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检索条件"任意字段=3rd IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2018"

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icarm 2018 - 2018 3rd international conference on advanced robotics and mechatronics

ICARM 2018 - 2018 3rd International Conference on Advanced R...

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3rd ieee international conference on advanced robotics and mechatronics, icarm 2018

ISBN: (纸本)9781538670668

The proceedings contain 151 papers. The topics discussed include: accurate watch hand alignment based on robust control;follow a human using a mobile robot regardless of the walking speed;motion optimization of exoskeleton robot using SALSA;stroke-related difference in electromyographic signals using refined composite multiscale dispersion entropy-a case study;the motion modeling of ROV system using absolute nodal coordinate formulation;disturbance observer-based control of a flexible robot arm;a convolutional neural network based on double-tower structure for underwater terrain classification;autonomous stairs ascending and descending algorithm for tri-star wheeled robot;and study of a brain-controlled switch during motor imagery.

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Tip Localization Analysis for Mobile Manipulator in Construction Field 3

Tip Localization Analysis for Mobile Manipulator in Construc...

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3rd ieee international conference on advanced robotics and mechatronics (icarm)

作者： Guo, Shuai Li, Shenyang Song, Tao Wei, Bangguo Shanghai Univ Shanghai Key Lab Intelligent Mfg & Robot Shanghai Peoples R China

ISBN: (纸本)9781538670668

For the requirements of automation, especially robot-based automation in the domain of construction, a mobile manipulator for the application on construction sites in semi structured environment is presented in this paper. The kinematics of each component of the system is analyzed. In two different cases, sensor fusion method and hybrid force position control method are presented to implement the tip localization of the mobile manipulator. The experiment shows that the studied mobile manipulator can accomplish the on-site work discussed in this paper.

关键词： construction robotics mobile manipulator tip localization

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Modelling and Control of a Dielectric Elastomer Actuator 3

Modelling and Control of a Dielectric Elastomer Actuator

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3rd ieee international conference on advanced robotics and mechatronics (icarm)

作者： Liang, Wenyu Cao, Jiawei Ren, Qinyuan Natl Univ Singapore Dept Elect & Comp Engn Singapore Singapore Natl Univ Singapore Dept Mech Engn Singapore Singapore Zhejiang Univ Coll Control Sci & Engn Hangzhou Zhejiang Peoples R China

ISBN: (纸本)9781538670668

Dielectric elastomer actuators (DEAs) stick out among explored soft, actuators due to their advantages of large deformation, high energy density, fast response and low cost. However, DEAs still are far away from robotic practical applications because of the difficulty of the actuation control. This paper presents a novel control approach for control a 3D DEA control. The fabrication of the proposed soft actuator is introduced and the dynamics of the DEA is analyzed via several experiments. Furthermore, a bio-inspired cerebellum nonlinear controller for achieving accurate movements of the DEAs are designed and analyzed. Finally, the simulation and experiments have been carried out for the developed system validation.

关键词： Actuators Force Brain modeling Three-dimensional displays Soft robotics mechatronics

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Robot Manipulators Control with Parameters Adaptation and State Estimation 3

Robot Manipulators Control with Parameters Adaptation and St...

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3rd ieee international conference on advanced robotics and mechatronics (icarm)

作者： Ye, Wenjun Aghili, Farhad Concordia Univ Dept Mech Ind & Aerosp Engn 1455 Maisonneuve Blvd W Montreal PQ H3G 1M8 Canada CSA Space Explorat St Hubert PQ J3Y 8Y9 Canada

ISBN: (纸本)9781538670668

Robot manipulator control considering parameter uncertainty and velocity estimation is address in this paper. An adaptive controller using state estimation feedback is provided in this paper, which can adapt the dynamic parameters and estimate the velocity with imprecise system model simultaneously. The stability of the proposed controller is discussed and a 2-links robot manipulator is adopted as an example to illustrate and validate the provided control scheme. In the simulation, all the observer performance, parameter adaptation, and the trajectory tracking are validated.

关键词： Observers System dynamics Estimation error Adaptation models Manipulator dynamics

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Maximizing Robot Manipulator's Functional Redundancy via Sequential Informed Optimization 3

Maximizing Robot Manipulator's Functional Redundancy via Seq...

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3rd ieee international conference on advanced robotics and mechatronics (icarm)

作者： Dharmawan, Audelia G. Padmanathan, Suhasini Xiong, Yi Ituarte, Inigo F. Foong, Shaohui Soh, Gim Song Singapore Univ Technol & Design Engn Prod Dev Pillar 8 Somapah Rd Singapore 487372 Singapore

ISBN: (纸本)9781538670668

This paper proposes Sequential Informed Optimization (SIO) method, a computationally-efficient approach for a globally-optimal task-constrained motion planning. It builds upon the idea of using the knowledge of the preceding robot's task and globally-optimum configuration as the intellectual initial guess to guide and plan for the subsequent robot's motion. The proposed approach can be used with any standard constrained nonlinear optimization method. The abilities of the method to plan the globally-optimum motion for a functionally-redundant manipulator, i.e. robot executing 'soft' task constraints, are demonstrated in the numerical simulations.

关键词： Task analysis Planning Robot kinematics End effectors Cost function

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Stair-climbing Auxiliary Device with Self-adaption 3

Stair-climbing Auxiliary Device with Self-adaption

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3rd ieee international conference on advanced robotics and mechatronics (icarm)

作者： Li, Jingxuan Shi, Junyi Zha, Fusheng Harbin Inst Technol State Key Lab Robot & Syst Harbin Heilongjiang Peoples R China Lanzhou Univ Technol Coll Mechanoelect Engn Lanzhou Gansu Peoples R China

ISBN: (纸本)9781538670668

With the aging of the population becoming more and more serious, it is necessary to design a device to reduce the risk of low-back injury during stair-climbing process. Most of the existing devices maybe inferior in case the application scenario lacks space, so a more compact and user-friendly device is needed. A power-assisting device is introduced to support elder people lacking in physical strength during stair-climbing process. This study presents a new device suitable for daily application. Firstly, the structure of the device is presented and tested in simulation environment. Then, an adaptive controlling algorithm is developed to keep the output in accordance with motion pattern of the user. Finally, the robustness of the algorithm is verified through simulation.

关键词： Dynamics Exoskeleton robotics Stair-climbing

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Implementation of a Novel Optimal PID Methods in UAV Applications 3

Implementation of a Novel Optimal PID Methods in UAV Applica...

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3rd ieee international conference on advanced robotics and mechatronics, icarm 2018

作者： Safwan, Shamma Bin Alkhoori, Fatima Zweiri, Yahya Sahinkaya, M. Necip Emirates Technology and Innovation Center Khalifa University of Science and Technology Abu Dhabi127788 United Arab Emirates Faculty of Science Engineering and Computing Kingston University London LondonSW15 3DW United Kingdom

ISBN: (纸本)9781538670668

In this paper, a novel analytical tuning methodology for PID gains, based on Linear Quadratic Regulator (LQR) optimal control, for linear systems is developed. The proposed methodology uses once LQR in order to obtain different PID configurations (P, PI, PD, PID). The effectiveness and the applicability of the proposed methodology are demonstrated under different control scenarios in simulation using a quad-copter Unmanned Aerial Vehicle (UAV). The results of this methodology show good control response measures. Moreover, the computational time of (lqr) Matlab built-in function is compared against Riccati solution using invariant subspace approach. The later requires less computational time. © 2018 ieee.

关键词： Linear systems

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Multi-objective routing of multi-terminal rectilinear pipe in 3D space by MOEA/D and RSMT 3

Multi-objective routing of multi-terminal rectilinear pipe i...

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3rd ieee international conference on advanced robotics and mechatronics (icarm)

作者： Liu, Lijia Liu, Qiang Liaoning Shihua Univ Sch Informat & Control Engn Fushun Peoples R China

ISBN: (纸本)9781538670668

Pipe routing generally exist as various subproblems such as two-terminal pipe routing, branch pipe routing, single-objective routing and multi-objective routing. In this paper, the 3D branch routing graph is established by using the rectilinear steiner minimal tree (RSMT) theory. In order to solve the model, multi-objective evolutionary algorithm based on decomposition (MOEA/D) is applied to search the final routing optimal solutions. The pipe length, the number of branch points, the energy value and pipe bends are selected as routing objective. Using the energy value to reduce the number of nodes on the Escape Graph, and the program running time is reduced to 1/3. Particularly, when some model parameters are set as specified values, the model becomes some special sub-problems, and the proposed routing algorithm is still available. Finally, some numerical calculations are performed on a 3D routing model, which demonstrate the effectiveness of the proposed method.

关键词： Branch pipe Multi-objective Obstacle avoidance MOEA/D RSMT

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Stiffness modeling and performance evaluation of 2(3HUS+S) parallel manipulator 3

Stiffness modeling and performance evaluation of 2(3HUS+S) p...

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3rd ieee international conference on advanced robotics and mechatronics (icarm)

作者： Zhang, Huizhen Cheng, Gang Chen, Shibiao Guo, Feng Shan, Xianlei Chino Univ Min & Technol Sch Mechatron Engn Xuzhou Jiangsu Peoples R China

ISBN: (纸本)9781538670668

This paper discusses the stiffness characteristic of a 2(3HUS+S) parallel manipulator. This manipulator can he applied to hip joint motion and simulate two hip joints in the same time. The stiffness of the manipulator components is given by Hooke's law, and the global stiffness matrix model is established based on the virtual work principle and the Principle of deformation superposition. The local and global stiffness characteristic evaluation indexes are defined. In the workspace of the manipulator, a numerical simulation of stiffness is conducted using MATLAB. The stiffness characteristic of this manipulator is assessed by analyzing the influence of the attitude parameters and structural parameters on the stiffness indexes. Finally, the structural deformation of the virtual prototype of the manipulator is analyzed under several typical attitudes using ANSYS Workbench. The experiment results from the virtual prototype are compared with those from the numerical simulation, and the analysis result verifies the Validity and correctness of the stiffness model and indexes of the 2(3HUS+S) parallel manipulator.

关键词： 2(3HUS+S) parallel manipulator stiffness model performance evaluation virtual experiment

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Torque Tracking Impedance Control for a 3DOF Lower Limb Rehabilitation Robot 3

Torque Tracking Impedance Control for a 3DOF Lower Limb Reha...

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3rd ieee international conference on advanced robotics and mechatronics (icarm)

作者： Shen, Zhihang Zhou, Jie Gao, Jinwu Song, Rong Sun Yat Sen Univ Dept Engn Key Lab Sensing Technol & Biomed Instrument Guang Guangzhou Guangdong Peoples R China Jilin Univ Dept Control Sci & Engn Changchun Jilin Peoples R China Sun Yat Sen Univ Dept Engn Guangdong Prov Engn & Technol Ctr Adv & Portable Guangzhou Guangdong Peoples R China

ISBN: (纸本)9781538670668

This paper presents a torque tracking impedance control strategy for a lower limb rehabilitation robot (LLRR) with three joints, hip, knee and ankle. The strategy allows the human-robot system to track a desired interaction torque. To track the desired torque, the robot reference trajectory and actuator torque are designed properly based on the torque tracking impedance control. A constant torque tracking experiment performed on a healthy male subject has shown that the maximum normalized root mean square deviation (NRMSD) of each joint is less than 32%. It indicates that the control strategy is feasible and the LLRR is capable of providing stroke patients with active rehabilitation training.

关键词： Torque Impedance Robots Mathematical model Trajectory Actuators Training

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