight into motor coordination. In this paper, we designed and constructed a novel upper-limb exoskeleton robot that can be helpful in proprioception assessments and rehabilitation of impairments after stroke. The Exoskeleton consists of two 2-DOF arms which are fully adjustable to accommodate users of different sizes. The robot has hinge joints aligned with the user's shoulder and elbow, operates in a horizontal plane, and provide independent assessment of elbow and shoulder joints. By recruiting a virtual reality environment along with the exoskeleton, we have provided a platform that conveniently enables assessments of upper extremity, without the encumbrances of existing methods. As a preliminary step of validation, the reaching experiments were run as a qualitative test to find out user's perception of the device. Results underline the ability of the user to perform a variety of motor tasks under this protocol.","PeriodicalId":191113,"journal":{"name":"2019 7th International Conference on Robotics and Mechatronics (ICRoM)","volume":"10 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":"114503654","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
RoboWalk Multiple-Sensor and Multipolar Data Fusion 机器人步行多传感器和多极数据融合
2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071834
Omid Mahdizadeh, Vahid Akbari, S. Ali, A. Moosavian
{"title":"RoboWalk Multiple-Sensor and Multipolar Data Fusion","authors":"Omid Mahdizadeh, Vahid Akbari, S. Ali, A. Moosavian","doi":"10.1109/ICRoM48714.2019.9071834","DOIUrl":"https://doi.org/10.1109/ICRoM48714.2019.9071834","url":null,"abstract":"RoboWalk is a two-legged rehabilitation assisting robot, which helps users by carrying a portion of the weight. In this paper, we propose an algorithm to correct the attitude and position error by means of an Adaptive Root Square Unscented Kalman Filter. To this end, the IMU and encoders are used to determine the robot kinematic configuration, but since there is no solid connection between the ground and the feet, the sensor's data may not lead to exact positioning configuration. Therefore, a new approach for estimating the position of the feet and the seat is presented. The method is based on using the standing foot IMU, and related encoders to obtain the seat position. Then, the obtained result is compared to the seat IMU and correcting the position. Next, the corrected position and the swing leg encoders are used to obtain the swing foot position, which is compared to the corresponding IMU, to modify and yield all corrected positions. Describing the proposed method, it is then implemented, and the results will be discussed.","PeriodicalId":191113,"journal":{"name":"2019 7th International Conference on Robotics and Mechatronics (ICRoM)","volume":"49 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":"121942590","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
Distributed formation control of a networked multi-robot system using estimation based event-trigger communication mechanism 基于估计的事件触发通信机制的网络化多机器人系统分布式编队控制
2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071824
Sayedhossein Mousavizadeh Kashipaz, A. M. Shahri
{"title":"Distributed formation control of a networked multi-robot system using estimation based event-trigger communication mechanism","authors":"Sayedhossein Mousavizadeh Kashipaz, A. M. Shahri","doi":"10.1109/ICRoM48714.2019.9071824","DOIUrl":"https://doi.org/10.1109/ICRoM48714.2019.9071824","url":null,"abstract":"This paper concerns with distributed formation control problem of a multi-robot system subject to limited communication resources and unknown but bounded process measurement noise. In this paper, an estimation-based event-trigger communication scheme is proposed, which uses an estimator on each robot to obtain whether the current measurement should be transmitted. Because of nonlinearity in robot models, non-Gaussian data transition and the ability to reduce the effects of process measurement noise, the extended Kalman filter is used as an estimator in this paper. The proposed event-triggered scheduling scheme provides a better communication rate than other existing ones. The formation is achieved in a distributed manner using estimated data on each robot which means the formation control strategy is not different from a time-based sampling technic.","PeriodicalId":191113,"journal":{"name":"2019 7th International Conference on Robotics and Mechatronics (ICRoM)","volume":"41 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":"117225489","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
Piezoelectric Cantilever Micro-accelerometer Sensitivity Enhancement using Uniform Stress Distribution 均匀应力分布增强压电悬臂微加速度计灵敏度
2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071906
M. Tahmasebipour, A. Vafaei, Mohammad Sangchap
{"title":"Piezoelectric Cantilever Micro-accelerometer Sensitivity Enhancement using Uniform Stress Distribution","authors":"M. Tahmasebipour, A. Vafaei, Mohammad Sangchap","doi":"10.1109/ICRoM48714.2019.9071906","DOIUrl":"https://doi.org/10.1109/ICRoM48714.2019.9071906","url":null,"abstract":"Nowadays, microelectromechanical (MEMS) accelerometers are diversely used in broad industrial fields due to their low power consumption as well as simple reading circuit and fabrication process. In this study, a MEMS-based piezoelectric microaccelerometer is presented with dramatically increased sensitivity that was achieved by creating a uniform stress distribution in its piezoelectric layer. As compared to other similar microaccelerometers, however, this microaccelerometer exhibits less cross-axis sensitivity. The frequency response and resonance modes of the proposed microaccelerometer were also studied, and its output characteristics determined. The Von Mises stress analysis showed that the proposed design does not fail within an acceleration range of ±45g. In addition, fatigue analysis showed that the proposed microaccelerometer was fatigue-proof when placed under a cyclic acceleration with an amplitude range of ±30g and was capable of withstanding more than 3 million cycles upon being exposed to an alternate acceleration with an amplitude range of ±45g.","PeriodicalId":191113,"journal":{"name":"2019 7th International Conference on Robotics and Mechatronics (ICRoM)","volume":"91 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":"122894856","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 Impedance Control for Dual User Haptic Training System 双用户触觉训练系统的鲁棒阻抗控制
2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071859
R. Heidari, M. Motaharifar, H. Taghirad
{"title":"Robust Impedance Control for Dual User Haptic Training System","authors":"R. Heidari, M. Motaharifar, H. Taghirad","doi":"10.1109/ICRoM48714.2019.9071859","DOIUrl":"https://doi.org/10.1109/ICRoM48714.2019.9071859","url":null,"abstract":"In this paper, an impedance controller with switching parameters for a dual-user haptic training system is introduced. The trainer and the trainee are connected through their haptic consoles, and the trainee performs the surgical procedure on the environment. The trainer can intervene in the procedure by pressing a mechanical pedal; thus, the control parameters are switched to transfer the authority over the task from the trainee to the trainer. The stability of each subsystem and the closed-loop stability of the overall system are investigated. The simulation results verify the performance of the proposed controller.","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":"132603834","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: 4
Agile Multi- Targeting Spacecraft Control Via Backstepping-Sliding mode Approach 基于后退-滑模方法的航天器敏捷多目标控制
2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071889
A. Kasiri, F. F. Saberi
{"title":"Agile Multi- Targeting Spacecraft Control Via Backstepping-Sliding mode Approach","authors":"A. Kasiri, F. F. Saberi","doi":"10.1109/ICRoM48714.2019.9071889","DOIUrl":"https://doi.org/10.1109/ICRoM48714.2019.9071889","url":null,"abstract":"Rapid multi-targeting attitude maneuver problem of agile small satellite has become a focus in recent years. Although the type, numbers, and configuration of actuators play an important role in the performance of attitude control system, importance of controller algorithm is not less. In this paper, we design a backstepping-sliding mode controller for a micro spacecraft equiped by 6 Pulse-Width Pulse-Modulation (PWPF) thrusters to achieve rapid maneuverability. Authors used the ideal backstepping method as the benchmark due to its ability to perform high pointing accuracy and robustness. Then the performance of the designed backstepping-sliding mode controller has been compared by ideal backstepping ones in both (i) smooth and (ii) sudden maneuvers case. Analysis of the simulation results proves the high pointing accuracy, great robustness, and rapid time response of backstepping-sliding mode controller to deal with rapid sudden maneuvers.","PeriodicalId":191113,"journal":{"name":"2019 7th International Conference on Robotics and Mechatronics (ICRoM)","volume":"47 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":"131738521","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
Implementation of an improved moment-based visual servoing controller on an industrial robot 一种改进的基于力矩的视觉伺服控制器在工业机器人上的实现
2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071911
Parisa Masnadi Khiabani, Javad Ramezanzadeh, H. Taghirad
{"title":"Implementation of an improved moment-based visual servoing controller on an industrial robot","authors":"Parisa Masnadi Khiabani, Javad Ramezanzadeh, H. Taghirad","doi":"10.1109/ICRoM48714.2019.9071911","DOIUrl":"https://doi.org/10.1109/ICRoM48714.2019.9071911","url":null,"abstract":"In this paper, robust nonlinear control of moment-based visual servoing has been proposed. Due to the nonlinear nature of system, proportional integral sliding mode controller could improve the performance and robustness of visual servoing. The proposed method not only increases domain of attraction even in extraneous image regions, but also it achieves convergence to the target point despite of uncertainties. The stability of the controller is analyzed by Lyapunov's theorem. Furthermore, Integrated control of 4 DOF camera motions in this work, drastically improves the accuracy in compare with the kernel-based sliding mode visual servoing [1]. Different experiments are done to demonstrate considerable performance improvements on 5 DOF industrial robot.","PeriodicalId":191113,"journal":{"name":"2019 7th International Conference on Robotics and Mechatronics (ICRoM)","volume":"91 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":"132338549","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
首页 上一页 下一页 尾页
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整，为了账户安全，请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
请完成安全验证×
相关产品
×
本文献相关产品
联系我们：info@booksci.cn Book学术提供免费学术资源搜索服务，方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号：604180095
Book学术官方微信