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检索条件"任意字段=3rd International Conference on Robotics and Control Engineering, RobCE 2023"

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Autonomous Trajectory control for Limited Number of Aerial Platforms in RF Source Localization

Autonomous Trajectory Control for Limited Number of Aerial P...

引用

RSI/ISM international conference on robotics and Mechatronics

作者： Seyyed Ali Asghar Shahidian Hadi Soltanizadeh Department of Electrical and Computer Engineering Semnan University Semnan Iran

ISBN: (纸本)9781467372350

In this paper, an autonomous trajectory control is presented for minimum number of Unmanned Aerial Vehicles (UAVs) equipped with Received Signal Strength (RSS) sensors to localize a stationary Radio Frequency (RF) source. The RSS at each UAV is observed in specified time intervals. Due to the nonlinear observations the location of the source is estimated using the Extended Kalman Filter (EKF). The objective is to determine the waypoints for the UAVs that minimize the source location uncertainty. The waypoint updates are achieved from an iterative normalized gradient descent optimization algorithm. The UAV waypoints are determined by optimizing a cost function involving the mean-square error of filtered target position estimates produced by the extended Kalman filter. The effectiveness of the approach is depicted through simulation examples.

关键词： Received Signal Strength Indicator (RSSI) Extended Kalman Filter (EKF) gradient-descent optimization Trajectory control Target position estimates

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Development of a Self-Powered Speed Sensor for Drilling Tools with Multiple Friction Belts

Development of a Self-Powered Speed Sensor for Drilling Tool...

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Computer Science, Electronic Information engineering and Intelligent control Technology (CEI), IEEE international conference on

作者： Hairui Wei Chuan Wu Chao Wang Yutao Shao Zhitong Zhu Guang Liu Minghao Jia Technology Innovation Center for Directional Drilling Engineering Ministry of Natural Resources Langfang China Faculty of Mechanical and Electronic Information China University of Geosciences (Wuhan) Wuhan China

ISBN: (数字)9798350372052

ISBN: (纸本)9798350372069

Drilling is a technique that uses drilling tools to drill holes from the surface to the underground, and it is an important means of mining solid minerals and oil and gas resources. Whether it is a screw drill or a turbine drill, the rotational speed is key data to determine the operating status of the drilling tool and the downhole conditions, so it is necessary to measure the rotational speed of the drilling tool in real-time. In this paper, a multi-friction belt drill speed sensor based on a triboelectric nanogenerator was developed. Its design is a parallel structure of multiple friction belts, and any one of the friction belts can independently measure the speed and generate electricity, thus having high power generation performance. Through the sensor performance test, it is found that the sensitivity of the speed sensor is 0.0167 Hz/rpm, the linearity is 2.7 % , and the maximum relative error is 3.6%. By analyzing the output relationship of the sensor under different friction belts, it was found that the maximum output voltage of the speed sensor in a single friction belt structure is 18 V, the maximum output current is 1.5 uA, and the maximum output power of 12 uW is obtained when connected to an external $\mathbf{2.8}\times \mathbf{10}^{\mathbf{7}}\mathbf{\Omega}$ . The output voltage of the multi-friction belt (n) drill speed sensor is consistent with that of the friction belt structure, while the output current and power are $\mathbf{n}$ times that of the single friction belt structure. The sensor can maintain a high voltage output even in high-temperature and high-pressure environments, which can meet the needs of deep well speed monitoring.

关键词： Drilling Sensitivity Friction Velocity control Linearity Belts Velocity measurement

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Design and Performance Analysis of a Transparent Force control Strategy for an Exoskeleton

Design and Performance Analysis of a Transparent Force Contr...

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RSI/ISM international conference on robotics and Mechatronics

作者： Amirreza Rashidi Ahmad Zibafar Reza Khezrian Gholamreza Vossoughi Center of Excellence in Design Robotics and Automation (CEDRA) Biomechatronics Lab. Department of Mechanical Engineering Sharif University of Technology Tehran Iran

ISBN: (纸本)9781467372350

Exoskeleton robots are developed for human rehabilitation and power augmentation. Human and robot interaction is an important issue involved with these robots. In this paper, the interaction force reduction is considered leading to the transparency of a lower limb exoskeleton during swing phase of walking. Achieving this goal, a robust Lyapunov based motion control method has been developed. The desired reference signals for motion control are generated using a direct force control approach. Robot accelerations are estimated by an observer to be employed in the control loop. An adaptation procedure has been proposed for the bound estimation of uncertainties. As part of assumptions, the interaction between the robot and human is modeled by a spring-damper set which is reasonably accurate for swing phase. The prototyped exoskeleton parameters have been used for more accurate robot modeling. Finally, the simulation results are presented, indicating good performance of the proposed robot control strategy for a transparent human tracking.

关键词： Exoskeleton Robot Transparency Adaptive Robust control Direct Force control Interaction Force

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BTS7960 Motor Drive: Precision Speed Modulation for PMDC Motors

BTS7960 Motor Drive: Precision Speed Modulation for PMDC Mot...

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Advancement in Technology (ICONAT), international conference for

作者： Vilas Bugade Pritam Chougale Pranav Katkar Sakshi Lavhate Abhaysinh Bhosale Marathwada Mitra Mandals College of Engineering Pune Maharashtra India KIT’s College of Engineering Kolhapur Maharashtra India

ISBN: (数字)9798350354171

ISBN: (纸本)9798350354188

This research introduces a control system tailored for Permanent Magnet DC (PMDC) motors. The project encompasses the meticulous selection of high-current DC motors suitable for the intended application and their seamless integration with the BTS7960 motor driver. These yet em harnesses Pulse Width Modulation (PWM) signals characterized by a stable frequency and adjustable duty cycles spanning from0To dictate the direction of motor rotation, the system employs an H-bridge circuit methodology in conjunction with a 3-position switch, endowing operators with the capability to specify either forward or reverse motion. An integrated monitoring system operates in tandem, actively capturing and report in critical metrics such as rotational speed, current, and voltage. The motor’s rotational speed becomes a highly adaptable parameter, subject to precise adjustments through the manipulation of armature voltage settings in conjunction with the dynamic duty cycle of the PWM signal. At the heart of this system lies the Arduino micro controller, as user-friendly interface that empowers users to effortlessly oversee motor speed, direction, and other pertinent parameters. Performance evaluations of the PM DC motor have affirmed its consistent torque output, resilient even amidst transitions between low and high rotational speeds. Furthermore, the system exhibits the remarkable capability to receive external commands from various sources and sensors, there by endowing it with the ability to operate autonomously and remotely. This amalgamation of functionalities culminates in the creation of a robust system, one that adeptly and efficiently controls high-current DC motors. This project unveils its relevance across a multitude of domains, finding practical application in fields such as robotics, automation, and industrial contexts where the meticulous regulation of powerful motors is of paramount importance. In summary, this project is imbued with considerable potential, offering inn

关键词： Motor drives Velocity control Electromagnetic interference Pulse width modulation DC motors Sensor systems Permanent magnets Sensors Reliability Vehicles

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Adaptive control of Unknown Robotic Systems Cooperating on Handling of an Unknown Object

Adaptive Control of Unknown Robotic Systems Cooperating on H...

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RSI/ISM international conference on robotics and Mechatronics

作者： Esmaeil Mehrabi Kasra Esfandiari Heidar Ali Talebi Mohammad Zareinejad Robotic Research Institute Amirkabir university of Technology Tehran Iran Department of Electrical Engineering Amirkabir university of Technology Tehran Iran New Technologies Research Center(NTRC) Amirkabir university of Technology Tehran Iran

ISBN: (纸本)9781467372350

This paper presents an adaptive control scheme for robotic systems, cooperating in grasping and manipulation of an unknown object. Unlike most of the previous approaches in the literature, the manipulators dynamics are assumed to be unknown. Furthermore, no a priori information is required regarding the object dynamics and its Center of Mass (CoM). By utilizing the passive decomposition technique, the overall system is decomposed into decoupled shaped and locked systems. Then, an adaptive control methodology is designed based on the Function Approximation Technique (FAT). To investigate stability of the closed-loop system, passivity concept and Lyapunov's direct method are used, which ensured asymptotical convergence of the tracking errors. Finally, simulation results are provided to verify the effectiveness of the proposed control scheme.

关键词： Adaptive control Unknown Robotic Systems Cooperating Unknown Object

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Robust control of Piezoelectric Micro Positioning Actuator Using Self-Sensing Method

Robust Control of Piezoelectric Micro Positioning Actuator U...

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RSI/ISM international conference on robotics and Mechatronics

作者： Navid Fallahinia Mohammad Zareinejad Heidar Ali Talebi Hamed Ghafarirad Mechanical Engineering Department Amirkabir University of Technology Tehran Iran New Technologies Research Center Amirkabir University of Technology Tehran Iran Electrical Engineering Department Amirkabir University of Technology Tehran Iran

ISBN: (纸本)9781467372350

Piezoelectric actuators are the one type of actuators commonly used in micro positioning tasks. These actuators Because of their fast responses and also high degree of accuracy and precision would be the best candidate for the precise positioning operations. Despite their resolutions, there are some nonlinear behaviors in these materials, such as creep and hysteresis, which can affect their fine performances. Beside their nonlinear behaviors, another challenging problem is to deal with the position measurement. Position measurement has a serious restriction in micro scales caused by required dimensions and precision. To eliminate this deficiency, appropriate position self-sensing could be an alternative method. Therefore, in this study, a position self-sensing circuit with high precision has been proposed. Then a robust control technique was applied to provide the desire position tracking for the system. Finally, after implementing the controller experimentally, its capability in position control with the designed self-sensing system will be demonstrated.

关键词： micro positioning self-sensing piezoelectric actuator robust control

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Sliding Mode control Design with Adaptable Gains for Robotic Manipulators

Sliding Mode Control Design with Adaptable Gains for Robotic...

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RSI/ISM international conference on robotics and Mechatronics

作者： Moharam Habibnejad Korayem Reza Shiri Saeed Rafee Nekoo Robotic Research Laboratory School of Mechanical Engineering Iran University of Science and Technology (IUST) *** Tehran Iran

ISBN: (纸本)9781467372350

Uncertainty in manipulators is rooted in two factors: error of measurement and parameters uncertainty of dynamics;Hence it is necessary to include it in control design. Sliding mode control (SMC) is a proper approach for controlling uncertain systems. SMC regulates system's states to a desired dynamics, defined by sliding surface. Gains of control law determine the rate of movement towards sliding surface or maintaining on it. Low value of gains make error and high value of that results in chattering effect. In this paper, a general method is introduced to provide an adaptive gain for the SMC controller based on dynamics of model including its uncertainty in the structure for multi-input-multi-output (MIMO) systems. The structure is expressed for two types of corrective functions: sign and inverse tangent functions. The application of the adaptive SMC is implemented on manipulators in a general manner. An SCARA robot is selected for simulation study showed significant improvement in comparison with conventional SMC.

关键词： Sliding mode control Adaptable gains robotics Manipulators Chattering

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Modeling of a novel cable driven robot for upper limb rehabilitation

Modeling of a novel cable driven robot for upper limb rehabi...

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RSI/ISM international conference on robotics and Mechatronics

作者： Mahdi Bamdad Homayoon Zarshenas School of Mechanical and Mechatronic Engineering Shahrood University Shahrood Iran

ISBN: (纸本)9781467372350

In this paper, a novel upper limb rehabilitation robot is introduced which is based on cable-driven mechanism. The research focuses on developing a specific cable actuator that brings back-drivability characteristic for the rehabilitation robot. The main idea based on using a series of cables with single tension motor as power supply to control motion of multi-joint arm. Dynamic specification of two-joint cable mechanism has been explained and an open loop impedance control which is equipped with feed-forward PD controller considered as control strategy. Moreover, the performance of mechanism while tracking a specific path has been successfully simulated. Inherent back-drivability feature of simulated mechanism has been evaluated in comparison to human arm stiffness. Simulation results show the ability of the robot in human arm motion simulation which makes it useful in upper arm rehabilitation applications.

关键词： cable-driven upper limb rehabilitation back drivable impedance control stiffness ellipses

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Bilateral Adaptive control of a Teleoperation System Based on the Hunt-Crossley Dynamic Model

Bilateral Adaptive Control of a Teleoperation System Based o...

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RSI/ISM international conference on robotics and Mechatronics

作者： Hamidreza Kolbari Soroush Sadeghnejad Mohsen Bahrami Ali Kamali Amirkabir Robotic Institute Amirkabir University of Technology (Tehran Polytechnic) Tehran Iran Mechanical Engineering Department Amirkabir University of Technology (Tehran Polytechnic) Tehran Iran

ISBN: (纸本)9781467372350

The main purpose of teleoperation in medical usage is to provide technical means to perform a desired task in patient' body. It is important to haptic feedback of sensitive and delicate environment to the surgeon hand's to improve task performance. The Kelvin-Voigt (KV) model for environment, due to physical contradiction is not suitable, but the Hunt-Crossley (HC) model is chosen because of its accuracy to distinguish hard and soft tissues. In this research, an adaptive haptic control for a one degree of freedom (DOF) master slave teleoperated device has been proposed. The position and force controller are designed for both master and slave sides. A Lyapunov function design provides a way to guarantee stability in presence of uncertain parameters in master, slave and environment dynamics. Numerical simulations are provided to demonstrate the effectiveness of the proposed controller.

关键词： teleoperation Hunt-Crossley model adaptive control stability transparency

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Hybrid System Approach to Analysis of Parallel Robots: An Effective Hybrid Modeling of 4-RPR Planar Parallel Manipulator

Hybrid System Approach to Analysis of Parallel Robots: An Ef...

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RSI/ISM international conference on robotics and Mechatronics

作者： Masoud Ghanbari Babak Tavassoli Control and systems Department Faculty of Electrical Engineering K.N. Toosi University of Technology Tehran Iran

ISBN: (纸本)9781467372350

In this paper an open hybrid modeling of a class of cable-driven redundant parallel manipulators is studied in detail. Cable robots should always be kept at tension within the workspace. In this study cables are considered as a rigid link with negligible mass. With this assumption the manipulator dynamics is derived using Lagrange's method. In the proposed method, parallel manipulators are considered to have joint space and task space as two independent subsystems. As such a dealing with parallel robots may be analytically intractable, a systematic procedure is proposed. Finally, the whole model's performance is evaluated through simulation.

关键词： Parallel manipulator system modeling hybrid systems

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