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Dynamics modelling and stable motion control of a Ballbot equipped with a manipulator

Dynamics modelling and stable motion control of a Ballbot eq...

引用

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

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

Human-Robot physical interaction is an important attribute for robots operating in human environments. A Ballbot is an under-actuated system with nonholonomic dynamic constraints. It is a skinny robot with a small base that helps the robot to move in limited space. It is as tall as human height until could interact by people whereas a Ballbot has not been equipped with a manipulator. This manipulator adds new advantages to the Ballbot such as object manipulation and grasping. In this paper and to achieve more performance of a Ballbot, it is equipped with a PUMA type manipulator which gives to the proposed robot the capability of better stabilization. To this end, dynamics equations of the assumed mobile robot is presented and verified. Then, by respecting to this fact that a Ballbot is in the class of under-actuated systems, a control algorithm is proposed to attain the stable motion control of the system. Finally, a simulation routine is performed to move along the desired path/trajectory. Obtained results reveal the merits of the verified model of the new Ballbot and the considered control algorithm which will be discussed.

关键词： Manipulator dynamics

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A new approach in gait planning for humanoid robots

A new approach in gait planning for humanoid robots

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

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

Due to redundancy and natural instability of humanoid robots, their motion planning becomes a challenging task. Designing stable gaits with smooth trajectories for a humanoid robot is the main goal of this article. Taking all related parameters on robot's walking into consideration, a new gait planning approach in the task space is developed. Various aspects like upper-body motion and stability requirements have the most significant role in this new gait planning process. In order to reduce undesired fluctuations on robot center of mass a new method in trajectory planning is also suggested. To show performance of the proposed algorithm, it is compared with another reliable approach in this field, and the results will be discussed.

关键词： Trajectory Planning Joints Stability criteria Robots Foot

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Formulation of transparency in bilateral teleoperation systems: A robust approach

Formulation of transparency in bilateral teleoperation syste...

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International Conference on control, Instrumentation, and Automation

作者： M. Salimifar H. D. Taghirad B. Fallahi K. N. University of Technology Tehran Iran Advanced Robotics and Automated Systems (ARAS) Industrial Control Center of Excellence (ICEE) Tehran Iran

This paper presents a robust structure to optimize transparency in bilateral teleoperation systems. The system is assumed to be linear, with constant but uncertain time delay in communication channel. Benefiting from small gain theorem and by using optimal H 2 /H ∞ solution of the formulated problem, stability of the delayed system is guaranteed, while the transparency of the bilateral teleoperation system has been reached to a desired level. Simulation results show the effectiveness of the proposed formulation and its solution for a case study.

关键词： Delay effects Impedance Robustness Transfer functions Stability analysis Force Uncertainty

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Study of potential ban method for mobile robot navigation in dynamic environment

Study of potential ban method for mobile robot navigation in...

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Power Electronic and Drive Systems and Technologies Conference (PEDSTC)

作者： Farnaz Adib Yaghmaie Amir Mobarhani Hamid D. Taghirad Advanced Robotics and Automated Systems ( ARAS) Industrial Control Center of Excellence (ICCE). Faculty of Electrical andComputer Engineering K.N. Toosi University of Technology Iran

In this paper, a new method for navigation in dynamic environment is suggested. In this method named Potential Ban (PB), it is assumed that the robot performs SLAM and autonomous navigation in dynamic environment. The robot uses PB algorithm for dynamic obstacle avoidance and its navigation trough static and dynamic objects is done without any predefined information about them. The movement of dynamic obstacles is predicted by Kalman filter and is used for collision detection purpose. Any time that possibility of a collision is detected, virtual certainties are spread trough grid map and are used for robot navigation. Several simulation and experimental tests are performed to examine the performance of PB. The results show this algorithm has great performance in term of dynamic obstacle avoidance and can be uses as a practical method for autonomous navigation.

关键词： Navigation Robots Equations Mathematical model Kalman filters Charge carrier processes

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Visual tracking in four degrees of freedom using kernel projected measurement

Visual tracking in four degrees of freedom using kernel proj...

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

作者： Fateme Bakhshande Hamid D. Taghirad Advanced Robotics and Automated Systems (ARAS) Industrial Control Center of Excellence (ICCE) Faculty of Electrical and Computer Engineering K. N. Toosi University of Technology Tehran Iran

Visual Servoing is generally comprised of feature tracking and control. According to the literature, no attempt has already been made to optimize these two parts together. In kernel based visual servoing method, the main objective is to combine and optimize the entire control loop. By kernel definition, a Lyapanov candidate function is formed and the control input is computed so that the Lyapanov stability can be verified. This is performed in four degrees of freedom. In the present study, previous kernel algorithm from the recorded literature has been implemented. We have used the KBVS for our purpose such that an object without any marker is tracked. This method is chosen because of its robustness, speed and featureless properties. Furthermore, in order to show the visual tracking performance, all four degrees of freedom have been synthesized. Experimental results verifies the effectiveness of this method implemented for four degrees of freedom movements.

关键词： Kernel Visualization Asymptotic stability

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Position based sliding mode control for visual servoing system

Position based sliding mode control for visual servoing syst...

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

作者： M. Parsapour S. RayatDoost H. D. Taghirad Advanced Robotics and Automated Systems (ARAS) Industrial Control Center of Excellence (ICEE) Faculty of Electrical and Computer Engineering K. N. Toosi University of Technology Tehran Iran

This paper presents a nonlinear controller for visual servoing system. Pose estimation is one of the fundamental issues in position-based visual servoing (PBVS) approach. A few researches have focused on controller synthesis under modeling uncertainty and measurement noise of estimated position. In this research, PD-type sliding surface is designed for tracking target. The control signal is obtained from the sliding surface and the stability of the algorithm is verified by Lyapunov theory. Moreover, a recent designed robust estimator based on unscented Kalman observer (UKO) cascading with Kalman filter (KF) is used to estimate the pose, velocity and acceleration of the target. The combination of the implemented estimator and the proposed controller provide a stable and robust structure in PBVS. The reported experimental results, verify the effectiveness of the proposed method in an industrial visual servoing system.

关键词： Estimation Measurement uncertainty Robustness Visualization Service robots Positron emission tomography

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Unsupervised 3D object classification from range image data by algorithmic information theory

Unsupervised 3D object classification from range image data ...

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

作者： Alireza Norouzzadeh Ravari Hamid D. Taghirad Advanced Robotics and Automated Systems (ARAS) Industrial Control Center of Excellence (ICCE) Faculty of Electrical and Computer Engineering K. N. Toosi University of Technology Tehran Iran

The problem of unsupervised classification of 3D objects from depth information is investigated in this paper. The range images are represented efficiently as sensor observations. Considering the high-dimensionality of 3D object classification, little attention has been paid to the curse of dimensionality in the existing state-of-the-art algorithms. In order to remedy this problem, a low-dimensional representation is defined here. The sparse model of every range image is constructed from a parametric dictionary. Employing the algorithmic information theory, a universal normalized metric is used for comparison of Kolmogorov complexity based representations of sparse models. Finally, most similar objects are grouped together. Experimental results show efficiency and accuracy of the proposed method in comparison to a recently proposed method.

关键词： Dictionaries Accuracy

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Robust PID control of cable-driven robots with elastic cables

Robust PID control of cable-driven robots with elastic cable...

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

作者： Mohammad A. Khosravi Hamid D. Taghirad Advanced Robotics and Automated Systems (ARAS) Industrial Control Center of Excellence (ICCE) Faculty of Electrical and Computer Engineering K. N. Toosi University of Technology Tehran Iran

In this paper robust PID control of fully-constrained cable-driven robots with elastic cables is studied in detail. To develop the idea, a robust PID control for cable-driven robots with ideal rigid cables is firstly designed and then, this controller is extended for the robots with elastic cables. To overcome vibrations caused by inevitable elasticity of cables, a composite control law is proposed based on singular perturbation theory. The proposed control algorithm includes robust PID control for corresponding rigid model and a corrective term. Using the proposed control algorithm the dynamics of the cable-driven robot is divided into slow and fast subsystems. Then, based on the results of singular perturbation theory, stability analysis of the total system is performed. Finally, the effectiveness of the proposed control law is investigated through several simulations on a planar cable-driven robot.

关键词： Robustness Robots Linear matrix inequalities

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State prediction approach for master-slave agents in presence of communication delay

State prediction approach for master-slave agents in presenc...

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

作者： Sona Ghahremani Majid Nili Ahmadabadi Maryam S. Mirian Babak N. Araabi Member of cognitive robotics Laboratory Department of Electrical and Compo Engineering University of Tehran Iran Control & Intelligent Processing Center of Excellence Department of Electrical and Compo Engineering University of Tehran Iran Robotics and Machine Intelligence Department of Electrical and Compo Engineering University of Tehran Iran

Teleoperation is a mechanism that makes it possible to accomplish a task in an environment where the presence of the master at the slave site is either undesirable or hardly possible The communication delay is a challenge with undesirable effects, jeopardizing the teleoperated systems the most. When the salve agent is performing in a dynamically changing environment, communication delay can be very harmful since the environment is changing continuously even though the agent has stopped operating because of the delay. Many studies have been conducted to overcome time delay effects.

关键词： Robots Predictive models Switches Communications technology Delays

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Trajectory tracking and obstacle avoidance of a ball and plate system using fuzzy theory

Trajectory tracking and obstacle avoidance of a ball and pla...

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Iranian Conference on Fuzzy Systems (IFSC)

作者： M. Ali Rastin Erfan Talebzadeh S. Ali A. Moosavian Mojtaba Alaeddin Department of Mechanical Engineering K. N. Toosi University of Technology Tehran Iran Center of Excellence on Robotics and Control K. N. Toosi University of Technology Tehran Iran

Ball and plate platform is a nonlinear and underactuated plant. The plate is assumed to be the end-effector of a 3RRS parallel mechanism. By tilting the plate, the ball in opposite direction is pushed. The system of equation is achieved using Lagrange method. In this article, a fuzzy approach is proposed to control the ball on a given path. It consists of two level TS type fuzzy controller; the first level tries to lead the ball to the desired goal, and the second one prevents collision between the ball and obstacles.

关键词： Collision avoidance Trajectory Educational institutions Mathematical model Mechanical engineering Equations Robots

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