Pub Date : 2018-07-18DOI: 10.1109/ICARM.2018.8610682
Jianing Zhang, Yonghao Ma, Zhijia Zhao, Xiuyu He
In this study, we deal with the vibration control and angle positioning issue of a flexible Timoshenko robot system influenced by nonlinearly saturated input and external disturbances. The auxiliary systems are exploited to devise boundary controllers for regulating the vibration and shear deformation, achieving the angle tracking and compensating the input saturation effects. Under the suggested controls, the controlled system is guaranteed to be uniformly bounded and the robot is placed in the desired angular. Finally, numerical simulations are performed to validate the theoretical control performance of the presented method.
{"title":"Control Design of a Vibrating Flexible Timoshenko Robot Arm with Restricted Input","authors":"Jianing Zhang, Yonghao Ma, Zhijia Zhao, Xiuyu He","doi":"10.1109/ICARM.2018.8610682","DOIUrl":"https://doi.org/10.1109/ICARM.2018.8610682","url":null,"abstract":"In this study, we deal with the vibration control and angle positioning issue of a flexible Timoshenko robot system influenced by nonlinearly saturated input and external disturbances. The auxiliary systems are exploited to devise boundary controllers for regulating the vibration and shear deformation, achieving the angle tracking and compensating the input saturation effects. Under the suggested controls, the controlled system is guaranteed to be uniformly bounded and the robot is placed in the desired angular. Finally, numerical simulations are performed to validate the theoretical control performance of the presented method.","PeriodicalId":200653,"journal":{"name":"2018 3rd International Conference on Advanced Robotics and Mechatronics (ICARM)","volume":"292 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129549947","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-07-01DOI: 10.1109/ICARM.2018.8610760
V. I. Rangel, J. Meda-Campaña, J. J. Rubio, J. Gomez-Mancilla, J. Pacheco, R. Tapia-Herrera
The present article shows the design of a fuzzy linear control in a hexarotor. The fuzzy linear controller is based on fuzzy rules applied to improve the result of a linear controller. The advised controller is programmed in the Simulink of Matlab. The recommended controller is used for flights of a hexarotor in different heights.
{"title":"Fuzzy linear control of a hexarotor","authors":"V. I. Rangel, J. Meda-Campaña, J. J. Rubio, J. Gomez-Mancilla, J. Pacheco, R. Tapia-Herrera","doi":"10.1109/ICARM.2018.8610760","DOIUrl":"https://doi.org/10.1109/ICARM.2018.8610760","url":null,"abstract":"The present article shows the design of a fuzzy linear control in a hexarotor. The fuzzy linear controller is based on fuzzy rules applied to improve the result of a linear controller. The advised controller is programmed in the Simulink of Matlab. The recommended controller is used for flights of a hexarotor in different heights.","PeriodicalId":200653,"journal":{"name":"2018 3rd International Conference on Advanced Robotics and Mechatronics (ICARM)","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114670122","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-07-01DOI: 10.1109/ICARM.2018.8610857
Guangxun Du, Liang Sun
Multicopters have been attracting increasing attention in recent years while it is important to consider the flight safety of multicopters in the presence of propulsor faults or failures. To estimate the fault information of the vehicle, the observability of loss of effectiveness information for multicopter is investigated. It is shown that the loss of effectiveness information for multicopters with more than four propulsors is unobservable. Simulation results are presented to show the loss of effectiveness information observability of a hexacopter. The results are discussed and related works for multicopter flight safety in the literature are also presented.
{"title":"Loss of Effectiveness Information Observability Analysis for Multicopters","authors":"Guangxun Du, Liang Sun","doi":"10.1109/ICARM.2018.8610857","DOIUrl":"https://doi.org/10.1109/ICARM.2018.8610857","url":null,"abstract":"Multicopters have been attracting increasing attention in recent years while it is important to consider the flight safety of multicopters in the presence of propulsor faults or failures. To estimate the fault information of the vehicle, the observability of loss of effectiveness information for multicopter is investigated. It is shown that the loss of effectiveness information for multicopters with more than four propulsors is unobservable. Simulation results are presented to show the loss of effectiveness information observability of a hexacopter. The results are discussed and related works for multicopter flight safety in the literature are also presented.","PeriodicalId":200653,"journal":{"name":"2018 3rd International Conference on Advanced Robotics and Mechatronics (ICARM)","volume":"347 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124290868","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-07-01DOI: 10.1109/ICARM.2018.8610768
Huiming Wang, Qiyao Zhang, Qingdu Li
This paper presents a finite-time disturbance rejection control framework for uncertain nonlinear systems under unknown time-varying disturbances. The proposed method relies on a finite-time state observer and a finite-time controller. The observer is employed to estimate the lumped exogenous and endogenous disturbance and simultaneously deliver the estimate to the corresponding controller for on-line disturbance compensation. The finite-time disturbance rejection controller is completed with the estimates of the states, which are delivered from the same finite-time observer. Experimental results are given to confirm the promising performance of the proposed control scheme.
{"title":"Finite-Time Disturbance Rejection Control and Its Application to Robot Manipulator","authors":"Huiming Wang, Qiyao Zhang, Qingdu Li","doi":"10.1109/ICARM.2018.8610768","DOIUrl":"https://doi.org/10.1109/ICARM.2018.8610768","url":null,"abstract":"This paper presents a finite-time disturbance rejection control framework for uncertain nonlinear systems under unknown time-varying disturbances. The proposed method relies on a finite-time state observer and a finite-time controller. The observer is employed to estimate the lumped exogenous and endogenous disturbance and simultaneously deliver the estimate to the corresponding controller for on-line disturbance compensation. The finite-time disturbance rejection controller is completed with the estimates of the states, which are delivered from the same finite-time observer. Experimental results are given to confirm the promising performance of the proposed control scheme.","PeriodicalId":200653,"journal":{"name":"2018 3rd International Conference on Advanced Robotics and Mechatronics (ICARM)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116779661","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-07-01DOI: 10.1109/ICARM.2018.8610854
Mohammadreza Yavari, K. Gupta, M. Mehrandezh
Constrained end-effector manipulation is in big demand in many robotic applications. We present a novel end-effector-constrained motion planning technique for floating-base manipulators. The proposed planner is superior to that cited in literature in terms of accuracy and execution time. The analytic comparison with the former approaches are given as well as simulation results for an end-effector trajectory following task. The strength of the proposed algorithm roots from the use of an alternative parametrization of the configuration space, where end-effector pose is included in this alternative parameterization space explicitly. This makes it possible to successfully generate constrained configuration samples with a uniform distribution. The proposed algorithm is based on RRT. We present a variation of the sample generation and steering routines which are suitable for end-effector constrained planning using the proposed alternative parameterization. Also, we present an asymptotically optimal version of our planner based on RRT* via simulations for end-effector trajectory tracking in presence of physical obstacles
{"title":"Sampling based Constrained Motion Planning For Floating Base Manipulators Using Constraints Driven Alternative Parameterization","authors":"Mohammadreza Yavari, K. Gupta, M. Mehrandezh","doi":"10.1109/ICARM.2018.8610854","DOIUrl":"https://doi.org/10.1109/ICARM.2018.8610854","url":null,"abstract":"Constrained end-effector manipulation is in big demand in many robotic applications. We present a novel end-effector-constrained motion planning technique for floating-base manipulators. The proposed planner is superior to that cited in literature in terms of accuracy and execution time. The analytic comparison with the former approaches are given as well as simulation results for an end-effector trajectory following task. The strength of the proposed algorithm roots from the use of an alternative parametrization of the configuration space, where end-effector pose is included in this alternative parameterization space explicitly. This makes it possible to successfully generate constrained configuration samples with a uniform distribution. The proposed algorithm is based on RRT. We present a variation of the sample generation and steering routines which are suitable for end-effector constrained planning using the proposed alternative parameterization. Also, we present an asymptotically optimal version of our planner based on RRT* via simulations for end-effector trajectory tracking in presence of physical obstacles","PeriodicalId":200653,"journal":{"name":"2018 3rd International Conference on Advanced Robotics and Mechatronics (ICARM)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123600476","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-07-01DOI: 10.1109/ICARM.2018.8610813
Hitoe Ochi, Weiwei Wan, Yajue Yang, N. Yamanobe, Jia Pan, K. Harada
We present bilateral teleoperation system for task learning and robot motion generation. Our system includes a bilateral teleoperation platform and a deep learning software. The deep learning software refers to human demonstration using the bilateral teleoperation platform to collect visual images and robotic encoder values. It leverages the datasets of images and robotic encoder information to learn about the inter-modal correspondence between visual images and robot motion. In detail, the deep learning software uses a combination of Deep Convolutional Auto-Encoders (DCAE) over image regions, and Recurrent Neural Network with Long Short-Term Memory units (LSTM-RNN) over robot motor angles, to learn motion taught be human teleoperation. The learnt models are used to predict new motion trajectories for similar tasks. Experimental results show that our system has the adaptivity to generate motion for similar scooping tasks. Detailed analysis is performed based on failure cases of the experimental results. Some insights about the cans and cannots of the system are summarized.
{"title":"Deep Learning Scooping Motion Using Bilateral Teleoperations","authors":"Hitoe Ochi, Weiwei Wan, Yajue Yang, N. Yamanobe, Jia Pan, K. Harada","doi":"10.1109/ICARM.2018.8610813","DOIUrl":"https://doi.org/10.1109/ICARM.2018.8610813","url":null,"abstract":"We present bilateral teleoperation system for task learning and robot motion generation. Our system includes a bilateral teleoperation platform and a deep learning software. The deep learning software refers to human demonstration using the bilateral teleoperation platform to collect visual images and robotic encoder values. It leverages the datasets of images and robotic encoder information to learn about the inter-modal correspondence between visual images and robot motion. In detail, the deep learning software uses a combination of Deep Convolutional Auto-Encoders (DCAE) over image regions, and Recurrent Neural Network with Long Short-Term Memory units (LSTM-RNN) over robot motor angles, to learn motion taught be human teleoperation. The learnt models are used to predict new motion trajectories for similar tasks. Experimental results show that our system has the adaptivity to generate motion for similar scooping tasks. Detailed analysis is performed based on failure cases of the experimental results. Some insights about the cans and cannots of the system are summarized.","PeriodicalId":200653,"journal":{"name":"2018 3rd International Conference on Advanced Robotics and Mechatronics (ICARM)","volume":"175 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126936742","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-07-01DOI: 10.1109/ICARM.2018.8610742
Xin Zhang, Ge Yu, Manguo Liu, Ying Pan, Kun Xiao
In this paper, we propose an adaptive pitch control for an underwater vehicle. In order to address time-varying uncertainty, i.e., nonlinear dynamics, unknown parameters and disturbance, we proposed a new controller based on terminal sliding-mode control. Rigorous proof of finite-time stability is also presented via Lyapunov analysis, which means that all signals and following errors of closed-loop system is bounded. To verify the effectiveness and robustness of our algorithm, simulations are conducted and illustrated in detail.
{"title":"Adaptive Non-singular Terminal Sliding-mode Pitch Control for an Underwater Vehicle","authors":"Xin Zhang, Ge Yu, Manguo Liu, Ying Pan, Kun Xiao","doi":"10.1109/ICARM.2018.8610742","DOIUrl":"https://doi.org/10.1109/ICARM.2018.8610742","url":null,"abstract":"In this paper, we propose an adaptive pitch control for an underwater vehicle. In order to address time-varying uncertainty, i.e., nonlinear dynamics, unknown parameters and disturbance, we proposed a new controller based on terminal sliding-mode control. Rigorous proof of finite-time stability is also presented via Lyapunov analysis, which means that all signals and following errors of closed-loop system is bounded. To verify the effectiveness and robustness of our algorithm, simulations are conducted and illustrated in detail.","PeriodicalId":200653,"journal":{"name":"2018 3rd International Conference on Advanced Robotics and Mechatronics (ICARM)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115334787","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-07-01DOI: 10.1109/ICARM.2018.8610698
Haiyan An, Bin Li, Xinhua Zhao, Yangmin Li
In this paper, a new spatial parallel mechanism (SPM) is researched that is the 2-RPU&2-SPS SPM. Firstly, the structure characteristics of the 2-RPU&2-SPS SPM are introduced based on the CAD model and schematic model. Secondly, the inverse and forward position analyses of the mechanism are researched, and through the numerical example analysis, the accuracy of the calculation is proved. Finally, the velocity and acceleration of the mechanism are calculated. These works will lay the theoretical foundation for follow-up mechanism prototype development and practical application.
{"title":"Kinematics Performance Analysis of 2-RPU & 2-SPS Spatial Parallel Manipulator","authors":"Haiyan An, Bin Li, Xinhua Zhao, Yangmin Li","doi":"10.1109/ICARM.2018.8610698","DOIUrl":"https://doi.org/10.1109/ICARM.2018.8610698","url":null,"abstract":"In this paper, a new spatial parallel mechanism (SPM) is researched that is the 2-RPU&2-SPS SPM. Firstly, the structure characteristics of the 2-RPU&2-SPS SPM are introduced based on the CAD model and schematic model. Secondly, the inverse and forward position analyses of the mechanism are researched, and through the numerical example analysis, the accuracy of the calculation is proved. Finally, the velocity and acceleration of the mechanism are calculated. These works will lay the theoretical foundation for follow-up mechanism prototype development and practical application.","PeriodicalId":200653,"journal":{"name":"2018 3rd International Conference on Advanced Robotics and Mechatronics (ICARM)","volume":"94 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122603234","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-07-01DOI: 10.1109/ICARM.2018.8610739
Kai Guo, Yapeng Xu, Jie Sun, Haoyong Yu
A novel energy efficient hydraulic configuration is proposed for force control applications. It can achieve rapid dynamic closed loop response similar to the valve controlled system while maintaining high energy efficiency as well as the displacement controlled system in the steady state. Based on the proposed electro-hydraulic configuration, the force control problem is addressed. Firstly, A simplified mathematical model used for control design is proposed. To deal with inherited system uncertainties and unmodelled dynamics, a disturbance observer is used to approximate lumped disturbance. In addition, mid-ranging strategy is used to allocate virtual command between the pump and the proportional valve. To handle the problem of actuator saturation, a reference governor was used to regulate the transient pressure trajectory when future actuator saturation limits are predicted. The proposed nonlinear controller provide excellent tracking performance during the transient period in the numerical simulations.
{"title":"A novel energy efficient electro-hydraulic actuation system and its force control design","authors":"Kai Guo, Yapeng Xu, Jie Sun, Haoyong Yu","doi":"10.1109/ICARM.2018.8610739","DOIUrl":"https://doi.org/10.1109/ICARM.2018.8610739","url":null,"abstract":"A novel energy efficient hydraulic configuration is proposed for force control applications. It can achieve rapid dynamic closed loop response similar to the valve controlled system while maintaining high energy efficiency as well as the displacement controlled system in the steady state. Based on the proposed electro-hydraulic configuration, the force control problem is addressed. Firstly, A simplified mathematical model used for control design is proposed. To deal with inherited system uncertainties and unmodelled dynamics, a disturbance observer is used to approximate lumped disturbance. In addition, mid-ranging strategy is used to allocate virtual command between the pump and the proportional valve. To handle the problem of actuator saturation, a reference governor was used to regulate the transient pressure trajectory when future actuator saturation limits are predicted. The proposed nonlinear controller provide excellent tracking performance during the transient period in the numerical simulations.","PeriodicalId":200653,"journal":{"name":"2018 3rd International Conference on Advanced Robotics and Mechatronics (ICARM)","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122101587","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-07-01DOI: 10.1109/ICARM.2018.8610781
Qiuyue Qin, Guoqin Gao, Taiping Chen
For a hybrid mechanism for automobile electro-coating conveying which is self-developed, a dynamic model is established based on screw theory and the principle of virtual work to simplify the process of modeling. Then, to solve the chattering problem and the slow rate of convergence problem of the existing sliding mode control methods for the hybrid mechanism, a super-twisting algorithm based second-order nonsingular fast terminal sliding mode control method is proposed. The stability of the proposed control method is proved by Lyapunov stability theorem. Finally, compared with the reaching law based sliding mode control method and the super-twisting algorithm based second-order sliding mode control method, it is indicated from the simulation and experiment results that the proposed control method not only has high steady-state accuracy, better dynamic performance and strong robustness, but also reduces the chattering and improves the rate of convergence of the system. And it lays foundation for realizing the high performance control of the hybrid mechanism for automobile electro-coating conveying.
{"title":"Screw Dynamic Modeling and Dynamic Sliding Mode Control for a Hybrid Mechanism","authors":"Qiuyue Qin, Guoqin Gao, Taiping Chen","doi":"10.1109/ICARM.2018.8610781","DOIUrl":"https://doi.org/10.1109/ICARM.2018.8610781","url":null,"abstract":"For a hybrid mechanism for automobile electro-coating conveying which is self-developed, a dynamic model is established based on screw theory and the principle of virtual work to simplify the process of modeling. Then, to solve the chattering problem and the slow rate of convergence problem of the existing sliding mode control methods for the hybrid mechanism, a super-twisting algorithm based second-order nonsingular fast terminal sliding mode control method is proposed. The stability of the proposed control method is proved by Lyapunov stability theorem. Finally, compared with the reaching law based sliding mode control method and the super-twisting algorithm based second-order sliding mode control method, it is indicated from the simulation and experiment results that the proposed control method not only has high steady-state accuracy, better dynamic performance and strong robustness, but also reduces the chattering and improves the rate of convergence of the system. And it lays foundation for realizing the high performance control of the hybrid mechanism for automobile electro-coating conveying.","PeriodicalId":200653,"journal":{"name":"2018 3rd International Conference on Advanced Robotics and Mechatronics (ICARM)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128476126","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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