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Modeling of Violin Playing robot Arm with MATLAB/SIMULINK 4th

Modeling of Violin Playing Robot Arm with MATLAB/SIMULINK

引用

4th international conference on robot intelligence technology and applications (RiTA)

作者： Yura, Jargalbaatar Oyun-Erdene, Mandakh Byambasuren, Bat-Erdene Kim, Donghan Kyung Hee Univ Dept Elect & Radio Engn Seoul South Korea Mongolian Univ Sci & Technol Sch Power Engn Dept Elect Tech Ulaanbaatar Mongolia

ISBN: (纸本)9783319312934;9783319312910

In this research, we consider modeling of violin playing robot arm. MATLAB/SIMULINK are used for modeling of robot arm with seven degrees of freedom is considered, which is flexible than previously used robot arms with 6 joint for violin playing. Also, previous robot system which used Mitsubishi industrial robot arm (RV-2SD) is updated. In this model, torque, current consumption and voltage of each joint can be measured. Dynamixel-Pro from robotis Co., Ltd. is used for the joints. This robot arm with seven joint has same range of movement (RoM) with human. This makes our designed robot good at violin playing. This paper presents basic violin playing technique, 3D modeling using Solidworks software, PID control system of servo motor using MATLAB/SimMechanics tool, and physical system of servo motor.

关键词： Violin playing robot robot arm Servo motor PID control Human-robot interaction

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Off-Line Programmed Error Compensation of an Industrial robot in Ship Hull Welding 10th

Off-Line Programmed Error Compensation of an Industrial Robo...

引用

10th international conference on Intelligent robotics and applications (ICIRA

作者： Wu, Guanglei Wang, Delun Dong, Huimin Dalian Univ Technol Sch Mech Engn Dalian 116024 Peoples R China

ISBN: (纸本)9783319652924;9783319652917

This paper presents the compliance modeling and error compensation for an industrial robot in the application of ship hull welding. The Cartesian stiffness matrix is derived using the virtual-spring approach, which takes the actuation and structural stiffness, arm gravity and external loads into account. Based on the developed stiffness model, a method to compensate the compliance error is introduced, being illustrated with an industrial robot along a welding trajectory. The results show that this compensation method can effectively improve the robot's operational accuracy, allowing the actual trajectory of the robot with auxiliary loads to coincide with the target one approximately.

关键词： Industrial robot Hull welding Kinetostatics Gravity effect Error compensation

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Implementation and Control of a Bistable Two-Wheeled Inverted Pendulum-Type Mobile robot 4th

Implementation and Control of a Bistable Two-Wheeled Inverte...

引用

4th international conference on robot intelligence technology and applications (RiTA)

作者： Jung, Kwangyik Kim, Byung Kook Myung, Hyun Korea Adv Inst Sci & Technol Dept Civil & Environm Engn Daejeon 305701 South Korea Korea Adv Inst Sci & Technol Dept Elect Engn Daejeon 305701 South Korea

ISBN: (纸本)9783319312934;9783319312910

In the past decade, there have been a lot of researches on various models and controllers for two-wheeled inverted pendulum-type mobile robots. Two-wheeled inverted pendulum-type mobile robots are suitable for the service robots working both in the indoor and outdoor environments. In this paper, a bistable two-wheeled mobile robot which can tilt up and down (B-TMR) is designed and implemented. The B-TMR remedies the weak points of two-wheeled inverted pendulum-type mobile robots. The robot body is designed to maintain balancing state and tilted state. Cost efficiency is improved by using a single accelerometer with a Butterworth filter in order to measure inclined angle. To control five motion modes (Mode 1-Balancing;Mode 2-Tilt Up;Mode 3-Tilt Down;Mode 4-Tilted Move;Mode 5 - Balancing Move), a mode-selective controller is proposed. Through various experiments, the proposed hardware and controller are validated.

关键词： Inverted pendulum Accelerometer Butterworth filter PID control

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Web-Based Human robot Interaction via Live Video Streaming and Voice 10th

Web-Based Human Robot Interaction via Live Video Streaming a...

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10th international conference on Intelligent robotics and applications (ICIRA

作者： Shi, Jiahui Ma, Hongbin Zhao, Jialiang Liu, Yunxuan Beijing Inst Technol Sch Automat Beijing 100081 Peoples R China

ISBN: (纸本)9783319652894;9783319652887

Human-robot interaction (HRI) becomes one of the new technology coming into people's sight in recent years. A natural way to interact with robots is crucial in creating more intelligent robots. This paper shows a novel way to control and communicate with robots by monitoring live video captured from camera and doing voice interaction on web. Control commands from web are sent to control robots via robot Operating System (ROS). The HRI process relies totally on web, users can interact with robots as long as they can connect to the wi-fi shared by robots.

关键词： Human-robot interaction Web Live video streaming Voice interaction robot operating system

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Porting Experiment of robotic Machining Application Using ORiN SDK and Design of 3D Printer-Like Interface 4th

Porting Experiment of Robotic Machining Application Using OR...

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4th international conference on robot intelligence technology and applications (RiTA)

作者： Nagata, Fusaomi Hayashi, Shohei Yoshimoto, Shingo Otsuka, Akimasa Watanabe, Keigo Habib, Maki K. Tokyo Univ Sci Yamaguchi Japan COSMOS Pharmaceut Corp Fukuoka Japan Okayama Univ Okayama Japan Amer Univ Cairo Cairo Egypt

ISBN: (纸本)9783319312934;9783319312910

Up to now, industrial robots with an open architecture have been applied to several tasks requiring high skills such as machining, sanding, and polishing. As one of the notable results, the open architecture allows system engineers at user side to design a feedback control system to develop robotic applications. However, porting of an application software into different makers' industrial robots is not easy even though having an open architecture, because the specifications of interface between PC-based controllers and robots are not standardized yet. In this paper, easy transplantation of a robotic application is tried by using ORiN (Open robot/Resource interface for the Network) middleware interface. The application is the trajectory-following controller with vibrational motion used in a machining robot. First, the removability of undesirable cusp marks on a flat surface is examined through machining experiments. Then, portability of the controller into a small-sized educational robot VE026A with ORiN SDK (Software Development Kit) is evaluated on a simulation environment called WINCAPS III. Finally, a 3D printer-like interface is proposed for the machining robot to be controlled based on STL data. The design, implementation, and experimental results are presented.

关键词： Industrial robots

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3D mapping of multi-floor buildings based on sensor fusion 3

3D mapping of multi-floor buildings based on sensor fusion

引用

3rd international conference on Industrial Informatics - Computing technology, Intelligent technology, Industrial Information Integration, ICIICII 2017

作者： Fan, Zhun Li, Chong Wang, Yupeng Zhao, Lei Yao, Li Zhu, Guijie Li, Zhongxing Xie, Honghui Xiao, Yang Department of Electronic Engineering Shantou University Guangdong ShanTou515063 China

ISBN: (纸本)9781538624340

In this paper, we design a highly accurate method for 3D mapping of multi-floor buildings. The basic idea is to combine the laser range sensor for metric mapping and barometric pressure sensor for detecting floor transition and kinect sensor for collection 3D environment information. Meanwhile, we adopt the Monte Carlo localization in 2D map to improve the accuracy of the localization. Finally, the barometric pressure is used to merge the 3D map of the multi-floor buildings. By using the information collected by a real robot in a typical multi-floor environment, the method is tested and compared with some other approaches, the results show that the method is efficient and has a better result in 3D mapping of multi-floor buildings. © 2017 IEEE.

关键词： Atmospheric pressure

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Adaptive Control for Directional Drilling Systems with Delay and Parameter Uncertainty 4th

Adaptive Control for Directional Drilling Systems with Delay...

引用

4th international conference on robot intelligence technology and applications (RiTA)

作者： Koesdwiady, Arief B. Elferik, Sami Karray, Fakhri Univ Waterloo Ctr Pattern Anal & Machine Intelligence Waterloo ON Canada King Fahd Univ Petr & Minerals Dept Syst Engn Dhahran Saudi Arabia

ISBN: (纸本)9783319312934;9783319312910

In this paper, an adaptive tracking control of a directional drilling system subject to state delays and parameter uncertainties is investigated. The Explicit Force, Finitely Sharp, ZeroMass (EFFSZM) system is used to represent a directional drilling system. Invariance and Immersion (I&I) adaptive control approach is used to ensure the EFFSZM system to follow a set of predefined path autonomously. The performance of the proposed approach is compared to the one L-1 adaptive control under the identical condition. To observe and validate the performance of the proposed approach, several simulation scenarios are conducted. The results show that both the controllers are able to stabilize the system in the presence of parameter uncertainties while maintaining the trajectory tracking error minimum.

关键词： Adaptive control Directional drilling Uncertain systems

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Multi-robot Task Allocation Using Clustering Method 4th

Multi-robot Task Allocation Using Clustering Method

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4th international conference on robot intelligence technology and applications (RiTA)

作者： Janati, Farzam Abdollahi, Farzaneh Ghidary, Saeed Shiry Jannatifar, Masoumeh Baltes, Jacky Sadeghnejad, Soroush Amirkabir Univ Technol Inst Robot 424 Hafez Ave Tehran Iran Amirkabir Univ Technol Dept Elect Engn 424 Hafez Ave Tehran Iran Amirkabir Univ Technol Dept Comp Engn & Informat Technol 424 Hafez Ave Tehran Iran Univ Manitoba Winnipeg MB R3T 2N2 Canada

ISBN: (纸本)9783319312934;9783319312910

This paper introduces an approach to solve the task assignment problem for a large number of tasks and robots in an efficient time. This method reduces the size of the state space explored by partitioning the tasks to the number of robotic agents. The proposed method is divided into three stages: first the tasks are partitioned to the number of robots, then robots are being assigned to the clusters optimally, and finally a task assignment algorithm is executed individually at each cluster. Two methods are adopted to solve the task assignment at each cluster, a genetic algorithm and an imitation learning algorithm. To verify the performance of the proposed approach, several numerical simulations are performed. Our empirical evaluation shows that clustering leads to great savings in runtime (up to a factor of 50), while maintaining the quality of the solution.

关键词： Multi-agent Task assignment Clustering Genetic algorithm Imitation learning

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Bayesian Test with Quadratic Criterion for Multiple Hypothesis Testing Problem 3

Bayesian Test with Quadratic Criterion for Multiple Hypothes...

引用

3rd international conference on Industrial Informatics - Computing technology, Intelligent technology, Industrial Information Integration, ICIICII 2017

作者： Zhang, Jian Fillatre, Lionel Nikiforov, Igor School of Automation Wuhan University of Technology Wuhan China I3S Laboratory University Nice Sophia-Antipolis Nice France LM2S ICD University of Technology of Troyes Troyes France

ISBN: (纸本)9781538624340

A Bayesian test has been previously proposed for a multiple hypothesis testing (MHT) problem with a quadratic loss function such that this problem can fit with some real applications where the concurrent hypotheses should be distinguished. However, this MHT problem as well as this quadratic loss function are insufficient for some other applications such as the simultaneous intrusion detection and localization in a wireless sensor network (WSN). This kind of applications could be considered as a MHT problem with null hypothesis. Therefore, a Bayesian test with a modified quadratic loss function is proposed to solve this MHT problem. The non-asymptotic bounds for analyzing the performance of the proposed test and the Bayesian test with the 0-1 loss function are obtained, from which the conditional asymptotic equivalence between these two tests is then theoretically established. The effectiveness of these bounds and the analysis on the conditional asymptotic equivalence are verified by the simulation results. © 2017 IEEE.

关键词： Intrusion detection

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Dynamic Identification for Industrial robot Manipulators Based on Glowworm Optimization Algorithm 10th

Dynamic Identification for Industrial Robot Manipulators Bas...

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10th international conference on Intelligent robotics and applications (ICIRA

作者： Ding, Li Shan, Wentao Zhou, Chuan Xi, Wanqiang Jiangsu Univ Technol Coll Mech Engn Changzhou 213001 Peoples R China Jiangsu Univ Technol Sch Business Changzhou 213001 Peoples R China Nanjing Univ Aeronaut & Astronaut Coll Mech & Elect Engn Nanjing 210016 Peoples R China

ISBN: (纸本)9783319652924;9783319652917

Dynamical identification methods for the industrial robot manipulators are widely and successfully applied to obtain a model that is suitable for controller design. In this paper, the dynamical model of robot was obtained by Newton-Euler method and linearized by a particular approach. A novel glowworm swarm optimization algorithm was introduced to estimate the unknown parameters. The algorithm had been coded in the popular Matlab environment and the procedure was tested in a practical case research to identify the dynamical model of a six degree-of-freedom industrial robot. The results of the identification experiment showed the efficiency of the proposed algorithm.

关键词： Industrial robot manipulators Dynamical identification Glowworm swarm optimization Identification experiment

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