IAES International Journal of Robotics and Automation (IJRA)
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Environment Detection and Path Planning Using the E-puck Robot
Get PDFAutomatic path planning is one of the most challenging problems confronted by autonomous robots. Generating optimal paths for autonomous robots are some of the heavily studied subjects in mobile robotics applications. This paper documents the implementation of a path planning project using a mobile robot in a structured environment. The environment is detected through a camera and then a roadmap of the environment is built using some algorithms. Finally a graph search algorithm called A* is implemented that searches through the roadmap and finds an optimal path for robot to move from start position to goal position avoiding obstacle
Local Path Planning of Mobile Robot Using Critical-PointBug Algorithm Avoiding Static Obstacles
Get PDFPath planning is an essential task for the navigation of Autonomous Mobile Robot. This is one of the basic problems in robotics. Path planning algorithms are classified as global or local, depending on the knowledge of surrounding environment. In local path planning, the environment is unknown to the robot, and sensors are used to detect the obstacles and to avoid collision. Bug algorithms are one of the frequently used path planning algorithms where a mobile robot moves to the target by detecting the nearest obstacle and avoiding it with limited information about the environment. This proposed Critical-PointBug algorithm, is a new Bug algorithm for path planning of mobile robots. This algorithm tries to minimize traversal of obstacle border by searching few important points on the boundary of obstacle area as a rotation point to goal and end with a complete path from source to goal
Studies on Affecting Factors of Wheel Slip and Odometry Error on the Performance of Wheeled Mobile Robots – A Review
Get PDFThe wheeled mobile robots (WMR) find use for doing a variety of tasks in different types of workspaces. These workspaces are form of ideal natural flat, smooth terrain, unpredictable and irregular nature of these work spaces demanding a design challenges. Typically there work spaces may have pits, undulatory is not flat terrain, obstacles into tasks of the robot. There would result in wheel slippage orodometry error. This tasks a toll in the form of deviation from intended trajectory, navigation, travel time &budgeted energy consumption. These engineering issues can be addressed by proper design of wheel rotation, vibration amplitude of the robot body, travel time modulation differently up to the terrain condition (wet, dry, soft, hard)&wind effect. The wheel slip & odometry error is estimate of computational by design, pay load distribution, speed, wheel diameter, wheel width are the ply able design parameter in the designness scope. The effect of proper selection of the values of there parameters is studied in this review. The paper reviews are analyzing the basic& direct effect of parameters are how to associate with wheel slippage and odometry error and also which is the most affecting factor on the wheeled mobile robots
Design and Fabrication of Friction Stir Welding End-Effector for an ABB IRB1410 Robot
Get PDFThe paper propose modelling and fabrication of friction stir welding end-effector for ABB IRB1410 robot. A dynamically developing version of pressure welding processes, join material without reaching the fusion temperature called friction stir welding. As friction stir welding occurs in solid state, no solidification structures are created thereby eliminating the brittle and eutectic phase’s common to fusion welding of high strength aluminium alloys. In this paper, Friction stir welding is applied to aluminum sheets of 2 mm thickness. A prototype setup is developed to monitor the evolution of main forces and tool temperature during the operation. Pressure of a gripper plays a major role for tool rotation and developing torque. Fabrication of the tool has done. Force calculations are done by placing the sensors on the outer surface of gripper. Methods of evaluating weld quality are surveyed as well
Denavit-Hartenberg Coordinate System for Robots with Tree-like Kinematic Structure
Get PDFThe paper presents a modified Denavit-Hartenberg coordinate system resulted from joint application of graph theory and the Denavit-Hartenberg coordinate system, which was developed to describe the kinematics of robot actuators with a linear open kinematic chain. It allows forming mathematical models of actuating mechanisms for the robots with tree-like kinematic structures. The work introduces the concept of primary and auxiliary coordinate systems. It considers an example of making the links’ reachability matrix and reachability graph for the tree-like actuating mechanism of a robotic mannequin. The use efficiency of the proposed modified Denavit-Hartenberg coordinate system is illustrated by the examples giving the mathematical description of the kinematics and dynamics of specific robots’ tree-like actuating mechanisms discussed in the previously published papers. It is shown that the proposed coordinate system can also be successfully applied to describe the actuating mechanisms of robots with a linear open kinematic chain, which is a particular case of the tree-like kinematic structure. The absence of branching joints in it does not require introducing auxiliary coordinate systems and the parameters f(i) and ns(i) are necessary only for the formal notation of equations, which have similar forms for the tree-like and linear chains. In this case, the modified and traditional coordinate systems coincide
Mobile Robot Framework Designing and Transferring of Data by PCI Controller
Get PDFIn this paper, a differential robot is designed and controlled by PCI card. This card connected between personal computer and microcontroller. Furthermore PID controller was designed by Asic device and implemented on robot.In this paper, instead of using that massive hardware’s, it designed a single FPGA chip to perform the same motion control of robot wheels. We developed a general purposed motion control of robot using a field programmable gate array (FPGA).In order to obtain independent robots movement, the main PID controller is implemented with a Field Programmable Gate Array. The main PID controller routine was designed to be fairly general purpose and modular form. While it is used to control a DC motor, it could be re-deployed to other situations where some parameter has to be controlled to a set value under varying conditions. The actual control software is located in a single function and its major inputs and output are held in a structure. Although it was designed originally for a specific job it is really only intended as an example of the basic techniques involved and to allow those with no control system knowledge to experiment with a simple PID system., FPGA, ATmega128L, Robot, Digital
Modeling and Simulation of Hexapod Kinematics with Central Pattern Generator
Get PDFThe revealed secrets of nature always led humans to their aspiring achievements. The fastest animal on land is Cheetah and similar robot has developed by engineers so far to attain a record speed of 20mph among legged robots. But in nature there are some insects those are far ahead of cheetah in speed with a unit of body length per second. Insects are small in their body size with legs usually countable from 4 to 12 or more. With more legs they can have more stability and can adapt to different terrain faster while walking. Six legged robot (hexapod) is generally expect to attain higher speed in terms of body length per second, since the nature has proof for it. Bio-inspired Central Pattern Generator (CPG) is in use for so far in robotic world to mimic the locomotion patterns of insects and other animals. Currently the hybrid controller of CPG and reflex is going on and this paper suggests a new architecture for the system. Neural Network modeled CPG acts as the motor neuron for each joint of the leg. In each instant a neural network models the gait of the robot by learning procedure from the reflex system. This is like the Central Nervous System (CNS) selecting gait of an animal according to the terrain that travels. CNS takes sensory feedback from eyes, force on each leg and body balance from cochlea to adapt the gait for current terrain. This paper in first place tries to simulate the gait patterns for a hexapod
Degree of Achievability of Omnidirectional Motion in Various Mobile Robot Designs: A Review
Get PDFIn the current field of robotics, many new robots are being developed based on different working principles. Each robot has its own strengths and weaknesses. Omnidirectional mobility is a major functional requirement for performing more complex actions. This article is a comprehensive study of some of the robots developed by different people with distinctive driving mechanisms. The actuation, driving method, operating conditions and control mechanism of all the selected robots is studied. Then finally, all the considered robots are compared based on various parameters to gauge the efficiency and degree of achievability of omnidirectional motion in each robot. Therefore, by the end of this article, we can have an understanding of how much effective each driving mechanism is in producing omnidirectional mobility
Design and Fabrication of Voice Controlled Unmanned Aerial Vehicle
Get PDFUnmanned Aerial Vehicles have gained well known attention in recent years for a numerous applications such as military, civilian surveillance operations as well as search and rescue missions. The UAVs are not controlled by professional pilots and users have less aviation experience. Therefore it seems to be purposeful to simplify the process of aircraft controlling. The objective is to design, fabricate and implement an unmanned aerial vehicle which is controlled by means of voice recognition. In the proposed system, voice commands are given to the quadcopter to control it autonomously. This system is navigated by the voice input. The control system responds to the voice input by voice recognition process and corresponding algorithms make the motors to run at specified speeds which controls the direction of the quadcopter
A New 6 DOF Robotic Arm with Linkage Motion Mechanism and Actuators Placed in Base
Get PDFWe examined mechanism design and kinematic simulation of a new six degrees of freedom (DOF) robotic arm with rotational joints and a linkage motion mechanism. In the design, a parallel linkage mechanism, accompanied by an additional set of bevel gears, was used to create the desired motion for all six links along with transfer of all actuators to the robot’s base to reduce the mass of most of the arms. These changes resulted in reduction of the torque required for joints 1, 2, and 3. Using this parallel mechanism ensures dependence to motion links and creates a special case for the control of the robot and more rigidity against unwanted movement. Initially, we examined mechanism design methods for a parallel linkage mechanism and considered methods for application in an operational robot. In the next step, we determined the kinematic relationships that were established between the robot’s actuators and joints spaces due to the use of this mechanism. Then, we developed an example of the robot’s function in a performance simulation. The simulation results indicated that the mechanism and controller performance were acceptable