IAES International Journal of Robotics and Automation (IJRA)
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Embedded Fuzzy Based Boiler Control
Get PDFBoiler control in a power station is a very important criteria in regulation of uninterrupted electricity. In existing power plants, the control of its features and parameters are done by PI and PD controllers. The parameters that control the regulation of boiler conduction are drum level, steam flow, feed water flow, steam temperature and light intensity. It is necessary to produce the steam required to run the generator. When the load in the generator changes, there must be corresponding change in the steam volume. This may cause adverse effect in the boiler. In order to avoid the effect in the boiler, the parameters mentioned above must be maintained constant, which is attained by regulating the corresponding valves. This project work has a feasibility of using fuzzy logic controllers in the place of conventional controllers is done by using embedded system. It is found that the rule based fuzzy logic technique can be implemented by stringent operating conditions.
Design and Control of Underwater Robots with Rotating Thrusters
Get PDFAmong other robots, underwater robot design involves critical control issues due to complex non-linear force and turns controlling. In this paper, a robust approach was proposed to efficiently control the behavior of an underwater robot through five degrees of freedom. Also, by designing a new type of a pair of thruster with the ability to 360 degree rotation along with a mass shifter, it gives this possibility to the robot that easily and with a minimal energy, change its depth quickly, preserving its balance best possible at the same time
Design of energy efficient four finger robotic hand
Get PDFFuture would be the world of robotics. Human arm is the best serial manipulator in the world. End part of manipulator is known as End effector or hand. At the end of serial manipulator we always put gripper just like our hand. Today many mechanisms have been proposed for robotic hand. We proposed a novel mechanical design and we used one motor to operate the gripper mechanism and it consumes less electrical power than other gripper. For energy efficient robot we have to reduce the number of motors and have to look in the mechanical design. In this paper we targeted to make gripper more energy efficient. We used only one motor to operate four fingers symmetrically. Our proposed model has four fingers, each are placed orthogonally to each other. In market, other manufactures use single motor for motion of each finger. Each motor has its own power consumption capacity to manipulate the load on finger. We replaced all four motors with single motor by Geneva mechanism. So electrical power consumption reduced by 1/4th. Energy conservation point of view it is energy efficient system. This paper presents a methodology that has been applied for a design mechanism for energy efficient robotic hand with four fingers. Wide applications of gripper are in automobile industries. Automobile companies are used gripers and serial manipulators in plent
Validation of End Effector Matrix for Robotic Kit OWI-535 using Matlab and Robo Analyzer
Get PDFThis paper presents the validation of the end effector matrix having D-H parameter of the 4 DOF educational manipulator OWI-535 by MAT-LAB and Robo Analyzer. Transformation matrix of order 4x4 which describes end effecter’s position and orientation with respect to the base reference frame. MAT-LAB programming which gives details about the translation steps of the manipulator simultaneously. Forward kinematics of OWI 535 robotic kit has been calculated by Mat-lab as well as Robo Analyzer. We had calculated the End effector matrix in both software and compare it. We found that the results are similar up to three digit in some elements and up to two digits from decimal in few elements and it was different after three digit from the decimal in end effector matrix
Dynamic Analysis Of Two Link Robot Manipulator For Control Design Using PID Computed Torque Control.
Get PDFDue to their advantage of high speed, accuracy and repeatability, robot manipulators have become major component of manufacturing industries and even now a days they become part of routine life. Two link robot manipulator is a very basic classical and simple example of robot followed in understanding of basic fundamentals of robotic manipulator. The equation of motion for two link robot is a nonlinear differential equation. For higher degrees of freedom, as the closed form solutions are very difficult we have to use numerical solution. Here we focused mainly on control of robot manipulator to get the desired position using combination of two classical methods PID and computed torque control method after deriving the equation of motion. For the same simulation is represented using MATLAB and compared with computed torque control method
Design Analysis of a Fish-Shaped PVDF Compliance Microgripper
Get PDFIn this study the design and analysis of compliance microgripper made of piezoelectric PVDF (Poly Vinylidene Fluoride) material is presented. The inverse piezoelectric effect has been used in which the required amount of voltage has been applied at specific points at the base of the structure to produce the force at the tip and thereby the necessary deflection for gripping. The simulated results of frequency response, force-voltage relationship and displacement analysis are presented
Self-Tuning Geometric Control for a Quadrotor UAV Based on Lyapunov Stability Analysis
No full textA Lyapunov-based self gain tuning geometric nonlinear controller for a quadrotor UAV has been developed on SE(3) in this paper. By designing an adaptive law with Lyapunov stability analysis for the controller gains, the proposed control system can asymptotically follow an attitude and position command while tuning the PID gains online, and it is extended to guarantee boundedness of tracking errors in the presence of unstructured disturbances. This introduce an unprecedented algorithm to autonomously tune the controller gains without need of extra effort or introducing boundary conditions. Proposed controller considers all the coupling effects between rotational and translational dynamics, and it is developed in a coordinate-free fashion to avoid complexities and ambiguities associated with other attitude representations such as Euler angles or quaternions. The desirable features of the proposed controller are illustrated by numerical simulations and juxtaposed with a well-known offline gain tuning method. The proposed algorithm is ultimately validated with an experimental example
Development of Teach Pendent based Robotic Arm for Drawing using Mechatronics Approach
Get PDFThe main scope of this project is to use mechatronics approach to design and develop a complete humanoid robotic arm which can be used to draw different figures. A mechatronic approach is basically a synergistic combination of mechanical, electrical and control systems such that each and every stage of the product life cycle of the final product gets optimised. So, this approach which is used in this project would ensure that the robotic arm which would be the final product would have its design metrics optimised at each and every stage of its development cycle. The motive of developing this arm is to ensure that the final arm which is produced could be easily attached to the complete humanoid robot and would enable it to draw any kind of complex figures using highly accurate teach pendent mechanism
A New Approach to the Solution of Robot Kinematics Based on Relative Transformation Matrices
Get PDFIn analyzing robot manipulator kinematics, we need to describe relative movement of adjacent linkages or joints in order to obtain the pose of end effector (both position and orientation) in reference coordinate frame. Denavit-Hartenberg established a method based on a 4×4 homogenous matrix so called “A” matrix. This method used by most of the authors for kinematics and dynamic analysis of the robot manipulators. Although it has many advantages, however, finding the elements of this matrix and link/joint’s parameters is sometimes complicated and confusing. By considering these difficulties, the authors proposed a new approach called ‘convenient approach’ that is developed based on “Relative Transformations Principle”. It provides a very simple and convenient way for the solution of robot kinematics compared to the conventional D-H representation. In order to clarify this point, the kinematics of the world known Stanford manipulator has been solved through D-H representation as well as convenient approach and the results are compared
Structural Analysis and Five-Layered Control Frame Work for Underground Pipe Inspection Robot
Get PDFDesign of a robot generally involves various types of analyses that invariably include structural, numerical, kinematic, dynamic and experimental analysis. A robot designed as a solution for social problems would have to undergo all these stages before it is incorporated in-situ. The authors in continuation to their earlier work [1] are presenting the results of structural analysis in this paper. Initially a detailed description of the anatomy of the proposed robot is provided for clarity along with the identified design parameters. The primary design parameter ‘load to power ratio’ establishes certain geometric and structural constrains on the design of links comprising the robot. This relationship is studied in order to improve to the load to power ratio of the robot. A significant reduction in weight is achieved by working on these variables which leads to the improvement in the functional aspects too, viz., reduced torque requirement from the motor. Upon finalizing on the choice of motors and sensors the 5 layered control architecture based on statespace representation is also presented. Fuzzy logic based control algorithm is proposed to unite the layered approach depending on the task allocated to the robot