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Extended fuzzy logic controller for uncertain teleoperation system 4

Extended fuzzy logic controller for uncertain teleoperation ...

引用

4th RSI international conference on robotics and Mechatronics, ICRoM 2016

作者： Kolbari, Hamidreza Sadeghnejad, Soroush Parizi, Ali Torabi Rashidi, Saghar Baltes, Jacky Hansjorg Amirkabir University of Technology Tehran Iran University of Manitoba Winnipeg Canada

ISBN: (纸本)9781509032228

Teleoperation systems allow a surgeon to perform a remote distance operation with or without magnification. Nonlinearity and unknown dynamics of master and slave robots, in teleoperation systems, make it challenging to guarantee stability and convergence of the position tracking error in such systems. this paper presents an interval Type-2 Fuzzy (T2F) logic controller to control position of a teleoperation system without knowing dynamics of master and slave robots. Interval T2F controller have been recently applied in many engineering fields while understanding the control potentials of interval T2F still have been an open question for researches. the control methodology is baseline optimized Type-1 Fuzzy (T1F) controllers. Although, the performance of T1F controller, deals with unknown dynamics, is reasonable, but in comparison to interval T2F controller, when uncertainties are increased, it has weaker performance. the performance of the controller has been evaluated on the test-bed consists of two Novint Falcon robots as the master and slave. the experimental results show improved performance of interval T2F controllers in comparison to T1F controllers. © 2016 IEEE.

关键词： Position control

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Advanced mechatronics course based on wheeled mobile robots and real-time embedded control experimental setups

Advanced mechatronics course based on wheeled mobile robots ...

引用

international conference on control, Instrumentation, and Automation

作者： Seyed Hossein Jenabi Alireza Mohammad Shahri Mohammad Reza Beyad Department of Mechatronic Engineering Islamic Azad University

In recent years the use of personal robotic platforms and their applications increased significantly. Among the various disciplines of engineering, currently mechatronics and robotics are among the most popular and most promising in the industrial field. Mechatronics brings together disciplines such as mechanics, electronics, industrial control and computation. On the other hand Mechatronics and robotics can be a useful means to increase the motivation of students and workers in their training process. In this regard, this paper presents a new multidisciplinary approach with focus on project oriented and hands on learning in advanced mechatronics course. this method will satisfy the requirement of modern technological society and industry. the implementation of the proposed method for a few semesters shows that students are so interested in such a method which leads them to learn more and steadily.

关键词： Mobile robots Education Mechatronics MATLAB DC motors Hardware

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Dynamic coverage control via underactuated autonomous underwater vehicles in unknown 3D environment

Dynamic coverage control via underactuated autonomous underw...

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international conference on control, Instrumentation, and Automation

作者： Azin Shamshirgaran Farzaneh Abdollahi The Center of Exellence on Control and Robotics Amirkabir University of Thechnology Tehran Iran Department of Electrical and Computmer Engineering Concordia University Montreal Quebec Canada

the dynamic coverage procedure for a group of non-holonomic agents in 3D unknown environment is studied in this paper. First, the chained model of the system is exploited. then, a cost function which its efficiency is proved by Lyapunov function in order to obtain control inputs is proposed. Besides, the reachable set for each agent is derived according to obtained control inputs and is applied to the group. Finally, the simulation results illustrate the performance of the suggested algorithm.

关键词： Heuristic algorithms Vehicle dynamics Kinematics Vehicles Mathematical model three-dimensional displays Cost function

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Discrete First and Second Order Sliding Mode controllers for a Pneumatic Artificial Muscles Robot Manipulator 4

Discrete First and Second Order Sliding Mode Controllers for...

引用

2015 4th international conference on Electrical engineering (ICEE)

作者： Fellag, Ratiba Hamerlain, Mustapha Laghrouche, Salah Ctr Dev Technol Avancees Div Prod & Robot Algiers Algeria Univ Technol Belfort Montbeliard Lab OPERA Belfort France

ISBN: (纸本)9781467366731

Pneumatic artificial muscles are widely used in the field of robotics in the development of robot manipulators to help or assist human beings. this can be attributed to their inherent compliance and low cost. However, their highly nonlinear dynamics and their time varying properties, make it challenging for classical controllers to accurately control such systems. Sliding mode control is a powerful tool to overcome control problems related to highly nonlinear systems that features robustness against modeling uncertainties, parameter variations and external disturbances. this paper investigates the use of discrete time sliding mode control for position control and trajectory tracking of a robot manipulator actuated by pneumatic artificial muscles. First and second order discrete sliding mode controllers are designed to make the joint angle track a desired angular position or trajectory within a guaranteed accuracy. A comparative study is presented along with simulations results.

关键词： Discrete first order controller regulation second order controller sliding control trajectory tracking

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Strategy for collaborative navigation in assistive robotics: Reducing user workload 4

Strategy for collaborative navigation in assistive robotics:...

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4th international conference on Systems and control, ICSC 2015

作者： González, Eduardo A. Cheein, Fernando A. Auat Department of Electronic Engineering Universidad Técnica Federico Santa María Valparaíso Chile

ISBN: (纸本)9781479983186

Nowadays, physically impaired people (or people with special needs) still struggle with daily tasks when using mobility aid devices, whether for crossing doors, parking or manoeuvring. In this context, assistive robotics can offer solutions to those problems thus increasing the users' quality of life. In this work we propose a collaborative navigation strategy for predicting, and thus improving, the users' skills for driving assistive vehicles. In particular, two semi-autonomous navigation modes are presented, in which the vehicle is able to predict the user's motion intentions, reducing his/her workload. the systems were tested in a simulated environment with a population of seven volunteers, using a friendly interface and later validated in a real world scenario. Results showing that the system AIDS the user to safely navigate the environment and to decrease his/her workload are also included in this work. © 2015 IEEE.

关键词： Robots

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Development and evaluation of a Skill Based Architecture for applied industrial robotics 4

Development and evaluation of a Skill Based Architecture for...

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4th international Work conference on Bio-Inspired Intelligence, IWOBI 2015

作者： Herrero, Hector Outon, Jose Luis Esnaola, Urko Salle, Damien Lopez De Ipina, Karmele Tecnalia Research and Innovation Industry and Transport Division San-Sebastián Spain Department of Systems Engineering and Automation UPV/EHU Basque Country University San-Sebastián Spain

ISBN: (纸本)9781479961740

this paper presents and evaluates a Skill Based Architecture with the aim of increasing flexibility of dual-arm robot programming. the proposed architecture allows absolute control of the execution, easing coordination of the arms if necessary. this work try to quantify the advantages of the proposed paradigm based in different indicators. A pilot station is under development at Airbus Operations plant in Puerto Real, Spain. A real operation, drilling deburring of composite parts, has been selected as use case for evaluation. © 2015 IEEE.

关键词： Robot programming

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EEG-Based Brain-Machine Interface（BMI） for controlling Mobile Robots: the Trend of Prior Studies

EEG-Based Brain-Machine Interface（BMI） for Controlling Mob...

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4th international conference on Food, Agriculture, Ecology and Medical Sciences (FAEMS’15);4th international conference on Education, Literature, Management and Economics (ELME’15);4th international conference on Science, engineering & Technology (ICSET’15)

作者： Murali Krishnan Muralindran Mariappan Curtin University Universiti Malaysia Sabah(UMS) Robotics & Intelligent Systems (myRIS) Research Group Faculty of EngineeringUniversiti Malaysia Sabah

Recently, a novel method created on thought based brain signal and it has been technologically advanced rapidly. the Brain control system is a rapidly emerging multidisciplinary study area which has perceived remarkable achievement over the past few years. In this paper, we review the background, feature extraction and classification algorithms used to design the Electroencephalography（EEG） based Brain-Machine Interface（BMI） to control the mobile robots.

关键词： Brain-controlled mobile robot Brain-Machine Interface（BMI） Brain-Computer Interface（BCI） Human-Machine integration control electroencephalogram（EEG）

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Discrete First and Second Order Sliding Mode controllers for a Pneumatic Artificial Muscles Robot Manipulator

Discrete First and Second Order Sliding Mode Controllers for...

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international conference on Electrical engineering

作者： Ratiba Fellag Mustapha Hamerlain Salah Laghrouche Division Productique et Robotique Centre de Developpement des Technologies Avancees Laboratoire O.P.E.R.A Universite de Technologie de Belfort-Montbeliard

ISBN: (纸本)9781467366748

关键词： Discrete First order controller Regulation Second order controller Sliding control Trajectory tracking

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Research of LED assembly line Modeling and Optimization based on the Petri Net

Research of LED assembly line Modeling and Optimization base...

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2015 4th international conference on Computer, Mechatronics, control and Electronic engineering (ICCMCEE 2015)

作者： Dong Wang Xiaomei Hu Zhenghao Xu Tao Yu Xinran Shi The Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai University Department of Mechanical Engineering University of Michigan

ISBN: (纸本)9781510813465

In order to reduce the design flaw and improve the productivity, the model of LED bulb assembly line based on the Fuzzy Hierarchical Petri Net is proposed. the process of LED bulb assembly line is given, and the hierarchical modeling based on FHPN is described. the model of LED bulb assembly line includes three layers and each layer is defined. through the analysis of the time performance of the model based on FHPN, the optimization model of the LED bulb assembly line is put forward. the experimental result shows that the takt time of the optimization model decreases by 13.3% compared with that of the original model, which increases the production efficiency rate.

关键词： Fuzzy Hierarchical Petri Net assembly line model optimization fault diagnosis

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Development and evaluation of a Skill Based Architecture for applied industrial robotics

Development and evaluation of a Skill Based Architecture for...

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international Work conference on Bio-inspired Intelligence (IWOBI)

作者： Héctor Herrero Jose Luis Outón Urko Esnaola Damien Sallé Karmele López de Ipiña Tecnalia Research and Innovation Industry and Transport Division San Sebastián Spain Department of Systems Engineering and Automation Basque Country University San Sebastián Spain

关键词： Robot kinematics Service robots Computer architecture Programming Drilling machines Deburring

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