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RSI/ISM International Conference on Robotics and Mechatronics (ICROM)
2015 3rd RSI International Conference on Robotics and Mechatronics (ICROM)
7-9 Oct. 2015
Showing 1-25 of 141
Proceedings
The proceedings of this conference will be available for purchase through Curran Associates.
Robotics and Mechatronics (ICROM), 2015 3rd RSI International Conference on
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Multi-criteria design of 6-DoF fully-constrained cable driven redundant parallel manipulator
Publication Year: 2015,Page(s):001 - 006
Cited by: Papers (12)
The purpose of this paper is to optimize dimensions of KNTU 6-DoF cable driven redundant parallel manipulators. This manipulator is under investigation for possible high-speed application such as object manipulator. Usage of cable parallel manipulator depends on kinematic characteristic and control algorithm. This optimization is based on different performance indices including the singularity mea...Show More
Effects of toe-off and heel-off motions on gait performance of biped robots
Publication Year: 2015,Page(s):007 - 012
Cited by: Papers (4)
In this paper, it is highly proposed to take into account of both heels and active toe joints during the walking of a biped robot with 7-DOF legs. The main goal of this research is to examine significance of exploiting heels and active toe joints on reducing the maximum knee joint torque as well as the total energy consumption. To this end, six different walking patterns are presented, while the m...Show More
Switched-mode converters are kind of circuits which transfer power from a DC source to a load. In general, these converters feature three different modes of operation with high switching frequency, in such a way that each mode is associated with a different linear continuous-time dynamic equation. The identification of these Piecewise Affine (PWA) systems includes the estimation of the parameters ...Show More
Nonlinear suboptimal SDRE controller for cooperative manipulators to increase dynamic load carrying capacity
Publication Year: 2015,Page(s):019 - 024
Cited by: Papers (2)
In this paper, the application of state-dependent Riccati equation (SDRE) controller in the field of cooperative manipulators is introduced. The ultimate goal is to increase dynamic load carrying capacity (DLCC) by means of cooperation between robots. Carrying the load with two arms creates constraint in predefined trajectory and complexity for the control problem. The rate of distribution of load...Show More
Suboptimal tracking control of nonlinear systems via state-dependent differential Riccati equation for robotic manipulators
Publication Year: 2015,Page(s):025 - 030
Cited by: Papers (8)
This work investigates state-dependent differential Riccati equation (SDDRE) controller for tracking problem. The system in question is a class of time-varying nonlinear systems with control nonlinearities. Regulation case needs only the solution to the SDDRE to provide suboptimal gain of control law, though derivation of tracking problem generates a feedforward differential equation in addition t...Show More
Precision control of double-gimbal magnetically suspended control moment gyros
Publication Year: 2015,Page(s):031 - 036
Cited by: Papers (2)
This work proposes a state-dependent Riccati equation (SDRE) design for precision control of a double-gimbal magnetically suspended rotor (MSR) control moment gyroscope (CMG) in presence of high nonlinearities, strong coupled dynamics, and disturbance arising from double-gimbal movement. The control moment gyroscope is the primary attitude control actuator for spacecraft. Due to merging of magneti...Show More
Sliding mode control design with adaptable gains for robotic manipulators
Publication Year: 2015,Page(s):037 - 042
Cited by: Papers (3)
Uncertainty in manipulators is rooted in two factors: error of measurement and parameters uncertainty of dynamics; Hence it is necessary to include it in control design. Sliding mode control (SMC) is a proper approach for controlling uncertain systems. SMC regulates system's states to a desired dynamics, defined by sliding surface. Gains of control law determine the rate of movement towards slidin...Show More
Numerical and neural network modeling of motors of a robot
Publication Year: 2015,Page(s):043 - 048
Cited by: Papers (1)
In this paper, parametric and numerical model of the motors of a robot are extracted. A method is proposed here to control the torque and velocity of the motor simultaneously using the extracted dynamics of the motor and consequently control the robot motion more accurately. Parametric model of the motors are derived by conducting standard tests like locked rotor test and step and sine wave input ...Show More
An H∞ switching T-S fuzzy controller design for position control of two-wheeled mobile robots
Publication Year: 2015,Page(s):049 - 054
This paper addresses the problem of fuzzy controller design for position control of two-wheeled mobile robots subject to unknown kinematic disturbances. Because the conventional T-S fuzzy models are not applicable, the robot is modeled with several subsystems each of which represented by a set of T-S fuzzy rules. With the use of a common quadratic Lyapunov function, LMI based Η∞ switching control ...Show More
Nonlinear adaptive control for teleoperation systems transitioning between soft and hard tissues
Hamidreza Kolbari;Soroush Sadeghnejad;Mohsen Bahrami;E. Ali Kamali
Publication Year: 2015,Page(s):055 - 060
Cited by: Papers (11)
Teleoperation systems in the medical usage, allows a surgeon to perform a remote distance operation with or without magnification. There is an increasing need to provide telerobots with the ability to interact with unknown and hybrid environments to detect the abnormalities and also performing the diagnostic procedures. In such environments it is challenging to guarantee the whole system stability...Show More
Eye-RHAS manipulator: From kinematics to trajectory control
Publication Year: 2015,Page(s):061 - 066
Cited by: Papers (2)
One of the challenging issues in the robotic technology is to use robotics arm for surgeries, especially in eye operations. Among the recently developed mechanisms for this purpose, there exists a robot, called Eye-RHAS, that presents sustainable precision in vitreo-retinal eye surgeries. In this work the closed-form dynamical model of this robot has been derived by Gibbs-Appell method. Furthermor...Show More
Modified Jacobian transpose control of a quadruped robot
Publication Year: 2015,Page(s):067 - 072
Cited by: Papers (2)
Quadruped robots have many advantages over other robots. Their excellent potentials to traverse different terrains are one of main advantages which distinguish these robots from wheeled mobile robot. In this article, the gait planning problem and also the design of an appropriate controller for a quadruped robot will be investigated. To this end, an explicit dynamics model of an 18-DOF quadruped r...Show More
Design and fabrication of a worm robot prototype
Publication Year: 2015,Page(s):073 - 078
Cited by: Papers (3)
Movement in narrow channels or uneven terrains is one of the challenges concerning the robotic engineering. Inspired by nature, we can provide solutions for these problems. For example, caterpillar worms propose a simple plan of crawling locomotion that is able to cope to the limitations imposed by path. Hence, we were interested in imitating the caterpillar worms' locomotion by a crawling robot p...Show More
Integrated active and passive gravity compensation method for a cable-actuated elbow rehabilitation robot
Publication Year: 2015,Page(s):079 - 084
Cited by: Papers (4)
In this paper, a cable actuated elbow rehabilitation robot with integrated active and passive gravity compensation method is proposed. Passive method compensates for the weight of the robot and patient forearm, but full gravity compensation for different patient needs spring stiffness to be adjusted. It seems unreasonable to equip the rehabilitation robot with a different spring for each patient. ...Show More
A cooperative remote rehabilitation system
Fatemeh Koochaki;Iman Sharifi;Ali Doostmohammadi;Heidar A. Talebi
Publication Year: 2015,Page(s):085 - 090
Cited by: Papers (1)
In this paper a new architecture for robotic rehabilitation is introduced. The mutual interaction between the therapist and patient is accomplished with robots. The architecture divides the system into three subsystems: therapist, patient, and virtual environment, which is controlled locally ensuring that it is input to state stable (ISS). Finally, the interconnection of these subsystems are shown...Show More
Nonlinear disturbance observer based adaptive control for nonlinear teleoperation systems
Publication Year: 2015,Page(s):091 - 095
Cited by: Papers (2)
In this paper, the stability and tracking control problem of a task space nonlinear bilateral teleoperation system is addressed interacting with a unknown environment. The controllers consist of adaptive controller and nonlinear disturbance observer to deal with uncertain dynamic model of manipulators, environmental and operators forces, respectively, in the presence of time delay. In order to est...Show More
Lyapunov stability analysis of a bilateral teleoperation system interacting with active environment
Publication Year: 2015,Page(s):096 - 101
Cited by: Papers (6)
In this paper, the problem of a bilateral teleoperation system in contact with active environment is considered. The human operator is assumed to be nonpassive, and the network is subject to unsymmetrical constant time delay. Two new nonlinear terms are added to the common PD control strategy in order to deal with the active impedance appeared in the closed loop system. The master/slave robots are...Show More
Hybrid system approach to analysis of parallel robots: An effective hybrid modeling of 4-RPR planar parallel manipulator
Publication Year: 2015,Page(s):102 - 107
In this paper an open hybrid modeling of a class of cable-driven redundant parallel manipulators is studied in detail. Cable robots should always be kept at tension within the workspace. In this study cables are considered as a rigid link with negligible mass. With this assumption the manipulator dynamics is derived using Lagrange's method. In the proposed method, parallel manipulators are conside...Show More
Modified fast-SLAM for 2D mapping and 3D localization
Soheil Gharatappeh;Mohammad Ghorbanian;Mehdi Keshmiri;Hamid D. Taghirad
Publication Year: 2015,Page(s):108 - 113
Cited by: Papers (5)
Fast Simultaneous Localization and Mapping (SLAM) algorithm is capable of real-time implementation due to logarithmic time complexity which results in decrease of computational cost. In this algorithm state vector of a robot merely includes planar location of the robot and its angle to the horizontal plane. It has fewer components comparing to state vector in extended Kalman filter method which co...Show More
Application of a new Iterative pseudo-inverse Jacobian Neural Network Matrix technique for controlling geckodrive DC motors of manipulators
Publication Year: 2015,Page(s):114 - 120
Cited by: Papers (6)
In controlling arobot's end-effector and joints movement space, one of the most important problems is to know the joints' relative displacements with extreme precision. The control of angular displacements in joints must be done by accurately commanding the movement of each motor in the joints after applying the forward and inverse kinematics problem. While this problem could be solved online, it ...Show More
Optimal and stable gait planning of a quadruped robot for trotting over uneven terrains
Publication Year: 2015,Page(s):121 - 126
Cited by: Papers (1)
To obtain satisfactory performance for legged robots, they should be able to move on natural environment stably. In this article, the path planning of a quadruped robot in the motion over uneven terrains will be investigated. One of major problems for traversing uneven terrains is the robot stability. Thus, a condition to guarantee the robot stability over such terrains will be proposed. This cond...Show More
Optimization of KNTU Delta robot for pick and place application
Publication Year: 2015,Page(s):127 - 132
Cited by: Papers (4)
In this paper, the desired configuration for installation of Delta robot is formulated as an optimization problem and has been solved to reach to the highest rate of pick and place operation. The optimization is performed considering the actuators speed and acceleration limitation of the robot within the workspace. Furthermore, energy consumption is considered next as the other optimization object...Show More
Proceedings
The proceedings of this conference will be available for purchase through Curran Associates.
Robotics and Mechatronics (ICROM), 2015 3rd RSI International Conference on
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