发布求助
文献互助 智能选刊 最新文献

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

筛选
英文 中文
Kinematics and Control of a 4-DOF Delta Parallel Manipulator 四自由度Delta并联机器人的运动学与控制
2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657618
Mehdi Azmoun, Ali Rouhollahi, M. T. Masouleh, A. Kalhor
{"title":"Kinematics and Control of a 4-DOF Delta Parallel Manipulator","authors":"Mehdi Azmoun, Ali Rouhollahi, M. T. Masouleh, A. Kalhor","doi":"10.1109/ICROM.2018.8657618","DOIUrl":"https://doi.org/10.1109/ICROM.2018.8657618","url":null,"abstract":"In this paper, the design, kinematic problem and control of a 4-DOF Delta parallel manipulator are investigated. Delta is a parallel manipulator which is widely used for pick-and-place applications. A simulation of this manipulator is designed in SimMechanic environment. The verification of the inverse kinematic problem has been done in simulation environment. Afterwards, different controllers like PID and Sliding-Mode based on the inverse kinematic problem are designed in simulation environment and their results are compared with each other. According to value of the root mean square error, PID controller exhibits better performance and tracked the desired path with less error compared to other controllers. Then the Sliding-Mode control is designed and based to the obtained results, leads to less chattering in tracking the desired path.","PeriodicalId":383818,"journal":{"name":"2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM)","volume":"90 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":"126018068","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: 6
A Dual-User Teleoperated Surgery Training Scheme Based on Virtual Fixture 一种基于虚拟夹具的双用户远程手术训练方案
2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657607
A. Iranfar, M. Motaharifar, H. Taghirad
{"title":"A Dual-User Teleoperated Surgery Training Scheme Based on Virtual Fixture","authors":"A. Iranfar, M. Motaharifar, H. Taghirad","doi":"10.1109/ICROM.2018.8657607","DOIUrl":"https://doi.org/10.1109/ICROM.2018.8657607","url":null,"abstract":"The widespread use of minimally invasive surgery (MIS) demands an appropriate framework to train novice surgeons (trainees) to perform MIS. One of the effective ways to establish a cooperative training system is to use virtual fixtures. In this paper, a guiding virtual fixture is proposed to correct the movements of the trainee according to trainer hand motion performing a real MIS surgery. The proposed training framework utilizes the position signals of trainer to modify incorrect movements of the trainee which leads to shaping the trainee’s muscle memory. Thus, after enough training sessions the trainee gains sufficient experience to perform the surgical task without any further help from the trainer. The passivity approach is utilized to analyze the stability of system. Simulation results are also presented to demonstrate the effectiveness of the proposed method.","PeriodicalId":383818,"journal":{"name":"2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM)","volume":"21 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":"125235962","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
Augmented Modeling of a Lower Limb Assistant Robot and Human Body 下肢辅助机器人与人体的增强建模
2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657541
S. Moosavian, Mohamad R. Mohamadi, Farshid Absalan
{"title":"Augmented Modeling of a Lower Limb Assistant Robot and Human Body","authors":"S. Moosavian, Mohamad R. Mohamadi, Farshid Absalan","doi":"10.1109/ICROM.2018.8657541","DOIUrl":"https://doi.org/10.1109/ICROM.2018.8657541","url":null,"abstract":"Rehabilitation robotics is nowadays one of the most attractive fields in robotics. This paper focuses on modeling of a lower limb walking assist device (RoboWalk), augmented with the human body. RoboWalk has been designed to assist either the elderly people or those with malfunctioning in lower limb to do their daily tasks. Modeling the assistive device augmented to human model is highly important for design improvements and controller developments. In such complicated cases, simulators are appropriate tools to analyze the dynamics of robotic devices and understand how the device works which leads to the system improvements. In this paper, a human model that is properly appended to the RoboWalk has been analyzed using the OpenSim software. The human model includes 37 degrees of freedom to define joint kinematics, 80 muscle units actuating the lower limbs, and 17 torque actuators driving the upper body. To this end, the robot has been first added to the human model, then constraints have been properly defined, finally simulation has been implemented by adding a specified gait to human model. Obtained results will be discussed which reveal a reasonable performance of the whole system.","PeriodicalId":383818,"journal":{"name":"2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM)","volume":"67 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":"126296092","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: 7
The Control of an Exoskeleton and The Reduction of Interaction Force Using Human Intent Detection by EMG Signals and Torque Estimation 基于肌电信号和转矩估计的外骨骼控制和人机交互力降低
2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657584
Amir Ghiasi Noughaby, G. Vossoughi
{"title":"The Control of an Exoskeleton and The Reduction of Interaction Force Using Human Intent Detection by EMG Signals and Torque Estimation","authors":"Amir Ghiasi Noughaby, G. Vossoughi","doi":"10.1109/ICROM.2018.8657584","DOIUrl":"https://doi.org/10.1109/ICROM.2018.8657584","url":null,"abstract":"Disability and motor disorders are some of the problems that people may face due to some factors such as accident, spinal cord injuries, brain damage, and the presence of a problem in neurological commands due to stroke. One of the proposed methods for solving the problems of these people is the use of exoskeletons to generate movement. The main goal of this paper is the control of Sharif Exoskeleton Robot and the reduction of interaction force between user and robot by using human intent detection. This goal is done by estimating the knee torque of one degree of freedom in a swing phase using Hill model based on the EMG data from the thigh muscles. Accordingly, the calibration algorithm is implemented in order to use Hill model and identify the parameters by genetic algorithm. The interaction force between the user and the robot is reduced by about 25% using Hill's torque to detect the intent; in addition, the torque required for moving the user's knee is reduced obviously.","PeriodicalId":383818,"journal":{"name":"2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM)","volume":"54 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":"132818682","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
Optimizing PID Controller Coefficients Using Fractional Order Based on Intelligent Optimization Algorithms for Quadcopter 基于分数阶智能优化算法的四轴飞行器PID控制器系数优化
2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657616
Reza Sedagheh Maskan Sadigh
{"title":"Optimizing PID Controller Coefficients Using Fractional Order Based on Intelligent Optimization Algorithms for Quadcopter","authors":"Reza Sedagheh Maskan Sadigh","doi":"10.1109/ICROM.2018.8657616","DOIUrl":"https://doi.org/10.1109/ICROM.2018.8657616","url":null,"abstract":"One of the main controllers in systems is PID controller, and setting the PID controller values using test and try is time-consuming and may not be accurate. On the other hand, due to higher flexibility and having more advantages of Fractional Order PID (FOPID) controller, in this paper, to reduce computational time and search efficiency, FO based on implementing Particle Swarm Optimization (PSO) algorithm is suggested to improve and optimize the PID control system in quadcopter as an Unmanned Aerial Vehicle (UAV). In addition, the settling time and peak of the system are improved by using FOPID. According to the results of the simulation, FO-PID has more advantages than PID and, finally, computer simulations will be used to prove and analyze the results.","PeriodicalId":383818,"journal":{"name":"2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM)","volume":"92 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":"131681530","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: 8
Automated Calibration of Planar Cable-Driven Parallel Manipulators by Reinforcement Learning in Joint-Space 基于关节空间强化学习的平面缆索驱动并联机器人自动标定
2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657644
M. M. Aref, J. Mattila
{"title":"Automated Calibration of Planar Cable-Driven Parallel Manipulators by Reinforcement Learning in Joint-Space","authors":"M. M. Aref, J. Mattila","doi":"10.1109/ICROM.2018.8657644","DOIUrl":"https://doi.org/10.1109/ICROM.2018.8657644","url":null,"abstract":"Benefiting from modularity, cable-driven parallel robots (CDPRs) are capable of being reconfigurable by changes in their attachment points and, therefore, significant changes in their kinematic structures. Due to their wide-range motion, measuring CDPRs’ fixed attachment points location can be limiting. This paper tackles the problem of identifying the manipulators’ geometry based on their interoceptive sensors by reinforcement learning. We propose using Jacobian matrix elements to map rewards and actions into joint space without the appearance of local minimums and multiple solutions of forward kinematics. Feasibility of this method is demonstrated by a planar redundant CDPR.Without an expensive tracking system, the robot is capable of autocalibration based on the cable length measurements (actuator feedback) and quantization factors of any configuration space, while keeping all the cables under tension force. For instance, if the workspace is discretized with a grid resolution of 1 cm, this algorithm is capable of reducing the initial error of 2.2 m, as low as 1 cm. Further extension of this method toward higher technology readiness levels can improve the possibility of commercializing these manipulators toward plug-and-play setups.","PeriodicalId":383818,"journal":{"name":"2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM)","volume":"95 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":"133615655","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
An Exprimental Modelling and Identification of Feed Drive Dynamics with Considering Variable Friction* 考虑变摩擦的进给传动动力学实验建模与辨识*
2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657561
Arman Beiranvand, A. Kalhor, M. T. Masouleh
{"title":"An Exprimental Modelling and Identification of Feed Drive Dynamics with Considering Variable Friction*","authors":"Arman Beiranvand, A. Kalhor, M. T. Masouleh","doi":"10.1109/ICROM.2018.8657561","DOIUrl":"https://doi.org/10.1109/ICROM.2018.8657561","url":null,"abstract":"Modeling and accurate identification of the robot dynamics have a direct effect on the implementation quality of control rules. The dynamics of the prismatic joints section, as a part of the robot structure, have a great impact on the overall system dynamics. In order to achieve a high precision dynamic model in the robots, it is important to identify the structure and parameters of the joint’s dynamic model. In this paper, the identification of the feed drive dynamical model as a prismatic joint of a 3-DOF linear independent parallel robot are investigated. Having in mind that friction modeling is an important-nonlinear component of the overall system model, a hybrid method is proposed which is able to identify variable friction parameters. The results of this identification are compared to experimental data obtained from the system. In addition, the results of the proposed method, are compared to the estimation of the friction parameters, which are obtained by the unbiase Least Square(LS) method. From the practical tests it can be inferred that the proposed hybrid method leads to a better output estimate error value.","PeriodicalId":383818,"journal":{"name":"2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM)","volume":"6 6","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114134854","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
Stabilization of Biped Trunk in the Presense of Hip Motion Disturbance Using a Fuzzy-PID Controller 基于模糊pid控制器的髋部运动干扰下双足躯干的稳定
2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657638
S. Amini, H. Moeenfard, A. Akbarzadeh
{"title":"Stabilization of Biped Trunk in the Presense of Hip Motion Disturbance Using a Fuzzy-PID Controller","authors":"S. Amini, H. Moeenfard, A. Akbarzadeh","doi":"10.1109/ICROM.2018.8657638","DOIUrl":"https://doi.org/10.1109/ICROM.2018.8657638","url":null,"abstract":"Analysis of human gait is demonstrated that the movement of the hip is constrained in a sinusoidal path. In this paper, biped trunk oscillation in the presence of hip motion disturbance is approximated by a nonlinear inverted pendulum model. Then, the Biped trunk by torque hip control is stabilized using Fuzzy-PID control technique. In the torque control system, PID gains can be adjusted online by the fuzzy logic in accordance to the variation of inputs to stabilize the oscillation angle of the trunk. In order to investigate the performance of the proposed controller, the simulation results are compared with PID Controller tuned on Ziegler-Nichols method. In addition to, the robustness of proposed controllers is investigated by imposing disturbance in process. It can be seen that proposed control method has fast response, low overshoot and error, better tracking performance and strong robustness.","PeriodicalId":383818,"journal":{"name":"2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM)","volume":"63 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":"115926256","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
ADAPTIVE-NONLINEAR H∞ HIERARCHICAL ALGORITHM FOR QUADROTOR POSITION TRACKING 四旋翼位置跟踪的自适应非线性h∞分层算法
2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657531
Fateme Rekabi, F. A. Shirazi, M. Sadigh
{"title":"ADAPTIVE-NONLINEAR H∞ HIERARCHICAL ALGORITHM FOR QUADROTOR POSITION TRACKING","authors":"Fateme Rekabi, F. A. Shirazi, M. Sadigh","doi":"10.1109/ICROM.2018.8657531","DOIUrl":"https://doi.org/10.1109/ICROM.2018.8657531","url":null,"abstract":"This paper presents a hierarchical structure to answer the path following problem for a quadrotor helicopter. The six degree-of-freedom (6-DoF) nonlinear dynamic model of the quadrotor is driven considering aerodynamic drag in both translational and rotational motions. The suggested control scheme consists of an adaptive algorithm to track the reference flight path in outer loop and a nonlinear H∞ policy attitude stabilization in the inner loop. Attitude controller algorithm consists of an integral action to attenuate constant disturbing effects from the system and makes steady-state errors as small as possible. Simulation results, in presence of atmospheric perturbations, are depicted to verify the effectiveness and robustness of the proposed algorithm. The closed-loop performance of the controller is also compared with nonlinear SMC behavior in presence of both deterministic and stochastic disturbances and parameter uncertainties.","PeriodicalId":383818,"journal":{"name":"2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM)","volume":"37 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":"114997262","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
IcRoM 2018 Papers
2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/icrom.2018.8657619
{"title":"IcRoM 2018 Papers","authors":"","doi":"10.1109/icrom.2018.8657619","DOIUrl":"https://doi.org/10.1109/icrom.2018.8657619","url":null,"abstract":"","PeriodicalId":383818,"journal":{"name":"2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM)","volume":"157 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":"123096729","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
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：481959085
Book学术官方微信