IAES International Journal of Robotics and Automation (IJRA)
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Modification and Actuator Minimization of the Hip Leg Joint in a Bipedal Robot: A Proposed Design
Get PDFIn recent times, there have been numeric applications of Biped Robots. In this paper, a proposed upper leg hip design of a biped was developed taking cost reduction and optimization as factors for consideration. The proposed system introduces a novel method which consists of a vibration reduction (VR) DC stepper motor, microcontroller, microprocessor and gearing arrangement. The program in the microprocessor is so designed that it gives a fixed number of cycles/steps to the VR DC stepper motor in clockwise and thereafter in anti-clockwise direction. This turning movement can then be transmitted to the gearing system which precisely moves one upper leg when the VR DC stepper motor moves in clockwise direction, while the other upper leg remains static, and vice-versa. It has been observed that this new proposed system may reduce the cost overhead, weight and the energy consumption incurred by working on a single VR DC stepper motor while conventionally two stepper motors are used to give the motion of the two upper legs in a biped
Fractional order PID Design using the Taguchi method
Get PDFThis paper presents a gain-tuning scheme for Fractional order PID control systems using the Taguchi method. A prismatic series elastic actuator is selected as an experimental set-up. An optimal controller gains has been obtained through a series of experiments suggested by the Taguchi method. Four stages of tuning are performed in order to accurately tune the controller gains. It is shown that when performance of the proposed controller is compared with two additional controllers: a traditional FOPID tuned with Ziegler-Nichols (Z-N) method and a PID tunned with genetic algorithm, a 94% and 84% improvements in position error is observed, respectively
A Nonlinear Model to Study Selectively Deformable Wing of an Aircraft
Get PDFAeroelasticity of an aircraft includes the study of dynamics of prime movers, structural dynamics, and aerodynamics. Research efforts are on in every area to improve the overall performance of an aircraft. In this paper preliminary studies conducted on the dynamics of selectively deformable wing using an under actuated nonlinear model is reported. First, the literature related to the design and analysis of selectively deformable structure (SDS) wing is reviewed. Second, a single degree of freedom (DOF) model to represent a fixed wing and a two DOF under-actuated model to represent SDS are discussed and their mathematical models are derived. Third, the effect of deformable wing portion on the wing dynamics is studied by varying the excitation frequency and stiffness of the model. Fourth, an experimental setup consisting of two rigid links connected by spring and subjected to sinusoidal displacement is investigated. Final section summarizes the research and provides directions for future work
Leader-Follower Tracking System for Agricultural Vehicles: Fusion of Laser and Odometry Positioning Using Extended Kalman Filter
Get PDFThe aim of this research was to develop a safe human-driven and autonomous leader-follower tracking system for an autonomous tractor. To enable the tracking system, a laser range finder (LRF)-based landmark detection system was designed to observe the relative position between a leader and a follower used in agricultural operations. The virtual follower-based formation-tracking algorithm was developed to minimize tracking errors and ensure safety. An extended Kalman filter (EKF) was implemented for fusing LRF and odometry position to ensure stability of tracking in noisy farmland conditions. Simulations were conducted for tracking the leader in small and large sinusoidal curved paths. Simulated results verified high accuracy of formation tracking, stable velocity, and regulated steering angle of the follower. The tracking method confirmed the follower could follow the leader with a required formation safely and steadily in noisy conditions. The EKF helped to improve observation accuracy, velocity, and steering angle stability of the follower. As a result of the improved accuracy of observation and motion action, the tracking performance for lateral, longitudinal, and heading were also improved after the EKF was implemented in the tracking system
Nonlinear Hybrid Controller for a Quadrotor Based on Sliding Mode and Backstepping
Get PDFIn this paper, one nonlinear hybrid controller, based on backstepping and sliding mode, was developed and applied to a quadrotor for waypoint navigation application. After dynamics modeling, the whole quadrotor dynamics system could be divided into two subsystems: rotational system and translational system. Backstepping control law was derived for attitude control whereas sliding mode control law was developed for position control. By using Lyapunov theory and satisfying sliding stable rules, the convergence of system could be guaranteed. A nonlinear equation was proposed to solve the under-actuated problem. To validate the effectiveness of proposed nonlinear hybrid controller, waypoint navigation simulation was performed on the nonlinear hybrid controller. Results showed that the nonlinear hybrid controller finished waypoint navigation successfully
A Safe Interaction of Robot Assisted Rehabilitation, Based on Model-Free Impedance Control with Singularity Avoidance
Get PDFIn this paper, a singularity-free control methodology for the safe robot-human interaction is proposed using a hybrid control technique in robotic rehabilitation applications. With the use of max-plus algebra, a hybrid controller is designed to guarantee feasible robot motion in the vicinity of the kinematic singularities or going through and staying at the singular configuration. The approach taken in this paper is based on model-free impedance control and hence does not require any information about the model except the upper bounds on the system matrix. The stability of the approach is investigated using multiple Lyapunov function theory. The proposed control algorithm is applied to PUMA 560 robot arm, a six-axis industrial robot. The results demonstrate the validity of the proposed control scheme
Adaptive Sliding Mode Controller Design For Attitude Small UAV
Get PDFThe dynamic of Unmanned Aerial Vehicle (UAV) is nonlinear, strongly coupled, multi-input multi-output (MIMO), and subject to uncertainties and external disturbances. In this paper, an adaptive sliding mode controller (ASMC) is integrated to design the attitude control system for an inner loop fixed wing UAV. In the proposed scheme, sliding mode control law parameters due to uncertainty are assumed to be unknown and are estimated via adaptation laws. The synthesis of the adaptation laws is based on the positivity and Lyapunov design principle. Navigation outer loop parameters are regulated via PID controllers. Simulation results indicate that the proposed controller design can stabilize the nonlinear system, and it is robust to parametric model uncertainties and external disturbance
OPP approach for multi degree of freedom robotic arm Based on Kinematics and Dynamics of Robot
Get PDFThis paper deals with the trajectory and path generation of the industrial manipulator. The trajectory is obtained using the equations of motion and also the optimal path planning (OPP) approach under kinodynamic constraints. The optimal control problem is defined for the minimum cost function and to obtain the necessary conditions. Here we have used pontrygain’s minimum principle to obtain the limiting value of joint angle and also the joint velocity and torque. In this paper we have used the “Two degree of freedom (DOF) manipulator” for analysis and designing the optimal control for multi link and multi degree of freedom manipulator. For analysis purposes, simulation software has been used to formulate the trajectory and minimize the cost function involved
A PSO-Optimized Reciprocal Velocity Obstacles Algorithm for Navigation of Multiple Mobile Robots
Get PDFIn this paper, a new optimization method for the Reciprocal Velocity Obstacles (RVO) is proposed. It uses the well-known Particle Swarm Optimization (PSO) for navigation control of multiple mobile robots with kinematic constraints. The RVO is used for collision avoidance between the robots, while PSO is used to choose the best path for the robot maneuver to avoid colliding with other robots and to get to its goal faster. This method was applied on 24 mobile robots facing each other. Simulation results have shown that this method outperforms the ordinary RVO when the path is heuristically chosen
PLC based Multi-Floor Elevator Control System
Get PDFThis paper presents programmable logic controller based elevator control system. Primary focus is on using programmable logic controller to build the elevator model. To control the motion of the elevator through various levels DC geared motor is used. Push buttons are used to give signal to the elevator to come to the desired floor, traversing up and down. Moreover DC relays are used as switches, not protective devices, to drive the motor in clockwise and anticlockwise direction. Ladder logic is used for the model implementation