IAES International Journal of Robotics and Automation (IJRA)
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Sampled-Data Backstepping Control of a Quadrotor Unmanned Aerial Vehicle
Get PDFSampled-data backstepping control of a quadrotor UAV is presented in this paper. The discrete time controllers have been designed on the basis of a continuous time system model and an approximate discrete time equivalent system model (Euler Approximate model) obtained using the Euler method. The performance of the controllers obtained using the two sampled-data approaches has been compared in the presence of wing gusts and modeling uncertainties. Simulations have revealed that the backstepping controller designed on the basis of an approximate discrete time model has better performance in the presence of wind gusts and modeling uncertainties. In addition, the closed loop system has a larger region of attraction
Novel Approach to Control of Robotic Hand Using Flex Sensors
Get PDFThis paper discuss about novel design approach to control of a robotic hand using flex sensors which indicates a biomechatronic multi fingered robotic hand. This robotic hand consists of base unit, upper arm, lower arm, palm and five fingers. The aim is to develop an anthropomorphic five fingered robotic hand. The proposed design illustrates the use of 5 micro DC motors with 9 Degrees of Freedom (DOF).Each finger is controlled independently. Further three extra motors were used for the control of wrist elbow and base movement. The study of the DC motor is being carried out using the transfer function model for constant excitation. The micro DC motor performance was analyzed using MATLAB simulation environment. The whole system is implemented using flex sensors. The flex sensors placed on the human hand gloves appear as if they look like real human hand. 89v51 microcontroller was used for all the controlling actions along with RF transmitter/receiver .The performance of the system has been conducted experimentally and studied
Fuzzy Controlled Routing in a Swarm Robotic Network
Get PDFSwarm Robotics originated in the research inspired by biology. It is the usual sense of the multi-robot systems which have been given the emerging attributes of swarm intelligence. In nature, ants, termites, wasps, bees and other social insects have inspired surprisingly inspiration of human. These groups of organisms show how to interact with a large number of simple individuals and generate the collective intelligence of systems to cope with complicated tasks. Swarm Robotics is a special robot system which is composed of a group of indiscriminate robots and so it is a typical distributed system. If a task is for only one robot and the robot will be very complex and expensive inefficiently. But if it is for the swarm robotics, the complex task can be done by many more simple robots efficiently. For the Routing problem, the quality of a potential route is determined by the length of the route (i.e. number of links) and the congestion along the route. It is desired to balance the traffic load among links in the network so it is desirable to select routes with a low obstacle rate. In addition, shorter routes are preferred over longer routes because they use fewer network resource
The Novel of Six axes Robotic Arm for Industrial Applications
Get PDFAutomation technology is widely accepted and rapidly growing technology in the field of core and many other industries. Anyone can observe that due to these problems many industries are turning towards automaton. When searching for problem of labor manpower in middle-case industries, we came to know about many other things like production, speed of manufacturing and quality of the product are necessary in the current scenario. These parameters are not being well maintained in incorporate industries with manual manufacturing processes instead of using automatic system. Our objective is to solve these problems by efficient use of different technologies for making an industry fully or partially automated. By using technologies we can try to solve or reduce the effects of above problems
A LQR Optimal Method to Control the Position of an Overhead Crane
Get PDFIn this paper, a LQR (Linear Quadratic Regulation) optimal method is implemented to control position of an overhead carne. To do this, a tracking formulation of LQR is developed and applied to the system. Hence the dynamic model of the overhead crane is presented, the dynamic of the actuator motor of the trolley is considered. As the parameters of the optimal controller assigned, some simulations are done to show the efficiency of the proposed method
A New Method for Time-Jerk Optimal Trajectory Planning Under Kino-dynamic Constraint of Robot Manipulators in Pick-and-Place Operations
Get PDFA new method for time-jerk optimal planning under Kino-dynamic constraints of robot manipulators in pick-and-place operations is described in this paper. In order to ensure that the resulting trajectory is smooth enough, a cost function containing a term proportional to the integral of the squared jerk (defined as the derivative of the acceleration) along the trajectory is considered. Moreover, a second term, proportional to the total execution time, is added to the expression of the cost function. A Cubic Spline functions are then used to compose overall trajectory. This method makes it possible to deal with the kinematic constraints as well as the dynamic constraints imposed on the robot manipulator. The algorithm has been tested in simulation yielding good results
Rolling Path Plan of Mobile Robot Based on Automatic Diffluent Ant Algorithm
Get PDFThis paper proposes a new rolling algorithm for path plan of mobile robot based on automatically shunt the ant algorithm.The goal node is mapped to the node nearby the boundary in the eyeshot of the robot, and make out the best partial path, which the robot goes ahead for a step. The algorithm will iterate one time when the robot arrives at the goal node. The robot will reach the destination along the optimal path. Simulation experiments illustrate that the algorithm can be used to plan the optimal path for mobile robot even in the complex and unknown static environment
Bilateral Teleoperation of Wheeled Mobile Robots Working in Common Workspace
Get PDFThis paper proposes a bilateral control framework for mobile robots which share the same workspace. The robots are teleoperated by independent users. Accordingly, for each teleoperated robot the other robots represent moving obstacles or static obstacles with a-priori unknown positions. For such teleoperation systems a velocity generator algorithm is proposed to obtain the linear and angular velocity commands of the mobile robots. A procedure is also given to calculate the haptic force corresponding to each mobile robot. To guarantee the stability of the teleoperation in the presence of large communication delays, a supervisor control algorithm is proposed which constantly monitors the stability of the teleoperation system. Experimental measurements are provided to show the effectiveness of the proposed bilateral teleoperation strategy
Controlling Bloat in Genetic Programming for Sloving Wall Following Problem
Get PDFThe goal in automatic programming is to get a computer to perform a task by telling it what needs to be done, rather than by explicitly programming it.With considers the task of automatically generating a computer program to enable an autonomous mobile robot to perform the task of following the wall of an irregular shaped room, During the evolution of solutions using genetic programming (GP) there is generally an increase in average tree size without a corresponding increase in fitness—a phenomenon commonly referred to as bloat. Many different bloat control methods have been proposed. This paper review, evaluate, implementation and comparison of these methods in wall following problem and the most appropriate method for solving bloat problem is proposed
Design of Piano -playing Robotic Hand
Get PDFUnlike the market slowdown of industrial robots, service & entertainment robots have been highly regarded by most robotics reseach and market research agencies. In this study we developed a music playing robot (which can also work as a service robot) for public performance. The research is mainly focused on the mechanical and electrical control of piano-playing robot, the exploration of correlations among music theory, rhythm and piano keys, and eventually the research on playing skill of keyboard instrument. The piano-playing robot is capable of control linear motor, servo-motor and pneumatic devices in accordance with the notes and rhythm in order to drive the mechanical structure to proper positions for pressing the keys and generating music. The devices used for this robot are mainly crucial components produced by HIWIN Technology Corp. The design of robotic hand is based on the direction of anthropomorphic hand such that five fingers will be used for playing piano. The finger actuations include actions of finger rotation, finger pressing, and finger lifting; time required for these 3 stages must meet the requirement of rhythm. The purpose of entertainment robot can be achieved by playing electric piano with robotic hand, and we hope this research can contribute to the development of domestic entertainment music playing robots