Bammidi Roopsandeep, Dontikurti Raghuveer, Sreeramulu Dowluru, Rao C J, Kumar A. SATISH
{"title":"Optimal Design of Biped Amble Mechanism using Matlab","authors":"Bammidi Roopsandeep, Dontikurti Raghuveer, Sreeramulu Dowluru, Rao C J, Kumar A. SATISH","doi":"10.35840/2631-5106/4136","DOIUrl":"https://doi.org/10.35840/2631-5106/4136","url":null,"abstract":"","PeriodicalId":284981,"journal":{"name":"International Journal of Robotic Engineering","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123000018","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}
{"title":"An Affordable Haptic Device with Force and Torque Outputs","authors":"Zheng Yang, Liu Xu, Zhao Bin, Wu Baibo, Xu Kai","doi":"10.35840/2631-5106/4132","DOIUrl":"https://doi.org/10.35840/2631-5106/4132","url":null,"abstract":"","PeriodicalId":284981,"journal":{"name":"International Journal of Robotic Engineering","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132951108","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}
Human-Robot Collaboration (HRC) is gaining more and more importance as a new development direction in robotics. The previously common separating devices are to be eliminated, man and machine are to work in a common process. At present, new fields of application are being opened up in automation, which require both an ergonomically and safety-related suitable design and a philosophical consideration of the resulting socio-technical system.
{"title":"Human-Robot Collaboration","authors":"Buxbaum Hans-Jürgen","doi":"10.35840/2631-5106/4121","DOIUrl":"https://doi.org/10.35840/2631-5106/4121","url":null,"abstract":"Human-Robot Collaboration (HRC) is gaining more and more importance as a new development direction in robotics. The previously common separating devices are to be eliminated, man and machine are to work in a common process. At present, new fields of application are being opened up in automation, which require both an ergonomically and safety-related suitable design and a philosophical consideration of the resulting socio-technical system.","PeriodicalId":284981,"journal":{"name":"International Journal of Robotic Engineering","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-12-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128526527","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}
The paper studies the grasping control by coiling for a class of grippers with continuum arms. First, the fractional order model of continuum arm is proposed. The viscoelastic components are assimilated by the fractional Kevin-Voigt model and the fractional-order dynamics are inferred. A hybrid control technique with two control loops for position and force control, respectively, is proposed. The Lyapunov method for position control is applied. Sector-type constraints for input torque are implemented and frequential conditions, Popov Circle Criterion, that ensure asymptotic stability, are inferred. A conventional PD controller is proposed for the force control. Numerical simulations illustrate the performances of the control system.
{"title":"Fractional Order Control for the Grasping by Coiling","authors":"I. Mircea, Florescu Mihaela, V. Cristian","doi":"10.35840/2631-5106/4124","DOIUrl":"https://doi.org/10.35840/2631-5106/4124","url":null,"abstract":"The paper studies the grasping control by coiling for a class of grippers with continuum arms. First, the fractional order model of continuum arm is proposed. The viscoelastic components are assimilated by the fractional Kevin-Voigt model and the fractional-order dynamics are inferred. A hybrid control technique with two control loops for position and force control, respectively, is proposed. The Lyapunov method for position control is applied. Sector-type constraints for input torque are implemented and frequential conditions, Popov Circle Criterion, that ensure asymptotic stability, are inferred. A conventional PD controller is proposed for the force control. Numerical simulations illustrate the performances of the control system.","PeriodicalId":284981,"journal":{"name":"International Journal of Robotic Engineering","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-12-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127332720","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}
Bin-picking of random parts is an important application problem in robotic automation systems, especially coins which act as two-dimensional objects used in daily commercial routines. This paper designs a robotic eye-in-hand visual feedback control system to detect and classify randomly distributed coins, and pick-and-place coins to the target locations. The specific experimental tasks are pick-and-insert a coin in the coin-plate into an individual moneybox, and pick-and-stack an individual coin from the bottom up to like a cylinder.
{"title":"Random Coin Recognition and Robotic Pick-and-Place","authors":"Shih Ching-Long, Zaman Muhammad Qomaruz","doi":"10.35840/2631-5106/4127","DOIUrl":"https://doi.org/10.35840/2631-5106/4127","url":null,"abstract":"Bin-picking of random parts is an important application problem in robotic automation systems, especially coins which act as two-dimensional objects used in daily commercial routines. This paper designs a robotic eye-in-hand visual feedback control system to detect and classify randomly distributed coins, and pick-and-place coins to the target locations. The specific experimental tasks are pick-and-insert a coin in the coin-plate into an individual moneybox, and pick-and-stack an individual coin from the bottom up to like a cylinder.","PeriodicalId":284981,"journal":{"name":"International Journal of Robotic Engineering","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-12-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123177555","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}
{"title":"A Two-Link Robot Manipulator: Simulation and Control Design","authors":"Baccouch Mahboub, D. Stephen","doi":"10.35840/2631-5106/4128","DOIUrl":"https://doi.org/10.35840/2631-5106/4128","url":null,"abstract":"","PeriodicalId":284981,"journal":{"name":"International Journal of Robotic Engineering","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-12-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127407892","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}
This paper proposed a new trajectory tracking control method based on non-time motion reference for non-holonomic mobile robots. Different from the traditional time-based control theory, this method determines the reference points through the geometrical relationship between the current position and the desired path. Substituting them into the time based motion controller, a non-time based motion controller can be derived. Since the reference points are only related to the current state of the robot, the method proposed gets rid of the influence by time, thereby avoiding the disadvantages of loss of tracking ability when the mobile robot encounters undesired incidents such as motor shutdown or tire skids. Finally, the feasibility of this method is verified through numerical simulations of typical path tracking.
{"title":"A New Non-Time Based Tracking Control for Mobile Robot","authors":"Liu Xiao-feng, Zhou Ren-fang, Cai Guo-Ping","doi":"10.35840/2631-5106/4125","DOIUrl":"https://doi.org/10.35840/2631-5106/4125","url":null,"abstract":"This paper proposed a new trajectory tracking control method based on non-time motion reference for non-holonomic mobile robots. Different from the traditional time-based control theory, this method determines the reference points through the geometrical relationship between the current position and the desired path. Substituting them into the time based motion controller, a non-time based motion controller can be derived. Since the reference points are only related to the current state of the robot, the method proposed gets rid of the influence by time, thereby avoiding the disadvantages of loss of tracking ability when the mobile robot encounters undesired incidents such as motor shutdown or tire skids. Finally, the feasibility of this method is verified through numerical simulations of typical path tracking.","PeriodicalId":284981,"journal":{"name":"International Journal of Robotic Engineering","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-12-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133716087","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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