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Design and Control of a Novel Contactless Active Robotic Joint Using AMB

Design and Control of a Novel Contactless Active Robotic Joi...

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IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)

作者： Mohamed Selmy Mohamed Fanni Abdelfatah M. Mohamed Faculty of Engineering at Shoubra Benha University Egypt Mechatronics and Robotics Engineering Department Egypt-Japan University of Science and Technology Alexandria Egypt Prod. Eng. Mechanical Design Dept. Mansoura University Egypt Electrical Engineering Department Assiut University Egypt

This paper investigates the design, modelling and control of a novel contactless active robotic joint using active magnetic bearing (AMB). A robot with such contactless joint avoids dust generation, oil lubrication and friction. This makes such robot suitable for applications in extreme clean environments such as clean rooms, vacuums chambers and surgery rooms. Also, such joint can be used in space robots, self-reconfiguration robots and robots with selective compliance. Opposite to the passive joint with AMB that needs the control of 5-DOFs, the proposed active robotic joint here needs the control of 6-DOFs. The additional variable to be controlled is the robot joint angle. Frameless, brushless, direct drive, high torque DC motor (BLDC) is used to control the robot joint angle. A contactless sensor for robot joint angle measurement is proposed. The mutual interaction between the control of the BLDC motor and the AMB is studied. Although in this paper tracking control of the rotor roll angle (robot joint angle) and the stabilization of the other 5-DOFs to their null values are carried out, it is possible to carry out tracking control of all the 6-DOFs. This leads to enlarge the mobility of the joint from 1-DOF to 6-DOFs. The proposed system is designed and simulated using CATIA and MATLAB/SIMULINK software. The results prove the feasibility of the proposed robotic joint from design and control view points.

关键词： Joints Rotors Robot sensing systems Payloads Brushless DC motors

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Design, Modeling and Simulation of a Micro Tactile Sensor for Soft Tissue Stiffness Measurement with Three Tips Configuration

Design, Modeling and Simulation of a Micro Tactile Sensor fo...

引用

International Conference on Computational Intelligence, Modelling and Simulation (CSSIM)

作者： Ahmed Fouly Mohamed N. A. Nasr Ahmed M. R. Fath El Bab A. A. Abouelsoud Mechatronics and Robotics Engineering Department Department of Mechanical Engineering Alexandria University Egypt Material Science and Engineering Department Egypt-Japan University of Science and Technology (E-JUST) Egypt Department of Mechanical Engineering Assiut University Egypt Electronics and Communications Eng. Dept. Cairo University Egypt

ISBN: (纸本)9781467380843

Artificial tactile feedback systems is now emerging as an essential part in laparoscopic surgeries. This paper presents a new structure for a micro tactile sensor, whose output does not depend on the applied pushing distance or the contact angle with the tissue. The sensor structure is based on using three silicon cantilevers in one plane, acting as three springs with different stiffness, which are protected by square PDMS diaphragms. A detailed design has been executed to achieve high sensitivity and linearity. A finite element simulation was implemented to validate the design and sensor performance. Different values have been assigned to the tissue Young's modulus (up to 1 MPa) covering different organisms. The results show that the sensor can differentiate between different types of tissues based on their modulus of elasticity. The sensor output was demonstrated to be independent of neither the pushing distance nor the contact angle up to (±3 degree). The error of the mean value of output due to the inclination angle did not exceed 3.5%.

关键词： Biological tissues Springs Tactile sensors Force Finite element analysis Young's modulus

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Versatile Intelligent Portable Robot Platform for flexible robotic cells with AGV

Versatile Intelligent Portable Robot Platform for flexible r...

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International Conference on Advanced Mechatronic Systems (ICAMechS)

作者： Luige Vladareanu Cristian Spirleanu Mihaiela Iliescu Hongnian Yu Mingcong Deng Weizhong Guo Feng Gao Dept. Robotics and Mechatronics Institute of Solid Mechanics of Romanian Academy IMSAR Bucharest Romania The Graduate School of Engineering Tokyo University of Agriculture and Technology Tokyo Japan School of Design Engineering and Computing Bournemouth University UK School of Mechanical Engineering Shanghai Jiao Tong University Shanghai China

The paper studies the flexible robotic cells in cooperation with automated guided vehicle (AGV), in the presence of obstacles, at constant or variable speed and variable load, aiming to optimizing the interaction between AGV and flexible robotic cell components. Overall system performance is analyzed by using modeling tools for discrete event systems like Generalized Stochastic Petri Net (GSPN). The interaction between AGV and flexible robotic cell components is implemented through communication messages using serial data received from an optical XY encoder, communication protocol receive function is modeled with GSPN. Improving of the stability performances and real time motion control are analyzed and the virtual projection method is adopted using the Versatile Intelligent Portable Robot Platform VIPRO. The obtained results, validated on the experimental RTOS robotic platform and DMQX language extension for robotic applications, lead to higher performance in relation to interaction optimization, decrease the flexible cell's cycle time, increase mobility and stability of the AGV and also the development of new technological capabilities of the control systems.

关键词： Decision support systems Silicon mechatronics Intelligent control Real-time systems Robot control Vehicles

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A novel intention prediction strategy for a shared control tele-manipulation system in unknown environments

A novel intention prediction strategy for a shared control t...

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International Conference on mechatronics (ICM)

作者： Haitham El-Hussieny Samy F. M. Assal A. A. Abouelsoud Said M. Megahed Mechatronics and Robotics Engineering Department Egypt-Japan University of Science and Technology (E-JUST) Egypt Department of Production Engineering and Mechanical Design Tanta University Egypt Electronics and Communications Eng. Dept. Cairo University Egypt Mechanical Design and Production Engineering Department Cairo University Egypt

This paper addresses the problem of controlling a slave robot with a shared control scheme of a tele-manipulation system in unknown environments. Shared control schemes may be useful for reducing the communication delay in time-critical tele-manipulation systems. Shared control scheme consists of two key components: intention prediction and command arbitration. An intuitive and novel strategy under which the human operator intention could be extracted seamlessly from the hand point to point path during the tele-manipulation process is developed in this paper. The new strategy is based on the environment scene awareness conducted at the remote side at the beginning of the tele-manipulation task. The developed strategy is tested experimentally with a simulation of a robot model in several remote environments to verify its accuracy and effectiveness. The results confirmed significant performance improvement in terms of reduced time using the proposed shared control scheme compared to the direct tele-manipulation scheme.

关键词： Manipulators Trajectory Service robots Accuracy Master-slave Three-dimensional displays

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Advanced intelligent walking robot control through sliding motion control and bond graphs methods

Advanced intelligent walking robot control through sliding m...

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International Conference on Advanced Mechatronic Systems (ICAMechS)

作者： Ionel-Alexandru Gal Luige Vladareanu Hongnian Yu Hongbo Wang Mingcong Deng Dept. Robotics and Mechatronics Institute of Solid Mechanics of Romanian Academy IMSAR Bucharest Romania Technology and Science of Ministry of Education Yanshan University Qinhuangdao China Engineering and Computing Bournemouth University Dorset UK The Graduate School of Engineering Tokyo University of Agriculture and Technology Koganei Tokyo Japan

In this paper, we tested a dynamic control law on a 2DOF robot walking leg. To achieve this, we modeled the system using bond graphs, and the Sliding Control Method for real time control. To increase performance of the robot trajectory tracking control a fuzzy gain adjustment inside the dynamic control method have been used and the new results include the systems' influence on the sliding parameter. The research results lead to improve of the walking robot movement control on unstructured and bumped surfaces.

关键词： Decision support systems Legged locomotion Mathematical model Joints mechatronics Motion control

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Nonlinear acoustics for health monitoring of composite patch repairs 29

Nonlinear acoustics for health monitoring of composite patch...

引用

29th Congress of the International Council of the Aeronautical Sciences, ICAS 2014

作者： Pieczonka, L. Klepka, A. Pavlopoulou, S. Staszewski, W.J. Soutis, C. Dept. of Robotics and Mechatronics AGH University of Science and Technology Poland School of Mechanical Aerospace and Civil Engineering Manchester University United Kingdom

ISBN: (纸本)3932182804

The paper investigates the problem of structural health monitoring of composite patch repairs used in aerospace applications. Two diagnostic techniques are applied to evaluate the structural health of two carbon fiber reinforced composite samples with bonded patch repairs;one test sample has a correctly manufactured patch repair without manufacturing defects while the second sample has a patch repair with multiple simulated debondings. Firstly, the classical ultrasonic c-scan is performed to confirm the assumed initial state of both samples i.e. exclude the presence of manufacturing defects in the first sample and to confirm the presence and location of the debondings in the second sample. Secondly, the non-classical nonlinear ultrasonic technique - based on vibro-acoustic wave modulations - is applied to verify its usefulness in testing of complex structural components. The paper gives technical details of the test samples and measurement techniques. Diagnostic procedures and results are presented and discussed.

关键词： Nondestructive examination

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Incremental learning of reach-to-grasp behavior: A PSO-based Inverse optimal control approach

Incremental learning of reach-to-grasp behavior: A PSO-based...

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International Conference of Soft Computing and Pattern Recognition (SOCPAR)

作者： Haitham El-Hussieny Samy F. M. Assal A. A. Abouelsoud Said M. Megahed Tsukasa Ogasawara Mechatronics and Robotics Engineering Department Egypt-Japan University of Science and Technology (E-JUST) Egypt Nara Institute of Science and Technology Nara Japan Department of Production Engineering and Mechanical Design Tanta University Egypt Electronics and Communications Eng. Dept. Cairo University Egypt Mechanical Design and Production Engineering Department Cairo University Egypt

In recent years, there has been an increasing interest in modeling natural human movements. The main question to be addressed is: what is the optimality criteria that human has optimized to achieve a certain movement. One of the most significant current discussions is the modeling of the reach-to-grasp movements that human naturally perform while approaching a certain object for grasping. Recent advances in Inverse Reinforcement Learning (IRL) approaches have facilitated investigation of reach-to-grasp movements in terms of the optimal control theory. IRL aims to learn the cost function that best describes the demonstrated human reach-to-grasp movements. Thus far, gradient-based techniques have been used to obtain the parameters of the underlying cost function. Such approaches, however, have failed to find the global optimal parameters since they are limited by locating only local optimum values. In this research, learning of the cost function for the reach-to-grasp movements is addressed as an Inverse Linear Quadratic Regulator (ILQR) problem, where linear dynamic equations and a quadratic cost are assumed. An efficient evolutionary optimization technique, Particle Swarm Optimization (PSO), is used to obtain the unknown cost for the reach-to-grasp movements under consideration. Moreover, an incremental-ILQR Algorithm is proposed to adjust the learned cost once new untrained demonstrations exist to overcome the over-fitting issue. The obtained results are encouraging and show harmony with those in neuroscience literature.

关键词： Cost function Optimal control Linear programming Heuristic algorithms Regulators Trajectory

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Haptic intelligent interfaces for NAO robot hand control

Haptic intelligent interfaces for NAO robot hand control

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International Conference on Advanced Mechatronic Systems (ICAMechS)

作者： Octavian Melinte Luige Vladareanu Ligia Munteanu Hongnian Yu Shuang Cang Zeng-Guang Hou Gui-Bin Bian Hongbo Wang Dept. Robotics and Mechatronics Institute of Solid Mechanics of Romanian Academy Bucharest Romania Engineering and Computing Bournemouth University Dorset UK State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China Parallel Robot and Mechatronic Sys. Lab. Yanshan University Qinhuangdao China

The paper presents a new approach on haptic interface control for NAO robotic hand. The haptic teleoperation of NAO robot hand raises some issues, mapping the haptic device dynamic being the most important. The mapping was achieved through Neural Network by determining a dynamic gain of robot haptic feedback. The results lead to the achievement of the haptic intelligent interfaces for the NAO robot hand control which can be integrated into an innovative haptic robot control system.

关键词： Decision support systems Humanoid robots Haptic interfaces Economic indicators Joints mechatronics

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Workspace mapping and control of a teleoperated endoscopic surgical robot

Workspace mapping and control of a teleoperated endoscopic s...

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International Conference on Methods and Models in Automation and robotics (MMAR)

作者： Alaa Khalifa Ahmed Ramadan Khalil Ibrahim Mohamed Fanni Samy Assal Ahmed Abo-Ismail Dept. of Mechatronics and robotics Engineering Egypt-Japan University of Science and Technology Alexandria Egypt Dept. of Mechatronics and robotics Engineering Egypt-Japan University of Science and Technology Tanta Egypt Dept. of Mechanical Engineering Assiut University Assiut Egypt

This paper presents the experimental implementation of a teleoperated endoscopic surgical manipulator system that uses PHANTOM Omni haptic device as the master. The 4-DOF, 2-PUU 2-PUS, endoscopic surgical parallel manipulator design is carried out using screw theory and Parallel virtual chain methodology to have larger bending angles and workspace volume. The master and slave devices of the teleoperation system are dissimilar in their kinematics and workspace volumes. A workspace mapping technique is implemented based on Position with Modied Rate Control to navigate through the slave workspace without annoying the user. To control the motion of the slave robot, a PID controller is used. The experimental results show the feasibility of the teleoperation surgical system using the 4-DOF parallel manipulator. Also, they indicate the efficiency of the implemented mapping technique and the designed controller to span the slave workspace with high dexterity and good tracking which allows the surgeon to perform the operation with high accuracy.

关键词： Manipulators Haptic interfaces Joints Switches Surgery Kinematics

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Human-human physical interaction in the joint control of an underactuated virtual object

Human-human physical interaction in the joint control of an ...

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Annual International Conference of the IEEE engineering in Medicine and Biology Society

作者： Dalia De Santis Jacopo Zenzeri Lorenzo Masia Valentina Squeri Pietro Morasso Istituto Italiano di Tecnologia Dept. of Robotics Brain and Cognitive Sciences School of Mechanical and Aerospace Engineering Nanyang Technological University Robotics Research Center Division of Mechatronics and Design

ISBN: (纸本)9781424479276

Human-human physical interaction has proven to be advantageous especially in contexts with high coordination requirements. But under which conditions can haptic communication bring to performance benefits in a challenging cooperative environment? In this work we investigate which are the dynamics that intervene when two subjects are required to switch from a bimanual to a dyadic configuration in order to solve a complex reaching and stabilization task of a virtual tool in the presence of an unstable dynamics. Results show that dyadic cooperation can improve the performance respect to the individual condition, while minimizing the effort. However, in the joint task, when the stiffness of the system becomes harder to manipulate the feedback delays appear to be critical in determining the maximum achievable level of performance.

关键词： Force Haptic interfaces Training Delays Robot kinematics Synchronization

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