Abstract: A robot simulator was developed to measure and
investigate the performance of a robot navigation system based on
the relative position of the robot with respect to random obstacles in
any two dimensional environment. The presented simulator focuses
on investigating the ability of a fuzzy-neural system for object
avoidance. A navigation algorithm is proposed and used to allow
random navigation of a robot among obstacles when the robot faces
an obstacle in the environment. The main features of this simulator
can be used for evaluating the performance of any system that can
provide the position of the robot with respect to obstacles in the
environment. This allows a robot developer to investigate and
analyze the performance of a robot without implementing the
physical robot.
Abstract: This paper proposes a balance control scheme for a biped robot to trace an arbitrary path using image information. While moving, it estimates the zero moment point(ZMP) of the biped robot in the next step using a Kalman filter and renders an appropriate balanced pose of the robot. The ZMP can be calculated from the robot's pose, which is measured from the reference object image acquired by a CCD camera on the robot's head. For simplifying the kinematical model, the coordinates systems of individual joints of each leg are aligned and the robot motion is approximated as an inverted pendulum so that a simple linear dynamics, 3D-LIPM(3D-Linear Inverted Pendulum Mode) can be applied. The efficiency of the proposed algorithm has been proven by the experiments performed on unknown trajectory.
Abstract: This paper suggests a calibration method to reduce
errors occurring due to mobile robot sliding during location estimation
using the Dead-reckoning. Due to sliding of the mobile robot caused
between its wheels and the road surface while on free run, location
estimation can be erroneous. Sliding especially occurs during
cornering of mobile robot. Therefore, in order to reduce these frequent
sliding errors in cornering, we calibrated the mobile robot-s heading
values using a vision camera and templates of the ceiling.
Abstract: An intuitive user interface for the teleoperation of mobile rescue robots is one key feature for a successful exploration of inaccessible and no-go areas. Therefore, we have developed a novel framework to embed a flexible and modular user interface into a complete 3-D virtual reality simulation system. Our approach is based on a client-server architecture to allow for a collaborative control of the rescue robot together with multiple clients on demand. Further, it is important that the user interface is not restricted to any specific type of mobile robot. Therefore, our flexible approach allows for the operation of different robot types with a consistent concept and user interface. In laboratory tests, we have evaluated the validity and effectiveness of our approach with the help of two different robot platforms and several input devices. As a result, an untrained person can intuitively teleoperate both robots without needing a familiarization time when changing the operating robot.
Abstract: In this work, we suggested a new approach for the
control of a mobile robot capable of being a building block of an
intelligent agent. This approach includes obstacle avoidance and goal
tracking implemented as two different sliding mode controllers. A
geometry based behavior arbitration is proposed for fusing the two
outputs. Proposed structure is tested on simulations and real robot.
Results have confirmed the high performance of the method.
Abstract: In this paper is described a new conception of the
Cartesian robot for automated assembly and also disassembly
process. The advantage of this conception is the utilization the
Cartesian assembly robot with its all peripheral automated devices for
assembly of the assembled product. The assembly product in the end
of the lifecycle can be disassembled with the same Cartesian
disassembly robot with the use of the same peripheral automated
devices and equipment. It is a new approach to problematic solving
and development of the automated assembly systems with respect to
lifecycle management of the assembly product and also assembly
system with Cartesian robot. It is also important to develop the
methodical process for design of automated assembly and
disassembly system with Cartesian robot. Assembly and disassembly
system use the same Cartesian robot input and output devices,
assembly and disassembly units in one workplace with different
application. Result of design methodology is the verification and
proposition of real automated assembly and disassembly workplace
with Cartesian robot for known verified model of assembled actuator.
Abstract: In this paper the neural network-based controller is
designed for motion control of a mobile robot. This paper treats the
problems of trajectory following and posture stabilization of the
mobile robot with nonholonomic constraints. For this purpose the
recurrent neural network with one hidden layer is used. It learns
relationship between linear velocities and error positions of the
mobile robot. This neural network is trained on-line using the
backpropagation optimization algorithm with an adaptive learning
rate. The optimization algorithm is performed at each sample time to
compute the optimal control inputs. The performance of the proposed
system is investigated using a kinematic model of the mobile robot.
Abstract: Today, the central role of industrial robots in automation in general and in material handling in particular is crystal clear. Based on the current status of Photovoltaics and by focusing on lightweight material handling, PV industry has turned into a potential candidate for introducing a fresh “pick and place" robot technology. Thus, to examine the industry needs in this regard, firstly the best suited applications for such robotic automation,and then the essential prerequisites in PV industry should be identified. The objective of this paper is to present holistic views on the industry trends, general automation status and existing challenges facing lightweight robotic material handling in PV Silicon Wafer and Thin Film technologies. The results of this study show that currently no uniform pick and place solution prevails among PV Silicon Wafer manufacturers and the industry calls for a new robot solution to satisfy its needs in new directions.
Abstract: Utilization of various sensors has made it possible to
extend capabilities of industrial robots. Among these are vision
sensors that are used for providing visual information to assist robot
controllers. This paper presents a method of integrating a vision
system and a simulation program with an industrial robot. The vision
system is employed to detect a target object and compute its location
in the robot environment. Then, the target object-s information is sent
to the robot controller via parallel communication port. The robot
controller uses the extracted object information and the simulation
program to control the robot arm for approaching, grasping and
relocating the object. This paper presents technical details of system
components and describes the methodology used for this integration.
It also provides a case study to prove the validity of the methodology
developed.
Abstract: This paper presents an iterative algorithm to find a
inverse kinematic solution of 5-DOF robot. The algorithm is to
minimize the iteration number. Since the 5-DOF robot cannot give full
orientation of tool. Only z-direction of tool is satisfied while rotation
of tool is determined by kinematic constraint. This work therefore
described how to specify the tool direction and let the tool rotation free.
The simulation results show that this algorithm effectively worked.
Using the proposed iteration algorithm, error due to inverse kinematics
converged to zero rapidly in 5 iterations. This algorithm was applied in
real welding robot and verified through various practical works.
Abstract: Motion control of flexible arms is more difficult than
that of rigid arms, however utilizing its dynamics enables improved
performance such as a fast motion in short operation time. This paper
investigates a ball throwing robot with one rigid link and one flexible
link. This robot throws a ball at a set speed with a proper control torque.
A mathematical model of this ball throwing robot is derived through
Hamilton’s principle. Several patterns of torque input are designed and
tested through the proposed simulation models. The parameters of
each torque input pattern is optimized and determined by chaos
embedded vector evaluated particle swarm optimization (CEVEPSO).
Then, the residual vibration of the manipulator after throwing is
suppressed with input shaping technique. Finally, a real experiment is
set up for the model checking.
Abstract: This paper proposes a prototype of a lower-limb
rehabilitation system for recovering and strengthening patients-
injured lower limbs. The system is composed of traction motors for
each leg position, a treadmill as a walking base, tension sensors,
microcontrollers controlling motor functions and a main system with
graphic user interface. For derivation of reference or normal velocity
profiles of the body segment point, kinematic method is applied based
on the humanoid robot model using the reference joint angle data of
normal walking.
Abstract: This project focuses on the development of a line
follower algorithm for a Two Wheels Balancing Robot. In this
project, ATMEGA32 is chosen as the brain board controller to react
towards the data received from Balance Processor Chip on the
balance board to monitor the changes of the environment through
two infra-red distance sensor to solve the inclination angle problem.
Hence, the system will immediately restore to the set point (balance
position) through the implementation of internal PID algorithms at
the balance board. Application of infra-red light sensors with the PID
control is vital, in order to develop a smooth line follower robot. As a
result of combination between line follower program and internal self
balancing algorithms, we are able to develop a dynamically
stabilized balancing robot with line follower function.
Abstract: This paper features the kinematic modelling of a 5-axis stationary articulated robot arm which is used for doing successful robotic manipulation task in its workspace. To start with, a 5-axes articulated robot was designed entirely from scratch and from indigenous components and a brief kinematic modelling was performed and using this kinematic model, the pick and place task was performed successfully in the work space of the robot. A user friendly GUI was developed in C++ language which was used to perform the successful robotic manipulation task using the developed mathematical kinematic model. This developed kinematic model also incorporates the obstacle avoiding algorithms also during the pick and place operation.
Abstract: Omni directional mobile robots have been popularly
employed in several applications especially in soccer player robots
considered in Robocup competitions. However, Omni directional
navigation system, Omni-vision system and solenoid kicking
mechanism in such mobile robots have not ever been combined. This
situation brings the idea of a robot with no head direction into
existence, a comprehensive Omni directional mobile robot. Such a
robot can respond more quickly and it would be capable for more
sophisticated behaviors with multi-sensor data fusion algorithm for
global localization base on the data fusion. This paper has tried to
focus on the research improvements in the mechanical, electrical and
software design of the robots of team ADRO Iran. The main
improvements are the world model, the new strategy framework,
mechanical structure, Omni-vision sensor for object detection, robot
path planning, active ball handling mechanism and the new kicker
design, , and other subjects related to mobile robot
Abstract: In this project, a tele-operated anthropomorphic
robotic arm and hand is designed and built as a versatile robotic arm
system. The robot has the ability to manipulate objects such as pick
and place operations. It is also able to function by itself, in
standalone mode.
Firstly, the robotic arm is built in order to interface with a personal
computer via a serial servo controller circuit board. The circuit board
enables user to completely control the robotic arm and moreover,
enables feedbacks from user. The control circuit board uses a
powerful integrated microcontroller, a PIC (Programmable Interface
Controller). The PIC is firstly programmed using BASIC (Beginner-s
All-purpose Symbolic Instruction Code) and it is used as the 'brain'
of the robot. In addition a user friendly Graphical User Interface
(GUI) is developed as the serial servo interface software using
Microsoft-s Visual Basic 6.
The second part of the project is to use speech recognition control
on the robotic arm. A speech recognition circuit board is constructed
with onboard components such as PIC and other integrated circuits. It
replaces the computers- Graphical User Interface. The robotic arm is
able to receive instructions as spoken commands through a
microphone and perform operations with respect to the commands
such as picking and placing operations.
Abstract: Nowadays, with the emerging of the new applications
like robot control in image processing, artificial vision for visual
servoing is a rapidly growing discipline and Human-machine
interaction plays a significant role for controlling the robot. This
paper presents a new algorithm based on spatio-temporal volumes for
visual servoing aims to control robots. In this algorithm, after
applying necessary pre-processing on video frames, a spatio-temporal
volume is constructed for each gesture and feature vector is extracted.
These volumes are then analyzed for matching in two consecutive
stages. For hand gesture recognition and classification we tested
different classifiers including k-Nearest neighbor, learning vector
quantization and back propagation neural networks. We tested the
proposed algorithm with the collected data set and results showed the
correct gesture recognition rate of 99.58 percent. We also tested the
algorithm with noisy images and algorithm showed the correct
recognition rate of 97.92 percent in noisy images.
Abstract: A novel low-cost impedance control structure is
proposed for monitoring the contact force between end-effector and
environment without installing an expensive force/torque sensor.
Theoretically, the end-effector contact force can be estimated from the
superposition of each joint control torque. There have a nonlinear
matrix mapping function between each joint motor control input and
end-effector actuating force/torques vector. This new force control
structure can be implemented based on this estimated mapping matrix.
First, the robot end-effector is manipulated to specified positions, then
the force controller is actuated based on the hall sensor current
feedback of each joint motor. The model-free fuzzy sliding mode
control (FSMC) strategy is employed to design the position and force
controllers, respectively. All the hardware circuits and software
control programs are designed on an Altera Nios II embedded
development kit to constitute an embedded system structure for a
retrofitted Mitsubishi 5 DOF robot. Experimental results show that PI
and FSMC force control algorithms can achieve reasonable contact
force monitoring objective based on this hardware control structure.
Abstract: In this paper, a vision based system has been used for
controlling an industrial 3P Cartesian robot. The vision system will
recognize the target and control the robot by obtaining images from
environment and processing them. At the first stage, images from
environment are changed to a grayscale mode then it can diverse and
identify objects and noises by using a threshold objects which are
stored in different frames and then the main object will be
recognized. This will control the robot to achieve the target. A vision
system can be an appropriate tool for measuring errors of a robot in a
situation where the experimental test is conducted for a 3P robot.
Finally, the international standard ANSI/RIA R15.05-2 is used for
evaluating the path-related characteristics of the robot. To evaluate
the performance of the proposed method experimental test is carried
out.
Abstract: This paper proposes a method of adaptively generating a gait pattern of biped robot. The gait synthesis is based on human's gait pattern analysis. The proposed method can easily be applied to generate the natural and stable gait pattern of any biped robot. To analyze the human's gait pattern, sequential images of the human's gait on the sagittal plane are acquired from which the gait control values are extracted. The gait pattern of biped robot on the sagittal plane is adaptively generated by a genetic algorithm using the human's gait control values. However, gait trajectories of the biped robot on the sagittal plane are not enough to construct the complete gait pattern because the biped robot moves on 3-dimension space. Therefore, the gait pattern on the frontal plane, generated from Zero Moment Point (ZMP), is added to the gait one acquired on the sagittal plane. Consequently, the natural and stable walking pattern for the biped robot is obtained.