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2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM)最新文献

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Robust control of quadrotor system in the presence of disturbances and uncertainties: using a virtual control approach 存在干扰和不确定性的四旋翼系统鲁棒控制:采用虚拟控制方法
2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657548
M. Ahmadzadeh, M. Menhaj, M. Shamshirsaz
{"title":"Robust control of quadrotor system in the presence of disturbances and uncertainties: using a virtual control approach","authors":"M. Ahmadzadeh, M. Menhaj, M. Shamshirsaz","doi":"10.1109/ICROM.2018.8657548","DOIUrl":"https://doi.org/10.1109/ICROM.2018.8657548","url":null,"abstract":"The aim of the paper is to design a controller for a quadrotor robot in the presence of external disturbances and uncertainties in the system parameters in such a way that the robot tracks a commanded trajectory accurately. In our approach, the system model is divided into two subsystems, i.e. the under-actuated translational dynamics and the fully-actuated rotational dynamics. At the first step, to control the translational dynamics, we take advantage of a virtual controller, from which the commanded attitude and the thrust input is calculated. In the design of the virtual controller, we exploit an auxiliary system to deal with the under-actuation of the translational dynamics. A prior-bounded estimator is also exploited to counteract the effect of the translational disturbances. After that, a sliding mode controller is developed for the rotational dynamics to tackle the parametric uncertainty and external disturbances in the rotational dynamics. Using Lyapunov function theory, the overall stability of the proposed control scheme is assured. Finally, simulation results are presented to show the effectiveness of the proposed controller.","PeriodicalId":383818,"journal":{"name":"2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126017051","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
Trajectory Tracking Solution of a Robotic Arm Based on Optimized ANN 基于优化人工神经网络的机械臂轨迹跟踪方法
2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657567
S. Varedi-Koulaei, M. Mokhtari
{"title":"Trajectory Tracking Solution of a Robotic Arm Based on Optimized ANN","authors":"S. Varedi-Koulaei, M. Mokhtari","doi":"10.1109/ICROM.2018.8657567","DOIUrl":"https://doi.org/10.1109/ICROM.2018.8657567","url":null,"abstract":"the inverse kinematics solution of the serial robots has always been a challenge and needs complex calculations, while it's forward kinematics is easy. Therefore, a suitable and accurate manner for inverse kinematics problem (IKP) of the serial robots is very important due to different applications of trajectory planning of serial robots in many fields of robotics. In this paper, an optimized feed-forward artificial neural network (ANN) is applied to overcome the IKP of a planar arm with three-link, which is used to create desired trajectories in the two dimensional (2D) Cartesian space. The main target of this study is increasing the performance of the ANN using an optimization algorithm to find the best architecture of the network. Results show that the optimized network can manage the manipulator movements precisely to the desired position.","PeriodicalId":383818,"journal":{"name":"2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134262549","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
Kinematic and workspace analyses of a novel 4-dof parallel mechanism 一种新型四自由度并联机构的运动与工作空间分析
2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657564
S. Akhbari, Ahad Zare Jond, M. Mahboubkhah
{"title":"Kinematic and workspace analyses of a novel 4-dof parallel mechanism","authors":"S. Akhbari, Ahad Zare Jond, M. Mahboubkhah","doi":"10.1109/ICROM.2018.8657564","DOIUrl":"https://doi.org/10.1109/ICROM.2018.8657564","url":null,"abstract":"this research presents a novel asymmetrical four degree of freedom parallel kinematic machine tool with rotational capability around one of its horizontal axis, developed for milling processes. Mobility analysis is carried out via screw theory and kinematic analyses for position and velocity are done. Form obtained kinematic relationships, the Jacobian matrix is introduced and singularity analysis is carried out and global condition index indicating the dexterity of mechanism is obtained. Finally, the workspace is simulated considering the physical and kinematical constraints. Results, demonstrated the high capability of the proposed mechanism in dexterity and non-singular workspace, which makes the novel mechanism a fitting candidate for milling processes.","PeriodicalId":383818,"journal":{"name":"2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM)","volume":"322 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115755294","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
Power Line Detection and Tracking Using Hough Transform and Particle Filter 基于霍夫变换和粒子滤波的电力线检测与跟踪
2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657568
M. H. Nasseri, H. Moradi, S. Nasiri, R. Hosseini
{"title":"Power Line Detection and Tracking Using Hough Transform and Particle Filter","authors":"M. H. Nasseri, H. Moradi, S. Nasiri, R. Hosseini","doi":"10.1109/ICROM.2018.8657568","DOIUrl":"https://doi.org/10.1109/ICROM.2018.8657568","url":null,"abstract":"In this paper, a new method, based on particle filter approach, for detection and tracking of power lines using aerial video streams is presented. In the proposed algorithms, the gradient of image is computed using Sobel operator. Then an adaptive thresholding method is used to convert images to black and white to decrease the computation time. For detection and tracking of power lines, particle filter is used. The particles are defined in the Hough Space (ρ, θ). The particles’ weights are determined using the number of detected points on the corresponding line in the image. The proposed algorithm has been successfully tested offline on 100 frames of images taken from a power line using a UAV.","PeriodicalId":383818,"journal":{"name":"2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM)","volume":"122 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122420358","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: 13
Superiority of finite time SDRE and non-singular terminal SMC controller for n-DOF manipulators n-DOF机械臂有限时间SDRE和非奇异末端SMC控制器的优越性
2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657546
N. Y. Lademakhi, R. Shiri, A. H. Korayem, S. R. Nekoo, Z. Fazilati
{"title":"Superiority of finite time SDRE and non-singular terminal SMC controller for n-DOF manipulators","authors":"N. Y. Lademakhi, R. Shiri, A. H. Korayem, S. R. Nekoo, Z. Fazilati","doi":"10.1109/ICROM.2018.8657546","DOIUrl":"https://doi.org/10.1109/ICROM.2018.8657546","url":null,"abstract":"In this paper, a global non-singular terminal sliding mode (NTSM) controller is presented for a class of nonlinear dynamical systems with uncertainty parameters and external disturbances. In addition, it investigates finite-time state-dependent Riccati equation (FTSDRE) for time-varying systems with state and control nonlinearities. A finite-time constraint that has been imposed on the equation will consequently changes it to a differential equation and also strongly decreases state error and operation time. These two methods are both nonlinear with a systematic structure that enable user control systems for a wide range of applications, explicitly in control of manipulators and robots. Finite time state-dependent Riccati equation (FTSDRE) is one of the optimal nonlinear controllers, in which time can be given as input value. On the other hand, sliding mode control systems are robust to uncertainties and disturbance and are able to direct the states to desire portion perfectly. Also, to eliminate the effect of chattering which is a drawback to siding mode controller, hyperbolic tangent function is used. The formulation of both systems are presented and then a model for a five-DOF arm, ATLAS II ROBOT, are designed and then simulated for both methods and only then they are illustrated and discussed.","PeriodicalId":383818,"journal":{"name":"2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM)","volume":"71 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122622802","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
Design and Analysis of a Solar Linear Move Irrigation System 太阳能直线移动灌溉系统的设计与分析
2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657612
A. Ebrahimy, P. Zarafshan, S. R. Hassan-Beygi, M. Dehghani, S. Hashemy
{"title":"Design and Analysis of a Solar Linear Move Irrigation System","authors":"A. Ebrahimy, P. Zarafshan, S. R. Hassan-Beygi, M. Dehghani, S. Hashemy","doi":"10.1109/ICROM.2018.8657612","DOIUrl":"https://doi.org/10.1109/ICROM.2018.8657612","url":null,"abstract":"Solar Energy is the most popular renewable energy, which is available unlimitedly all around the globe. In many modern engineering devices, it is highly appreciated to harness the green solar energy, both since it is clean compared to fossil fuels, and since it is always accessible with no need to any external power line, specifically in field operations. Linear move irrigation systems continually need access to energy, while working in wide fields, for motion and water pumping. This paper presents design and analysis of a linear move irrigation system, which is fed by solar panels. The design of structure is introduced, the system dynamics is modeled by computer and the proper motor and solar energy systems are designed based on the model. Finally, the obtained results are discussed.","PeriodicalId":383818,"journal":{"name":"2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM)","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129709064","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: 3
Controllability Analysis of a Standing Bipedal Robot with Active Toe-Joints 站立双足主动脚趾关节机器人的可控性分析
2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657508
Ehsan Kouchak, A. Mokhtarian
{"title":"Controllability Analysis of a Standing Bipedal Robot with Active Toe-Joints","authors":"Ehsan Kouchak, A. Mokhtarian","doi":"10.1109/ICROM.2018.8657508","DOIUrl":"https://doi.org/10.1109/ICROM.2018.8657508","url":null,"abstract":"In this paper capability of a simplified bipedal robot model having active toe-joint to keep standing balance is investigated. The model consists of a rigid link as the upper body considering the ankle strategy for standing balance maintenance, and a foot, which contains two segments as heel link and toe link, hinged together at a toe joint. To ensure contact between foot and ground, COP constraints are defined and exerted to the dynamical equations. Applying constraints to the model, imposes bounds on the control torques of the joints. In this work, the joint torque bounds, which are important for control, are determined by numerical solution of equations. It is found that angular orientation and velocity of the upper body play a significant role in such allowed control torques. Accordingly, there exists a region in phase plane named controllable region beyond which constraints cannot be satisfied regardless of the control torques. The controllable regions are determined and plotted in phase plane.","PeriodicalId":383818,"journal":{"name":"2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125008355","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
THE EXPLICIT GIBBS-APPELL EQUATIONS of MOTION for RIGID-BODY CONSTRAINED MECHANICAL SYSTEM 刚体约束机械系统的显式GIBBS-APPELL运动方程
2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657637
S. M. Mirtaheri, H. Zohoor
{"title":"THE EXPLICIT GIBBS-APPELL EQUATIONS of MOTION for RIGID-BODY CONSTRAINED MECHANICAL SYSTEM","authors":"S. M. Mirtaheri, H. Zohoor","doi":"10.1109/ICROM.2018.8657637","DOIUrl":"https://doi.org/10.1109/ICROM.2018.8657637","url":null,"abstract":"The present paper aims to provide a direct formulation for rigid body dynamics in terms of quasi-velocities. The general form of explicit equations of motion was provided for mechanical systems subjected to holonomic and nonholonomic constraints by using Gibbs-Appell method. The proposed method aimed to select quasi-velocities which satisfy all constraint conditions, eliminate the Lagrange multipliers, and reduce the number of equations. This method was used in the presence of both holonomic and nonholonomic constraints. Finally, the suggested approach was employed to derive the equations of motion for a rolling disk as an illustrative example and compare the results with Udwadia-Kalaba method.","PeriodicalId":383818,"journal":{"name":"2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127834105","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: 11
Sliding Mode Observer for Uncertain Nonlinear Systems based on Generalized Lipschitz Condition 基于广义Lipschitz条件的不确定非线性系统滑模观测器
2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657595
Yosef Keshavarz Shirkadehi, Mohsen Ekramian, M. Ataei
{"title":"Sliding Mode Observer for Uncertain Nonlinear Systems based on Generalized Lipschitz Condition","authors":"Yosef Keshavarz Shirkadehi, Mohsen Ekramian, M. Ataei","doi":"10.1109/ICROM.2018.8657595","DOIUrl":"https://doi.org/10.1109/ICROM.2018.8657595","url":null,"abstract":"In this paper, a sliding mode observer for the class of Lipschitz nonlinear systems with uncertainty is proposed. The uncertainty is assumed to be bounded and the matching condition is first taken into account. The generalized Lipschitz condition is employed to consider some structural knowledge of Lipschitz nonlinearity. This yields less conservative results in stability analysis of proposed observer dynamics. The results are then extended to the unmatched uncertainty. Moreover, a synthesis method in terms of some linear matrix inequalities is established to achieve the proposed sliding mode observer. The simulation results on manipulator with revolute joints actuator are finally given to exhibit the effectiveness of the proposed observer and related synthesis method.","PeriodicalId":383818,"journal":{"name":"2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128852111","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
A novel upper-limb rehabilitation robot with 4 DOFs: Design and prototype 一种新型四自由度上肢康复机器人的设计与原型
2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657540
Siavash Sepahi, Arash Hashemi, Mohammad Jafari, M. Sharifi
{"title":"A novel upper-limb rehabilitation robot with 4 DOFs: Design and prototype","authors":"Siavash Sepahi, Arash Hashemi, Mohammad Jafari, M. Sharifi","doi":"10.1109/ICROM.2018.8657540","DOIUrl":"https://doi.org/10.1109/ICROM.2018.8657540","url":null,"abstract":"In recent years, robotic rehabilitation has been utilized in treatment and recovery of patients with disabilities. In this paper, a novel design and kinematic analysis of a 4-DOF robot for upper-limb rehabilitation are proposed. The main novelty of this design is its mechanism for wrist and fingers motions which is added to the shoulder and elbow mechanism without any noticeable weight increase in the moving parts of the robot. For this purpose, a cable driven mechanism is implemented at the robot end-effector to move the wrist and fingers parts, and the corresponding actuators are placed at the base of the robot.","PeriodicalId":383818,"journal":{"name":"2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115199676","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
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