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Dynamics modeling and tipover stability of a hybrid serial-parallel mobile robot

Dynamics modeling and tipover stability of a hybrid serial-p...

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international conference on control, Instrumentation, and Automation

作者： S. Ali A. Moosavian S. Shahab Hoseyni Department of Mechaniacl Engineering K. N. Toosi University of Technology Tehran Tehran Iran

In this study, dynamics and stability of a novel hybrid serial-parallel mobile robot is elaborated. This robot compounds of a differentially-driven wheeled platform, a novel spatial parallel mechanism, and a serial manipulator arm. Using a moving parallel mechanism as the base of a serial manipulator makes the system capable to carry heavy payloads, and prevents tipping over of the system. In those cases that robot must perform tasks on uneven terrains with unknown obstacles and disturbances; this system is able to change its configuration to move safely. Spatial parallel mechanism has three degree-of-freedom (DOF) and uses three planar prismatic actuators along linear axes. So, the end-effector of parallel mechanism has a fixed orientation and only has translation motion relative to mobile base. In this paper, dynamic, and kinematics redundancy of this robot is investigated. Tipover stability of the robot will be investigated using the newly proposed Moment Height Stability (MHS) measure. This robot is able to compensate tipover instability and thus can carry more heavy objects. Effectiveness of the parallel mechanism in compensating tipover instability is illustrated in two maneuvers.

关键词： Manipulators Stability criteria Mobile communication Mobile robots Kinematics

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A higher order sliding mode control for cooperative systems with unknown time-delay

A higher order sliding mode control for cooperative systems ...

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international conference on control, Instrumentation, and Automation

作者： Sheida Ghapani Ali Talebi Farzaneh Abdollahi Electrical Engineering Department Amirkabir University of Technology슠 Tehran Iran Amirkabir University of Technology Tehran Tehran IR

In this paper, a robust teleoperation with multi masters/multi slaves in the presence of uncertainty in robot dynamics is presented. To grasp an object safely and regardless of communication-delay, the slave robots are decomposed to the so-called locked and shape systems with preserving passivity. Higher order sliding mode controllers are designed to control shape and locked systems. Towards this end, wave variable based communication is used to overcome the master-slave communication-uncertain delay. By employing the passivity property of the decomposition and wave variable based communication, energetic passivity of the closed-loop system is ensured, and, interaction stability and safety are improved significantly. The provided simulation results show anacceptable performance of the cooperative system.

关键词： Barium Instruments Automation Digital video broadcasting

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A mini forklift robot

A mini forklift robot

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international conference on Next Generation Information technology (ICNIT)

作者： S. Liawatimena B. T. Felix A. Nugraha R. Evans Computer Engineering Department Computer Science Faculty Bina Nusantara University Jakarta Indonesia

This paper presents the design of a mini forklift robot that can store and pick up object to/ from specified storage slot from/ to a base using line follower and RFID. Currently, in warehouse storage systems are mainly still done in a traditional way using human operator to store and pick goods into specified location. This project is intended to construct an autonomous mini forklift robot that use using Radio Frequency Identification Devices (RFID) technology to find the coordinates of targeted storage slot and goods identification. The control of movement consist of DC Motor with Pulse Width Modulation and infrared sensors for the line follower. The programming operation was performed by C language using Visual Studio 2005, CodeVisionAVR 2.05, and SQL 2005 as database. The program on the computer can serve two purposes. Firstly, program can check, read, write, and erase data on RFID Tags. Secondly, program can ask a mini forklift robot to store and pick goods at specified location. The robot can recognize two sides (A and B), 128 lines, 16 columns and 16 rows cabinets. The total of success achieved was 100% in storing goods but 58.33% in retrieving goods, because robot fails parking correctly to the base.

关键词： robot kinematics Radiofrequency identification robot sensing systems DC motors Mobile robots Driver circuits

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Kinematics analysis, dynamic modeling and verification of a CRRR 3-DOF spatial parallel robot

Kinematics analysis, dynamic modeling and verification of a ...

引用

international conference on control, Instrumentation, and Automation

作者： Ali A. Nazari S. Ali A. Moosavian Ayyub Hasani Young Researchers Club Islamic Azad University Qazvin Iran Department of Mechanical Engineering K. N. Toosi Univ. of Technology Tehran Tehran Iran Department of Mechanical Engineering Islamic Azad University Tehran Tehran Iran

In this paper, kinematics analysis and dynamic modeling of a novel spatial parallel robot is elaborated. The proposed mechanism is to be exploited in a compounded serial-parallel mobile robotic system to accomplish stabilized heavy object manipulation by a serial manipulator mounted on the parallel mechanism. In fact, this parallel mechanism has been designed to acquire a suitable maneuverability and fulfill the tipover avoidance of the aforementioned robotic system after grasping heavy objects. The proposed mechanism is made of three legs while each leg has one active degree of freedom (DOF) and consequently, the mechanism would be 3-DOF. In order to investigate this novel CRRR parallel robot, inverse kinematics of the mechanism is discussed. Next, the dynamic model of the mechanism is developed. Then, the verification of the obtained dynamic model is guaranteed utilizing two various rational maneuvers. Finally, the obtained results and remarks are concluded and the future research is expressed.

关键词： Kinematics Manipulators Legged locomotion robot kinematics Equations Mathematical model

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Dynamic modeling and robust passivity-based control of a cable-suspended robot

Dynamic modeling and robust passivity-based control of a cab...

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international conference on control, Instrumentation, and Automation

作者： M. Zarebidoki A. Lotfavar H. R. Fahham Shiraz University of Technology Shiraz Iran Department Mechanical Engineering Marvdasht branch Islamic Azad university Marvdasht Iran

The level adjustment of cable-driven parallel mechanism is challenging due to the difficulty in obtaining an accurate mathematical model and the fact that different sources of uncertainties and disturbances exist in the adjustment process. This paper presents application of a robust passivity-based control scheme for a cable suspended robot to handle disturbances and uncertainties in mass and moments of inertia of end effecter. In section II dynamic equations of motion are derived by using Newton-Euler method and the constraints are utilized to obtain the complete required equations. In section III inverse dynamic and robust passivity-based controllers are presented. Lyapunov function presented in this section defines additional control input and shows the stability of robust passivity-based controller. Simulation results presented in section IV for non-redundant cable-based robots show the effectiveness of the robust passivity-based controller when there is no enough knowledge about system parameters and in the presence of a sinusoidal disturbance.

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Distributed model predictive control and virtual force obstacle avoidance for formation of nonholonomic agents

Distributed model predictive control and virtual force obsta...

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international conference on control, Instrumentation, and Automation

作者： Adeleh Mohammadi Mohammad Bagher Menhaj Ali Doustmohammadi Electrical Engineering Dept. Amirkabir University of Technology Tehran Tehran Iran Electrical Engineering Dept. Amirkabir University of Technology Tehran Iran

In this paper, the problem of formation control for a group of nonholonomic mobile robots is presented. Obstacle avoidance is also included in the problem formulation using virtual force method. An objective function is minimized to develop a distributed constrained model predictive control law for a formation of unicycle mobile robots. In the leader-follower formation under consideration, a desired trajectory is given to the leader. The followers keep a specified distance and orientation while following the leader to keep a certain formation. All the agents in the formation avoid obstacles by producing a local virtual force with respect to their distance from the obstacle. Simulations for nonholonomic mobile robots formation with obstacle avoidance are performed to test the effectiveness of the proposed distributed predictive control.

关键词： robot kinematics Force Collision avoidance Trajectory Cost function Mobile robots

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Adaptive neural network control of bilateral teleoperation with time delay

Adaptive neural network control of bilateral teleoperation w...

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international conference on control, Instrumentation, and Automation

作者： A. Forouzantabar H. Talebi A. Khaki Sedigh Department of Electrical Engineering Islamic Azad University Fars Iran Electrical Engineering Department AmirKabir University of technology Tehran Iran Department of Electrical Engineering Khaje Nasir Toosi University of technology Tehran Iran

This paper proposes a novel architecture for bilateral teleoperation with a master and slave nonlinear robotic systems under constant communication delays. We basically extend the passivity based coordination architecture to improve position and force tracking and consequently transparency in the face of offset in initial conditions, environmental contacts and unknown parameters such as friction coefficient. This structure provides robust stability against constant delay and guarantee position and force tracking. The proposed controller employ a stable neural network in each side to approximate unknown nonlinear functions in the robot dynamics, thereby overcoming some limitation of adaptive control and guarantee good performance. An adaptation algorithm is developed to train the NN controller in order to stabilize the whole system. Furthermore, it is demonstrate that the tracking error of desired trajectory and NN weights are bounded. Simulation results show that NN controller tracking performance is superior to conventional coordination controller tracking performance.

关键词： Artificial neural networks robot kinematics Force Biological neural networks Scattering Delay

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Reconfigurable control of nonlinear Lipschitz systems after actuator faults

Reconfigurable control of nonlinear Lipschitz systems after ...

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international conference on control, Instrumentation, and Automation

作者： M. J. Khosrowjerdi S. Barzegary Department of Electrical engineering Sahand University of Technology Tabriz Iran

In this paper control reconfiguration for nonlinear Lipschitz systems is done based on a new fault hiding approach in order to maintain the closed-loop stability after actuator fault. The virtual actuator block, placed between faulty plant and nominal controller, generates useful input signals for faulty plant using output signals of the nominal controller. The input-output behavior of the reconfigured plant is equivalent to the behavior of nominal plant and therefore, the effect of fault is hidden form the nominal controller point of view. Parameter design of the virtual actuator is accomplished using LMI, which guarantees both fault hiding and closed loop stability of reconfigured closed-loop plant. The proposed algorithm is simulated on a Single-Link robot Arm and the results prove the efficiency of the algorithm.

关键词： Instruments Automation

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Inverse kinematic for an 8 degrees of freedom biped robot based on cubic polynomial trajectory generation

Inverse kinematic for an 8 degrees of freedom biped robot ba...

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international conference on control, Instrumentation, and Automation

作者： H. R. Elahi Haghighi M. A. Nekoui Faculty of Engineering Islamic Azad University Tehran I. R. Iran Faculty of Electrical and Computer Engineering Khaje Nasir Toosi University of Technology Tehran Iran

Humanoid walking trajectory is a complicated task due to a large number of degrees of freedom (DOFs) and varies in mechanical structure during walking. This paper first introduces a newly designed mechanism, an 8 DOF biped robot, which designed in SolidWorks. Then it presents a human like walking trajectories for the feet and the hips in order to achieve smooth and continuous walking trajectory. For reaching this goal, we applied cubic and Hermit spline polynomial interpolation of initial conditions for the robot position, velocity and acceleration. We specify the bipedal walking sequences and define some important issues in order to obtain a continuous swing leg trajectory. Finally, an inverse kinematic is implemented to convert the trajectories into joints rotation. Geometric approach for inverse kinematic is applied and expressed in terms of joins angles, and the walking gait is generated based on the joints angles. The effects of the trajectory are illustrated by simulation results.

关键词： Legged locomotion Trajectory Polynomials Interpolation Hip Splines (mathematics)

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robot identification using fractional subspace method

Robot identification using fractional subspace method

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international conference on control, Instrumentation, and Automation

作者： H. Behzad H. Toossian Shandiz A. Noori T. Abrishami Electrical Engineering Department Shahrood University of Technology Shahrood Iran Electrical Engineering Department Ferdowsi University of Mashhad Mashhad Iran Electrical science Department University of pune pune india

This paper is concerned with fractional identification of state space model of continuous time MIMO systems. The methodology used in this paper involves a continuous-time fractional operator allowing to find fractional derivatives of the stochastic input - output data which are treated in time domain and identifying the state space matrices of the system using QR factorization. There are many advantages in describing a physical system using fractional CT models in that the dynamic behavior of the system is, in actuality, inherently fractional. The efficacy of the approach is examined by comparing with other approaches using integer identification.

关键词： Noise Manipulators Stochastic processes Equations MIMO Educational institutions Vectors

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