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检索条件"机构=The Center of Excellence in Control and Robotics"

共 152 条记录，以下是71-80 订阅

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Dynamics of a 9-DoF Robotic Leg for a Football Simulator

Dynamics of a 9-DoF Robotic Leg for a Football Simulator

引用

RSI/ISM International Conference on robotics and Mechatronics

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

ISBN: (纸本)9781467372350

This paper focuses on a robotic human-like leg. This robot was designed and modeled for task of kicking soccer ball to desired target. In addition, applications of this robot have been explained and its kinematics and dynamics equations have been developed. Kinematic analysis has been done using Denavit-Hartenberg method and position, velocity and acceleration of center of mass (CoM) of all links can be obtained. Dynamics equations of this robot have been written using recursive Lagrange method and inverse dynamics problem has been solved. Finally, kinematics and dynamics equations of this robot are verified using a numerical simulation in MATLAB simmechanics.

关键词： robotic leg simmechanics verification kinematics dynamics

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Dynamics Modeling of Continuum Robots Using Screw Theory for Real-time control

Dynamics Modeling of Continuum Robots Using Screw Theory for...

引用

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

作者： Saeedeh Shekari 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

Modeling the dynamics of continuum robotic arms is challenging due to the highly nonlinear nature and uncertain and complicated inherent structure. This affects the application of continuum arms in various aspects, such as inverse kinematics, path generation, optimization, and control. This paper deals with the dynamics modeling of continuum robotic arms using screw theory to develop a suitable model with high accuracy, speed, and low computational load to achieve real-time control. By using the representation of the Lie group of screws in the screw theory, which simplifies the mathematics of the problem, it is possible to achieve a real-time integrated representation of the dynamics of the deformation of the body of continuum robotic arms. This provides the possibility of accurately predicting the system behavior even in the presence of external forces acting on the end-effector. The experimentally validated results for circular and infinite motion trajectories show the model effectiveness in enhancing the trajectory tracking performance and ability to estimate configuration shape changes under external loads. The integration of this model in soft robotic arms has the potential to revolutionize their application in a wide range of industries and medical applications.

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Time Optimized Digital Image Processing of Ball and Plate System Using Artificial Neural Network

Time Optimized Digital Image Processing of Ball and Plate Sy...

引用

RSI/ISM International Conference on robotics and Mechatronics

作者： Yasaman Parandian Hannaneh Z. Arabshahi Ali Nasr S. Ali A. Moosavian Center of Excellence in Robotics and Control Advanced Robotics and Automated Systems (ARAS) Lab. Department of Mechanical Engineering K.N. Toosi University of Technology Tehran Iran

ISBN: (纸本)9781467372350

Regarding robot interaction with moving objects and the necessity for robot controller to react in a timely manner having the objects current position, finding an efficient positioning method has always been a challenge. As ball and plate system is considered to be a standard experimental system in control laboratories. The system is consisted of the following pieces: a horizontal plate which gets tilted along each horizontal axes. The ball, which is located on the plate;is controlled by the system in a way to be placed in any point on the plate. In fact, the ball and plate system is an extension of the classical ball on beam experiment that is often used to study various types of control and stability problems.

关键词： Forward Kinematics Neural Networks Real-Time Computer Vision 3RRS Parallel Robot Ball and Plate

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Self-Tuning Robust Tracking control for Autonomous Underwater Vehicles

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

引用

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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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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Kinematic and Kinetic Analysis of 3-RRS Parallel Manipulator

Kinematic and Kinetic Analysis of 3-RRS Parallel Manipulator

引用

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

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

ISBN: (数字)9798331529734

ISBN: (纸本)9798331529741

This paper presents the Kinematic and Kinetic properties of the 3-RRS parallel manipulator that has been designed and prototyped at the ARAS Lab, together with an extensive experimental setup. Inverse and forward kinematics of the mechanism are studied, which leads to the attainment of eight possible solutions in each case, of which just one is physically acceptable and maintains its consistency in both analyses. In addition, the Jacobian matrix of the manipulator is derived for various operational scenarios. In this most recent update, a linear actuator under the moving platform is added to cancel the effect of the mass of the plate and the ball for enhancing the responsiveness of the system. Dynamic and kinetic equations are updated based on reduced gravitational effects.

关键词： Jacobian matrices Actuators Mechatronics System dynamics Dynamics Kinematics Kinetic theory Manipulator dynamics

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Kinematic control of a Mecanum Mobile Robot using Time-Varying Model Predictive control

Kinematic Control of a Mecanum Mobile Robot using Time-Varyi...

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

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

ISBN: (数字)9798331529734

ISBN: (纸本)9798331529741

Mecanum wheeled mobile robots have increasingly caught researchers' attention due to their wide range of applications and higher maneuverability. However, their complex structure makes their trajectory tracking and control problem more challenging. This paper presents a cascaded controller for trajectory tracking of a four-wheel Mecanum mobile robot. The cascaded controller consists of a linear time-varying model predictive controller (LTV-MPC) and an inner PID controller. The proposed controller does not require the system's dynamics model. To this end, the linear time-varying error model used to design the MPC is obtained from the robot's kinematics model. The angular velocities obtained from the predictive controller are then mapped into the required commands for the DC motors using a PID controller. The PID controller is fine-tuned considering the motor's dead zone using the Genetic Algorithm. Simulations and experimental results demonstrate the superiority of the cascaded controller over the regular LTV-MPC. The proposed algorithm can also be used for other real-time implementations of robotic tasks.

关键词： Trajectory tracking System dynamics Robot kinematics Predictive models DC motors Angular velocity Real-time systems Mobile robots Voltage control Genetic algorithms

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Test-Stand Experimental Analysis of RoboWalk Weight Assisting Performance

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

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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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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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Shape Estimation of Continuum Arms Based on Inverse Kinematics Data-Driven Modeling

Shape Estimation of Continuum Arms Based on Inverse Kinemati...

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

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

ISBN: (数字)9798331529734

ISBN: (纸本)9798331529741

In recent decades, soft robotic arms inspired by biological organisms with flexible structures have enabled significant advancements in robotics, particularly by allowing robots to navigate in complex and unknown environments. Tendon-driven continuum robotic arms, as a type of such systems, are characterized by their infinite degrees of freedom and the inherent complexity of their nonlinear systems, while the analysis of their configurations is highly challenging. In this study, a data-driven inverse kinematics model is developed to estimate the shape of a two-segment continuum robot called RoboArm in ARAS Lab. The robot's final configuration was recorded using two cameras, and the shape estimation was performed by tracking the position of each segment's end along a given dynamic path. The experimental results were compared with software simulations which demonstrate high accuracy in predicting the arm's configuration. By comparing the estimated shapes from the simulations with the robot's actual shape during movement, we validated the effectiveness of this approach for accurately modeling the robot's configuration in real-time.

关键词： Data-driven modeling Accuracy Shape Tracking Estimation Kinematics Soft robotics Real-time systems Software Continuum robots

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