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Design and Manufacturing of an Intelligent Ping-Pong Robot (RoboPing)

Design and Manufacturing of an Intelligent Ping-Pong Robot (...

引用

RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： S. Ali A. Moosavian Arian D. Farahani Ali Karimi Advanced Robotics and Automated Systems (ARAS) Lab. Dept of Mechanical Engineering Center of Excellence in Robotics and Control K. N. Toosi University of Technology Tehran Iran

robotics and artificial intelligence (AI) are rapidly transforming many industries and aspects of our lives, and sport activities are no exception. Robots and AI are already being used in a variety of sports, including training and performance analysis. This paper introduces a new assistant ping-pong robot (RoboPing) that shoots ping-pong balls with different speeds and spins, besides using AI to analyze training sessions and providing useful insights into the game. RoboPing represents a significant advancement in mechanical design over previous versions, offering enhanced functionality. Being equipped with a precise vision system makes RoboPing more advanced compared to existing versions.

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Test-Stand Experimental Analysis of RoboWalk Weight Assisting Performance

Test-Stand Experimental Analysis of RoboWalk Weight Assistin...

引用

RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Morteza Ghafoori S. Ali A. Moosavian Dept of Mechanical Engineering Center of Excellence in Robotics and Control Advanced Robotics and Automated Systems (ARAS) Lab. K. N. Toosi University of Technology Tehran Iran

The increment in elder population has been the main cause of exoskeletons and rehabilitation robots development. Studies have proven that assistive robots are more effective in limb empowerment and rehabilitation than traditional ways. A lower-limb assistive robot called RoboWalk has been designed in ARAS lab at K. N. Toosi University of Technology to help compensate user weight when moving. This study reviews the RoboWalk weight assisting robot and illustrates its Test-Stand more thoroughly with updated modifications and parts. Test-Stand system features and operational specifications are then described. Then, system kinetics and kinematics are also explained. Finally, the weight assisting performance of RoboWalk is analyzed. Results show that the gait generating mechanism creates a singularity in Test-Stand system that causes a decrease in the assisting force. It is concluded that this issue is only related to the Test-Stand and does not appear in the actual RoboWalk robot. Nevertheless, Solutions to avoid this in Test-Stand including back and forth simulation of the gait and maximum motor torque limitation are also suggested.

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A Novel Bio-Intelligent Real-Time Redundancy Resolution Method for Cable-Driven Parallel Manipulators

A Novel Bio-Intelligent Real-Time Redundancy Resolution Meth...

引用

RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： S. Ali A. Moosavian SeyedSina Seyedi HasanAbadi Arman Gholibeikian Department of Mechanical Engineering K. N. Toosi University of Technology Advanced Robotic and Automated Systems (ARAS) Center of Excellence in Robotics and Control Tehran Iran

ISBN: (数字)9798331529734

ISBN: (纸本)9798331529741

Cable-driven parallel manipulators (CDPMs) are widely used where there is a need for high speeds and high accelerations, thanks to the low inertia and low cost of their links. However, cables can only exert tensional force. Due to this inherent property of the cables, CDPMs are required to be designed with at least one degree of redundancy in their joint space, to be able to generate an acceptable range of wrench within the workspace. Meanwhile, redundancy in joint space leads a problem called redundancy resolution, which is basically a force distribution from workspace to joint space. In this research, inspired by a simple mathematical model of the limbic system of the brain, a novel real-time redundancy resolution method is proposed. The presented method utilizes the kinematic information of the end-effector to find the solution to the redundancy resolution problem. The results show that this Brain Emotional Learning (BEL) method has a better performance in comparison with some common numerical optimization methods solved with a nonlinear programming solver like fmincon function in MATlab, in terms of computational cost, continuity of the profile of the cables forces, and robustness.

关键词： Power cables Redundancy Force Optimization methods Kinematics Brain modeling Mathematical models Real-time systems Robustness Trajectory

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Multi-aspect Optimal Sliding Mode controller for a Mecanum Wheeled Robot

Multi-aspect Optimal Sliding Mode Controller for a Mecanum W...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Sohrab Allahyari Hamid Rahmanei S. Ali A. Moosavian Dept. of Mechanical Engineering Center of Excellence in Robotics & Control Advanced Robotics & Automated Systems (ARAS) Laboratory K. N. Toosi University of Technology Tehran

Four-wheel drive Mecanum robots have gained attention due to their ability to move in all directions, which allows them to work in tight and complex environments. For this reason, ensuring precise control of these robots along predefined trajectories is crucial. This work presents a comparative study on the effects of parametric uncertainties, external disturbances, measurement noises, and initial deviations on the trajectory-tracking performance of a 4-wheel drive Mecanum robot. First, the kinematic and kinetic models of the Mecanum robot are introduced. Then, the integral sliding mode control is designed, and proof of stability is provided. In addition, we explore other control strategies, including PID, feedback linearization, sliding mode, and adaptive sliding mode control, that are designed for this robot. Furthermore, the particle swarm optimization algorithm is hired for the controllers with a cost function as the total sum of average error, maximum error, and final error. Optimization has been done on all controllers to compare the results fairly. To appraise the effectiveness of the proposed control optimization methods, simulations are carried out in MATlab/Simulink. The results reveal that the proposed ISMC method performs best in both defined scenarios compared to other controllers. However, it must be noted that the ISMC controller exhibits limitations when facing significant uncertainties in the dynamic model. This study underscores the effectiveness of our proposed control method and provides valuable insights into the practical implementation controller for the Mecanum robot in real-world applications.

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Trajectory Tracking of Robotic Arms Using Learning Modified Transpose Jacobian

Trajectory Tracking of Robotic Arms Using Learning Modified ...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Danial Ansari S Ali A Moosavian Department of Mechanical Engineering Center of Excellence in Robotics and Control Advanced Robotics & Automated Systems (ARAS) Laboratory K. N. Toosi University of Technology Tehran Iran

In this research, the issue of trajectory tracking in task space of a robotic arm with rotational joints has been solved. For this purpose, a non-model based controller the modified jacobian-transpose is used which it’s performance has been improved by reinforcement learning. Traditionally, the settings of the error thresholds for this controller will require trial and error, but in this algorithm, reinforcement learning is used to adjust these parameters online and according to the conditions. The simulations for the desired trajectory indicate that the improvement of the trajectory tracking achieved by using proposed algorithm. Also, the superiority of this controller in noisy conditions compared to the reference Jacobian transpose controller has been shown.

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A New Agile Actuation System of a Cable-Driven Parallel Robot

A New Agile Actuation System of a Cable-Driven Parallel Robo...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： S. Ali A. Moosavian MohammadJavad Shabani SeyedSina Seyedi HasanAbadi Mohammadreza Dahaaghin Department of Mechanical Engineering Center of Excellence in Robotics and Control Advanced Robotic and Automated Systems (ARAS) K. N. Toosi University of Technology Tehran Iran

Cable-driven Parallel Robots (CDPRs) offer a wider range of workspace compared to rigid-link parallel robots. These robots are equipped with an actuation system that satisfies some requirements, such as having low inertia and a negligible amount of friction. These two criteria lead to the agility definition of a system. On the other hand, winch-drum actuation systems should be able to wind the cable properly, in a way it does not be wound on itself. In this paper, an innovative winch-drum actuation system with a universal joint module is designed and fabricated for a CDPR. The winch-drum module is equipped with a power screw module which allows the cable to be wound properly around the drum and the universal joint module allows the cable to accordingly orient within the workspace. To validate the proposed designated system, it is experimentally evaluated in two control scenarios; i.e. reaching a set point and path tracking task The results show that the proposed actuation system fulfills the desired criteria and has the potential to be implemented in any other CDPR.

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Intelligent Model-Free control for Tendon-Driven Continuum Robotic Arms

Intelligent Model-Free Control for Tendon-Driven Continuum R...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Nima Maghooli Omid Mahdizadeh S. Ali A. Moosavian Department of Mechanical Engineering Center of Excellence in Robotics and Control Advanced Robotic and Automated Systems (ARAS) K. N. Toosi University of Technology Tehran Iran

Continuum manipulator modeling is always associated with structured and unstructured uncertainties. Therefore, model-based control system design for this class of robotic systems will be very challenging. On the other hand, the performance quality of model-free controllers is completely dependent on their hyperparameters; they are also very sensitive to the considered trajectory for the system. As a result, using model-free controllers will require setting parameters for different scenarios. In this research, the design of a model-free controller with comparable performance to model-based control strategies is presented. To this end, various parameters are determined online by the gain adjustment system. The research innovation is to use a supervised machine learning method, fuzzy inference system (FIS), to implement the intelligent gain adaptation system to achieve this goal. The Modified Transpose Jacobian (MTJ) performs well in trajectory tracking due to its approximated feedback linearization tool. In addition, the PID controller structure makes it a locally robust control strategy. An adaptive gain adjustment system can greatly increase algorithm potential and establish the capability to follow trajectories in different work points in the system work space. This research aims to improve the performance of the MTJ model-free control strategy in tracking trajectories starting from arbitrary initial conditions in the system work space. This is achieved by the gain adjustment system design using a fuzzy inference system. Both simulation and experimental results reveal the merits of the proposed controller.

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Test-Stand Development and Performance Analysis of RoboWalk Assistive Device

Test-Stand Development and Performance Analysis of RoboWalk ...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： S. Ali A. Moosavian Omid Mahdizadeh Vahid Akbari Mahdi Nabipour Sina Ghanaat Shahin Naeemi Sina Hallajian Arash T. Beydokhti Department of Mechanical Engineering Center of Excellence in Robotics and Control Advanced Robotics and Automated Systems (ARAS) Lab K. N. Toosi University of Technology Tehran Iran

ISBN: (纸本)9781665454537

Robotic devices are increasingly studied for the rehabilitation purposes of the lower limb disabilities. Wearable assistive devices such as exoskeletons have been recognized as a practical solution to increase the power and maneuverability of human beings in industries, as well as rehabilitation, elderly care, and sports exercises. RoboWalk is a lower limb assistive device that has been designed in ARAS lab at KNTU. To guarantee its proper performance, a Test-Stand is designed and manufactured with extended toolkit options. To validate the simulation results of various scenarios, is the main goal of developing this Test-Stand. Also, to examine the electronics boards and subsystems, the correct interaction between the sensors and the actuators, and investigate the performance of the main control loop, and so on, the Test-Stand is highly useful. In this paper, these various aspects of design and manufacturing of RoboWalk test stand are presented. Stress analyses in SOLIDWORKS software showed that the design of the proposed device is capable to handle the required tasks. Finally, a positioning task is implemented, which reveals the merits of the designed Test_Stand.

关键词： Performance evaluation Simulation Exoskeletons Software Sensors Manufacturing Assistive devices

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Forward Kinematics Development of a 3-RRS Parallel Manipulator for Real-Time control

Forward Kinematics Development of a 3-RRS Parallel Manipulat...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： S. Ali A. Moosavian Omid Mahdizadeh Sina Hallajian Sara Ashrafi Mohammad Jamali Vahid Akbari Department of Mechanical Engineering Center of Excellence in Robotics and Control Advanced Robotics and Automated Systems (ARAS) Lab. K. N. Toosi University of Technology Tehran Iran

ISBN: (纸本)9781665454537

In control of parallel robots, forward kinematics calculation is mainly required. In some studies, obtained equations are solved numerically with massive calculations that is not acceptable for control implementations. This paper introduces a new method to extract forward kinematics for a 3- RRS robot. This method calculates the kinematics of passive joints with two separated equations, which can be solved to decrease the total computation demands. Also, a new weight compensation mechanism is proposed to improve the dynamic response by a linear pneumatic actuator placed between the ground and the end-effector. On the other hand, to use various control algorithms, the position of the rolling ball on the end- effector (moving platform) must be measured. This is performed using Convolutional Neural Networks (CNNs) as image processing algorithms. Since the system must work quickly for a high-frequency task, the proposed image processing algorithm can provide the desired fast feedback. Experimental results reveal the merits of the above-described proposed modules.

关键词： Pneumatic actuators Image processing Heuristic algorithms Kinematics Position measurement Pneumatic systems Mathematical models

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Self-Tuning Robust Tracking control for Autonomous Underwater Vehicles

Self-Tuning Robust Tracking Control for Autonomous Underwate...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Nima Maghooli Fahimeh S. Tabatabaee-Nasab S. Ali A. Moosavian Department of Mechanical Engineering Center of Excellence in Robotics and Control Advanced Robotics … Automated Systems (ARAS) Laboratory K. N. Toosi University of Technology Tehran Iran

ISBN: (纸本)9781665454537

This paper addresses the control design problem for a nonlinear and nonholonomic dynamics model of an autonomous underwater vehicle. The kinematics control algorithm is a PID controller while a self-tuning control method is used for trajectory tracking. The kinetics control algorithm is based on an integral sliding mode technique that is robust against time-varying disturbances. The obtained results presented here use the Remote Environmental Monitoring UnitS (REMUS) underwater vehicle model and show the high performance of the controller. Based on the results demonstrated for the two designated trajectories, the tracking quality of self-tuning robust control, despite the significant similarity of the control input of both algorithms for x, y, and z, is much better than the sliding mode control. As a result, AUV was able to follow the desired trajectory, and tracking errors converged to zero. It is worth noting that at non-derivative points of the path (1 st trajectory), tracking errors were entirely within response quality limits (y = ±0.05[m]). The order of control efforts of the proposed control is suitable and can be implemented in the physical system.

关键词： Robust control Autonomous underwater vehicles Mechatronics Trajectory tracking Heuristic algorithms Robot kinematics Trajectory

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