2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM)最新文献_第9页

Two Layer Sliding Mode-Model Predictive Control Scheme For Image-guided Robotic Flexible Needle Steering 图像引导机器人柔性针转向的两层滑模模型预测控制方案

2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657581

Karim Davari Benam, H. Talebi, M. Khosravi

引用次数: 1

Proper Virtual LabVIEW™ Instrumentation Library for the Assisted Research in Robotics 适当的虚拟LabVIEW™仪器库在机器人辅助研究

2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657550

A. Olaru, S. Olaru, Niculae Mihai

{"title":"Proper Virtual LabVIEW™ Instrumentation Library for the Assisted Research in Robotics","authors":"A. Olaru, S. Olaru, Niculae Mihai","doi":"10.1109/ICROM.2018.8657550","DOIUrl":"https://doi.org/10.1109/ICROM.2018.8657550","url":null,"abstract":"The paper contents the LabVIEW library with instruments designed for the theoretical and experimental assisted research in Robotics. The library have more than 350 virtual instrumentation for the assisted kinematics, dynamics for the assisted structural design of some more important types of robots, for the animation of the movements of all robot's bodies. The created library will be used also for the animation of the robots in complex applications like serial, parallel, mixt configuration and also for the animation of the parallel structures. All mathematical models are in the matrix form and assure easily to obtain the information about the positions, angular and linear velocities in dual vectors form, linear and angular accelerations in dual vectors form, 6x6 matrix form for the forces- moments in all robot's joints. The designed library can be used in all analyze of the robots structures because it is general, with the possibility to combine many LabVIEW icons to obtain other instrumentation. One important part of this library is dedicated for the assisted research with data acquisition by using the specific data acquisition board from National Instruments for the assisted research of the dynamic behavior parameters and also for controlling, in a automation cycle, one didactical arm type robot with DC encoder motors and Geko drive controlling board. The presented methodology and the virtual instrumentation can be applied in all types of the robot's structures.","PeriodicalId":383818,"journal":{"name":"2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM)","volume":"12 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":"123717034","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

Push Recovery Methods Based on Admittance Control Strategies for a NAO-H25 Humanoid 基于导纳控制策略的NAO-H25人形机器人推恢复方法

2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657613

F. Mousavi, Mehdi Tale Masouleh, A. Kalhor, P. Ghassemi

{"title":"Push Recovery Methods Based on Admittance Control Strategies for a NAO-H25 Humanoid","authors":"F. Mousavi, Mehdi Tale Masouleh, A. Kalhor, P. Ghassemi","doi":"10.1109/ICROM.2018.8657613","DOIUrl":"https://doi.org/10.1109/ICROM.2018.8657613","url":null,"abstract":"This paper discusses two main investigations regarding push recovery of a NAO humanoid robot. The first part indicates the simulation results of different strategies retrieved from human behaviors, namely: Ankle, Hip, and Hip-ankle strategies. These methods are separately assessed and their efficiencies are discussed. To the end of converting torque parameter to robot’s movement with a reasonable approximation in the aforementioned strategies’ obtained models, a new approach, the so-called Virtual leg model, is introduced. The second discussion assesses the admittance control strategy, which relies on disturbances’ energy absorption. Individual control algorithms are introduced for each disturbances’ categories based on NAO’s real conditions. This paper proposes a new strategy, which investigates the influence of admittance control coefficients against external disturbances, by considering a virtual interaction between robot’s feet and the ground, and introducing a Kalman-filter-based estimator. All proposed methods are simulated in NAO-H25’s simulation environment.","PeriodicalId":383818,"journal":{"name":"2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM)","volume":"20 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":"114261923","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

IcRoM 2018 Authors Index IcRoM 2018作者索引

2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/icrom.2018.8657522

引用次数: 0

Robust Object Tracking Based on Recurrent Neural Networks 基于递归神经网络的鲁棒目标跟踪

2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657608

F. Lotfi, V. Ajallooeian, H. Taghirad

引用次数: 9

Simultaneous Stochastic Fault Detection and Consensus Control in Multi-Agent Systems 多智能体系统的同步随机故障检测与一致性控制

2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657552

A. Eslami, F. Abdollahi

引用次数: 1

Non-rigid Load Transportation by Multiple Quadrotors 多旋翼飞行器的非刚性载荷运输

2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657570

A. S. Aghdam, M. Menhaj, A. Suratgar

引用次数: 1

Modeling and Robust Control of Ballbot Robot with Improved Power Transfer Mechanism 基于改进动力传递机构的圆球机器人建模与鲁棒控制

2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657623

Shamim kordbacheh, K. Baghestan, Saeed shiri gheidary

{"title":"Modeling and Robust Control of Ballbot Robot with Improved Power Transfer Mechanism","authors":"Shamim kordbacheh, K. Baghestan, Saeed shiri gheidary","doi":"10.1109/ICROM.2018.8657623","DOIUrl":"https://doi.org/10.1109/ICROM.2018.8657623","url":null,"abstract":"In this paper, modeling and dynamic analysis and robust control of a Ballbot Robot are examined. Because these robots are under actuated, their control is more challenging than their counterparts, such as humanoid and Segway robots development of control theories for these robots is less taken into consideration and issues such as robust stability analysis less attention has been. One of the most significant issues in these robots is how to apply force to the ball. The omnidirectional wheels used in Ballbot have only one point of contact with the ball and practically limits the amount of force applied. To resolve this issue, students of Amirkabir University of Technology have designed a new omnidirectional wheel that increases the surface of the contact points of the ball and has caused more force on the ball before sliding and has improved the performance of the robot. For this reason, in this paper, taking into account the parametric uncertainty in dynamics, robust control algorithm is suggested. In addition, in order to show the performance of this controller, a PID controller is utilized to make a comparison. In the following, a robust stability analysis of linearization of the proposed control algorithm is undertaken based on Lyapunov’s theory and it is shown the closed loop system is robust with suitable selection of gains. In the end, by presenting the simulation results obtained from the applying of the proposed control algorithm on a Ballbot Robot, the performance of the proposed control algorithm is evaluated.","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":"130505691","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

Control of Quadrotors for Tracking and Landing on a Mobile Platform 四旋翼飞行器在移动平台上的跟踪与着陆控制

2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657527

A. Manzoori, G. Vossoughi

{"title":"Control of Quadrotors for Tracking and Landing on a Mobile Platform","authors":"A. Manzoori, G. Vossoughi","doi":"10.1109/ICROM.2018.8657527","DOIUrl":"https://doi.org/10.1109/ICROM.2018.8657527","url":null,"abstract":"Quadrotors have become very popular, both commercially and as research platforms. Numerous studies have been carried out on these aerial vehicles, covering different aspects of their dynamics and control. Many of the interesting applications of quadrotors arise when they are used as part of a cooperative robotic system, consisting of aerial and ground robots. Two essential steps toward realizing autonomous teams of aerial and ground robots are achieving position coordination between them, and autonomous landing of aerial robots on ground platforms. The goal of this paper is to tackle the problems of tracking and landing of an aerial robot on a mobile platform. Two approaches are presented for the control of a quadrotor with the purpose of tracking a mobile platform and landing on it while in motion. First, a sliding mode controller is proposed for the tracking application. The controller is then improved to an adaptive controller for the landing phase, taking into account an aerodynamic phenomenon known as the ground effect. Formal proof of stability is provided for both controllers using the Lyapunov stability theorem. Simulations are also conducted to assess the performance of the proposed control schemes, which demonstrate good tracking and landing behavior with realistic control action. The presented work was done as part of a bigger project aiming to develop a system consisting of two aerial and ground robots capable of coordinated tracking and landing.","PeriodicalId":383818,"journal":{"name":"2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM)","volume":"58 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":"134413436","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

Design of Adaptive-Robust Finite-Time Nonlinear Control Inputs for Uncertain Robot Manipulators 不确定机械臂的自适应鲁棒有限时间非线性控制输入设计

2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657600

A. Abooee, Fatemeh Sedghi, R. Dosthosseini

{"title":"Design of Adaptive-Robust Finite-Time Nonlinear Control Inputs for Uncertain Robot Manipulators","authors":"A. Abooee, Fatemeh Sedghi, R. Dosthosseini","doi":"10.1109/ICROM.2018.8657600","DOIUrl":"https://doi.org/10.1109/ICROM.2018.8657600","url":null,"abstract":"In this paper, an adaptive-robust finite-time trajectory tracking objective is studied for a wide group of n – degrees of freedom (n-DOF) robot manipulators subjected to parametric and modeling uncertainties and dead-zone input nonlinearities. By developing the nonsingular terminal sliding mode control (NTSMC) method, nonlinear input torques are designed. These suggested control inputs possess three major interconnected parts including innovative nonlinear sliding manifolds, reaching control laws, and finite-time nonlinear adaptation laws. It is mathematically proven the designed control inputs are able to ensure the global finite-time stability for the robot manipulator while its dynamic matrices are unknown and dead-zone nonlinearities exist in its joints. By exploiting the proposed input torques, all configuration variables of the robot precisely converge to the desired trajectories within an adjustable convergence finite time. Moreover, all estimations for unknown dynamical parameters exactly converge to constant values within the mentioned finite time. Finally, to illustrate the effectiveness of the designed control inputs, a numerical simulation is provided for a 2-DOF robot manipulator.","PeriodicalId":383818,"journal":{"name":"2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM)","volume":"53 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":"133938028","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