Robots are currently made in numerous types and are used in diverse roles such as production lines, daily living activities and some security fields. These types of robots are well designed and successfully applied in many areas requiring high sensitivity and stability. The aim of this study was to determine the optimum values of several operational parameters for a planar robot with respect to robot design and construction. With this aim, a small planar robot with a three-jointed arm activated by hydraulic cylinders in each segment was evaluated using a technical design drawing. The arm motions of the planar robot are rotary and parallel within a vertical plane. The resulting optimal operational parameters of the planar robot were determined as starting and target positions of 31.5 cm and 55 cm, respectively, on the x-axis and 17.18 cm and 118.44 cm on the y–axis. Time-position and time-velocity graphs were constructed corresponding to the orbit-planning parameters, resulting in Cartesian velocities for the terminal processor of 13.98 m/sec on the x-axis and 20.16 m/sec on the y-axis at 1.5 seconds after initiation. The maximum power consumption of the robot was determined as 1 kW according to the outer load and arm weights.
CPREDICTION OF INVERSE KINEMATICS SOLUTION OF A REDUNDANT MANIPULATOR USING A...Ijripublishers Ijri
In this thesis, a method for forward and inverse kinematics analysis of a 5-DOF and a 7- DOF Redundant manipulator
is proposed. Obtaining the trajectory and computing the required joint angles for a higher DOF robot manipulator is one
of the important concerns in robot kinematics and control. The difficulties in solving the inverse kinematics equations
of these redundant robot manipulator arises due to the presence of uncertain, time varying and non-linear nature of
equations having transcendental functions. In this thesis, the ability of ANFIS is used to the generated data for solving
inverse kinematics problem. A single- output Sugeno-type FIS using grid partitioning has been modeled in this work.
The forward kinematics and inverse kinematics for a 5-DOF and 7-DOF manipulator are analyzed systemically. The Efficiency
of ANFIS can be concluded by observing the surface plot, residual plot and normal probability plot. This current
study in using different nonlinear models for the prediction of the IKs of a 5-DOF and 7-DOF Redundant manipulator
will give a valuable source of information for other modellers.
Keywords: 5-DOF and 7-DOF Redundant Robot Manipulator; Inverse kinematics; ANFIS; Denavit-Harbenterg (D-H)
notation.
SIMULTANEOUS OPTIMIZATION OF SEMIACTIVE QUARTER CAR SUSPENSION PARAMETERS USI...ijmech
In present paper, a methodology is presented related to the optimization of semi-active quarter car model
suspension parameters having three degrees of freedom, subjected to bump type of road excitation.
Influence of primary suspension stiffness, primary suspension damping, secondary suspension stiffness and
secondary suspension damping are studied on the passenger ride comfort, taking root mean square (RMS)
values of passenger seat displacement and settling time into account. Semi-active quarter car model
assembled with magneto-rheological (MR) shock absorber is selected for optimization of suspension
parameters using Taguchi method in combination with Grey relational analysis. Confirmatory results with
simulation run indicates that the optimized results of suspension parameters are helpful in achieving the
best ride comfort to travelling passengers in terms of minimization of passenger seat displacement and
settling time values.
Effect of Discrete Yaw Direction Setting for 4 Roter Helicopter Control: Comp...AM Publications
In this paper, the effectiveness of discrete yaw direction setting in 4 rotor helicopter control was evaluated by simple computer simulation and Parrot AR. Drone 4 rotor helicopter in horizontal plane automatic position fixing control. For 4 rotor system, it is necessary to control the attitude of the drone and the position in the space simultaneously in order to realize stable flight of the system. The attitude control can be realized by the internal acc / gyro sensors with high sampling rate (near 1 kHz), on the contrary, the position control in the outdoor situation is necessary to realize by the external 3D position measurement method with relatively low sampling rate techniques (lower than 100 Hz) such as GPS. The low sampling rate reduces the positional control stability, and it is causing the control problem such applications of inspection work at high height and long distance. Our attempt is to evaluate the effect of adding discrete yaw direction setting while normal 4 rotor helicopter roll and pitch control in horizontal plane movement by a simple computer simulation and model implementation. By adding the discrete yaw direction setting to the target direction, the fixed position movement control performance of the 4 rotor system could increase comparing with without the yaw direction setting of the 4 rotor system. The proposed method would be useful to improve the 4 rotor system control performance under the relatively low sampling rate positional information acquired situation.
AGV PATH PLANNING BASED ON SMOOTHING A* ALGORITHMijseajournal
The path consumption of the digital map in the grid as the environment expression way is discrete, for
Automated Guided Vehicle(AGV) to achieve low consumption and smooth path planning target, the A*
algorithm is applied to the path planning based on grid, and the optimal path is realized. A path smoothing
method is proposed and applied to the path of A*. The smoothing method satisfies the AGV turning radius,
makes the path smooth transition at the break point, and realizes the smooth path deviation. The simulation
results are verified by using the grid method, and the path of the proposed method is smoother, the path
consumes less and the path error is less than that of the A*.
DYNAMICAL ANALYSIS OF SILO SURFACE CLEANING ROBOT USING FINITE ELEMENT METHODIAEME Publication
All mechanical systems are subjected to dynamic forces when they are in functioning. Thus a dynamical analysis has to be studied to determine the system behaviour. The vibration is of interest to study, due to its destructive or constructive effect. In the present era computational techniques are quite common and are very reliable as far as the modal analysis is concerned. In this work, the robot of silo cleaning is analysed for its vibration behaviour using finite element method (FEM).The robot was modelled and meshed in ANSYS. Modal analysis was conducted to calculate few initial natural frequencies. After carrying out the modal analysis, harmonic and transient analysis were done to see the response of the robot under dynamic loading. It was observed that robot is safe in its entire range of operation.
CPREDICTION OF INVERSE KINEMATICS SOLUTION OF A REDUNDANT MANIPULATOR USING A...Ijripublishers Ijri
In this thesis, a method for forward and inverse kinematics analysis of a 5-DOF and a 7- DOF Redundant manipulator
is proposed. Obtaining the trajectory and computing the required joint angles for a higher DOF robot manipulator is one
of the important concerns in robot kinematics and control. The difficulties in solving the inverse kinematics equations
of these redundant robot manipulator arises due to the presence of uncertain, time varying and non-linear nature of
equations having transcendental functions. In this thesis, the ability of ANFIS is used to the generated data for solving
inverse kinematics problem. A single- output Sugeno-type FIS using grid partitioning has been modeled in this work.
The forward kinematics and inverse kinematics for a 5-DOF and 7-DOF manipulator are analyzed systemically. The Efficiency
of ANFIS can be concluded by observing the surface plot, residual plot and normal probability plot. This current
study in using different nonlinear models for the prediction of the IKs of a 5-DOF and 7-DOF Redundant manipulator
will give a valuable source of information for other modellers.
Keywords: 5-DOF and 7-DOF Redundant Robot Manipulator; Inverse kinematics; ANFIS; Denavit-Harbenterg (D-H)
notation.
SIMULTANEOUS OPTIMIZATION OF SEMIACTIVE QUARTER CAR SUSPENSION PARAMETERS USI...ijmech
In present paper, a methodology is presented related to the optimization of semi-active quarter car model
suspension parameters having three degrees of freedom, subjected to bump type of road excitation.
Influence of primary suspension stiffness, primary suspension damping, secondary suspension stiffness and
secondary suspension damping are studied on the passenger ride comfort, taking root mean square (RMS)
values of passenger seat displacement and settling time into account. Semi-active quarter car model
assembled with magneto-rheological (MR) shock absorber is selected for optimization of suspension
parameters using Taguchi method in combination with Grey relational analysis. Confirmatory results with
simulation run indicates that the optimized results of suspension parameters are helpful in achieving the
best ride comfort to travelling passengers in terms of minimization of passenger seat displacement and
settling time values.
Effect of Discrete Yaw Direction Setting for 4 Roter Helicopter Control: Comp...AM Publications
In this paper, the effectiveness of discrete yaw direction setting in 4 rotor helicopter control was evaluated by simple computer simulation and Parrot AR. Drone 4 rotor helicopter in horizontal plane automatic position fixing control. For 4 rotor system, it is necessary to control the attitude of the drone and the position in the space simultaneously in order to realize stable flight of the system. The attitude control can be realized by the internal acc / gyro sensors with high sampling rate (near 1 kHz), on the contrary, the position control in the outdoor situation is necessary to realize by the external 3D position measurement method with relatively low sampling rate techniques (lower than 100 Hz) such as GPS. The low sampling rate reduces the positional control stability, and it is causing the control problem such applications of inspection work at high height and long distance. Our attempt is to evaluate the effect of adding discrete yaw direction setting while normal 4 rotor helicopter roll and pitch control in horizontal plane movement by a simple computer simulation and model implementation. By adding the discrete yaw direction setting to the target direction, the fixed position movement control performance of the 4 rotor system could increase comparing with without the yaw direction setting of the 4 rotor system. The proposed method would be useful to improve the 4 rotor system control performance under the relatively low sampling rate positional information acquired situation.
AGV PATH PLANNING BASED ON SMOOTHING A* ALGORITHMijseajournal
The path consumption of the digital map in the grid as the environment expression way is discrete, for
Automated Guided Vehicle(AGV) to achieve low consumption and smooth path planning target, the A*
algorithm is applied to the path planning based on grid, and the optimal path is realized. A path smoothing
method is proposed and applied to the path of A*. The smoothing method satisfies the AGV turning radius,
makes the path smooth transition at the break point, and realizes the smooth path deviation. The simulation
results are verified by using the grid method, and the path of the proposed method is smoother, the path
consumes less and the path error is less than that of the A*.
DYNAMICAL ANALYSIS OF SILO SURFACE CLEANING ROBOT USING FINITE ELEMENT METHODIAEME Publication
All mechanical systems are subjected to dynamic forces when they are in functioning. Thus a dynamical analysis has to be studied to determine the system behaviour. The vibration is of interest to study, due to its destructive or constructive effect. In the present era computational techniques are quite common and are very reliable as far as the modal analysis is concerned. In this work, the robot of silo cleaning is analysed for its vibration behaviour using finite element method (FEM).The robot was modelled and meshed in ANSYS. Modal analysis was conducted to calculate few initial natural frequencies. After carrying out the modal analysis, harmonic and transient analysis were done to see the response of the robot under dynamic loading. It was observed that robot is safe in its entire range of operation.
Sensor Fusion Algorithm by Complementary Filter for Attitude Estimation of Qu...TELKOMNIKA JOURNAL
This paper proposes a sensor fusion algorithm by complementary filter technique for attitude
estimation of quadrotor UAV using low-cost MEMS IMU. Angular rate from gyroscope tend to drift over a
time while accelerometer data is commonly effected with environmental noise. Therefore, high frequency
gyroscope signal and low frequency accelerometer signal is fused using complementary filter algorithm.
The complementary filter scaling factor K1=0.98 and K2=0.02 are used to merge both gyro and
accelerometer. The results show that the smooth roll, pitch and yaw attitude angle can be obtained from
the low cost IMU by using proposed sensor fusion algorithm.
A Design Of Omni-Directional Mobile Robot Based On Mecanum WheelsIJRESJOURNAL
ABSTRACT:As one of the important branch of mobile robotics, wheel mobile robot has long been paid atten tion to by the research people at home and abroad for its high load ability, positioning accuracy, high efficiency, simple control, etc. Mobile robot has close relation to many technologies suc-h as control theory, computer tech nology, sensor technology, etc. Therefore, research on the mobile robot has important significance
Experimental and Numerical Modal Analysis of a Compressor Mounting BracketIOSRJMCE
Experimental modal analysis has grown steadily in popularity since the advent of the digital FFT spectrum analyzer in the early 1970’s. Today, impact testing (or bump testing) has become widespread as a fast and economical means of finding the modes of vibration of a machine or structure. In this paper, it presents the experimental and numerical modal analysis of a compressor mounting bracket (CMB). The dynamic behavior of CMB is investigated through impact testing. The three-dimensional finite element models are constructed using Altair HyperMesh and an numerical modal analysis is then performed to generate natural frequencies and mode shapes in the three-orthogonal directions. The finite element model agrees well with the experimental tests and eventually it helps the designer to design upfront with much lesser cost and time of experimentation
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology.
The performance evaluation is one of most important issues in the analysis and design of parallel manipulators.
Characteristics such as manipulability and minimum singular value are used to determine the performance of the manipulators. The performance indices are used to eliminate the singularity and it’s near configurations. In this paper 6-UPS spatial parallel manipulator is considered and its performance indices such as condition number, manipulability and minimum singular value are determined for different structures.
The study on optimization measures of congestion on main roads in ChongQingIJERA Editor
to relieve the congestion of main roads with many two-phase intersections,build the simulation
platform with data of aactual congested road. By simulating different traffic volume,found:when traffic is in a
high level,the added left-turnning lane leads to congestion indirectly.So, put forward two solutions,after
evaluating with DEA/AHP,found:execute” closed to turn left”,use “U-Turn”to reduce crossing confilicts and
coordinate intersections with SYNCHRO is the best.
Performance prediction of a turboshaft engine by using of one dimensional ana...ijmech
Performance estimation of the axial flow gas turbines under variety of operating conditions like different speeds and pressure ratios has been hampered by lack of reliable experimental data and experiments cost.Simulation of gas turbine is a simple way to reduce testing costs and complexity.One-dimensional (1D).Simulation is a simple, fast and accurate method for performance prediction of turbine with different geometries. In this approach, inlet flow conditions and turbine geometry are known and by considering loss model, the turbine performance characteristics are predicted. In following work, that is based on one dimensional modelling method, after the presentation of solution algorithm by trial and error method and introduction of different loss models for modelling, this method were examined for a turbo shaft engine and
compared with experimental results. Comparison of the results with experimental data shows so good adaptation. Also according to these results, Kacker and Okapuu’s developed model gave the closest results to the reference data.
Aplanning algorithm offive-axis feedrate interpolation based on drive and jer...IJRES Journal
CNC technology marks the core of modern manufacturing, and CNC interpolation module is one of the most important numerical control technology modules. Avery important feature of the CNC is to implement the feed rate that consists in producing the set points based on a NC program. In the high speed machining, the feed rate is restricted by the velocity, acceleration, and jerk. And the NURBS curve is a free curve, due to the many advantages of NURBS curves, it can be well applied to the CNC feed rate interpolation. The algorithm can get more smooth feed rate curves, which makes better use of kinematical characteristics of the machine. Finally, according to each machine axis capability, one can use the feed rate control method which is verified by simulation analysis and processing to test this method. The results show that the algorithm can effectively control the speed, acceleration and jerk.
Inverse Kinematics Analysis for Manipulator Robot with Wrist Offset Based On ...Waqas Tariq
This paper presents an algorithm to solve the inverse kinematics for a six degree of freedom (6 DOF) manipulator robot with wrist offset. This type of robot has a complex inverse kinematics, which needs a long time for such calculation. The proposed algorithm starts from find the wrist point by vectors computation then compute the first three joint angles and after that compute the wrist angles by analytic solution. This algorithm is tested for the TQ MA2000 manipulator robot as case study. The obtained results was compared with results of rotational vector algorithm where both algorithms have the same accuracy but the proposed algorithm saving round about 99.6% of the computation time required by the rotational vector algorithm, which leads to used this algorithm in real time robot control.
Design and Analysis of Articulated Inspection Arm of RobotIJTET Journal
Nowadays Robot play a vital role in all the activities in human life including industrial needs. There is a definite trend in the manufacture of robotic arms toward more dexterous devices, more degrees of-Freedom, and capabilities beyond the human arm. The ultimate objective is to save human lives in addition to increasing productivity and quality of high technology work environments. The objective of this project is to design, analysis of a Generic articulated robot Arm. This project deals with the modeling of a special class of single-link articulated inspection arms of robot. These arms consist of flexible massless structures having some masses concentrated at certain points of hollow sections at the beam. Some aspects of the articulated Robot that are anticipated as useful are its small cross section and its projected ability to change elevation and maneuver over obstacle require large joint torque to weight ratios for joint actuation. A knuckle joint actions actuation scheme is described and its implementation is detailed in this project. The parts of the (AIA) arm are analyzed for deflection and stress concentration under loading conditions in different angles.
PID vs LQR controller for tilt rotor airplane IJECEIAES
The main thematic of this paper is controlling the main manoeuvers of a tilt rotor UAV airplane in several modes such as vertical takeoff and landing, longitudinal translation and the most important phase which deal with the transition from the helicopter mode to the airplane mode and visversa based on a new actuators combination technique for specially the yaw motion with not referring to rotor speed control strategy which is used in controlling the attitude of a huge number of vehicles nowadays. This new actuator combination is inspired from that the transient response of a trirotor using tilting motion dynamics provides a faster response than using rotor speed dynamics. In the literature, a lot of control technics are used for stabilizing and guarantee the necessary manoeuvers for executing such task, a multiple Attitude and Altitude PID controllers were chosen for a simple linear model of our tilt rotor airplane in order to fulfill the desired trajectory, for reasons of complexity of our model the multiple PID controller doesnt take into consideration all the coupling that exists between the degrees of freedom in our model, so an LQR controller is adopted for more feasible solution of complex manoeuvering, the both controllers need linearization of the model for an easy implementation.
Sensor Fusion Algorithm by Complementary Filter for Attitude Estimation of Qu...TELKOMNIKA JOURNAL
This paper proposes a sensor fusion algorithm by complementary filter technique for attitude
estimation of quadrotor UAV using low-cost MEMS IMU. Angular rate from gyroscope tend to drift over a
time while accelerometer data is commonly effected with environmental noise. Therefore, high frequency
gyroscope signal and low frequency accelerometer signal is fused using complementary filter algorithm.
The complementary filter scaling factor K1=0.98 and K2=0.02 are used to merge both gyro and
accelerometer. The results show that the smooth roll, pitch and yaw attitude angle can be obtained from
the low cost IMU by using proposed sensor fusion algorithm.
A Design Of Omni-Directional Mobile Robot Based On Mecanum WheelsIJRESJOURNAL
ABSTRACT:As one of the important branch of mobile robotics, wheel mobile robot has long been paid atten tion to by the research people at home and abroad for its high load ability, positioning accuracy, high efficiency, simple control, etc. Mobile robot has close relation to many technologies suc-h as control theory, computer tech nology, sensor technology, etc. Therefore, research on the mobile robot has important significance
Experimental and Numerical Modal Analysis of a Compressor Mounting BracketIOSRJMCE
Experimental modal analysis has grown steadily in popularity since the advent of the digital FFT spectrum analyzer in the early 1970’s. Today, impact testing (or bump testing) has become widespread as a fast and economical means of finding the modes of vibration of a machine or structure. In this paper, it presents the experimental and numerical modal analysis of a compressor mounting bracket (CMB). The dynamic behavior of CMB is investigated through impact testing. The three-dimensional finite element models are constructed using Altair HyperMesh and an numerical modal analysis is then performed to generate natural frequencies and mode shapes in the three-orthogonal directions. The finite element model agrees well with the experimental tests and eventually it helps the designer to design upfront with much lesser cost and time of experimentation
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology.
The performance evaluation is one of most important issues in the analysis and design of parallel manipulators.
Characteristics such as manipulability and minimum singular value are used to determine the performance of the manipulators. The performance indices are used to eliminate the singularity and it’s near configurations. In this paper 6-UPS spatial parallel manipulator is considered and its performance indices such as condition number, manipulability and minimum singular value are determined for different structures.
The study on optimization measures of congestion on main roads in ChongQingIJERA Editor
to relieve the congestion of main roads with many two-phase intersections,build the simulation
platform with data of aactual congested road. By simulating different traffic volume,found:when traffic is in a
high level,the added left-turnning lane leads to congestion indirectly.So, put forward two solutions,after
evaluating with DEA/AHP,found:execute” closed to turn left”,use “U-Turn”to reduce crossing confilicts and
coordinate intersections with SYNCHRO is the best.
Performance prediction of a turboshaft engine by using of one dimensional ana...ijmech
Performance estimation of the axial flow gas turbines under variety of operating conditions like different speeds and pressure ratios has been hampered by lack of reliable experimental data and experiments cost.Simulation of gas turbine is a simple way to reduce testing costs and complexity.One-dimensional (1D).Simulation is a simple, fast and accurate method for performance prediction of turbine with different geometries. In this approach, inlet flow conditions and turbine geometry are known and by considering loss model, the turbine performance characteristics are predicted. In following work, that is based on one dimensional modelling method, after the presentation of solution algorithm by trial and error method and introduction of different loss models for modelling, this method were examined for a turbo shaft engine and
compared with experimental results. Comparison of the results with experimental data shows so good adaptation. Also according to these results, Kacker and Okapuu’s developed model gave the closest results to the reference data.
Aplanning algorithm offive-axis feedrate interpolation based on drive and jer...IJRES Journal
CNC technology marks the core of modern manufacturing, and CNC interpolation module is one of the most important numerical control technology modules. Avery important feature of the CNC is to implement the feed rate that consists in producing the set points based on a NC program. In the high speed machining, the feed rate is restricted by the velocity, acceleration, and jerk. And the NURBS curve is a free curve, due to the many advantages of NURBS curves, it can be well applied to the CNC feed rate interpolation. The algorithm can get more smooth feed rate curves, which makes better use of kinematical characteristics of the machine. Finally, according to each machine axis capability, one can use the feed rate control method which is verified by simulation analysis and processing to test this method. The results show that the algorithm can effectively control the speed, acceleration and jerk.
Inverse Kinematics Analysis for Manipulator Robot with Wrist Offset Based On ...Waqas Tariq
This paper presents an algorithm to solve the inverse kinematics for a six degree of freedom (6 DOF) manipulator robot with wrist offset. This type of robot has a complex inverse kinematics, which needs a long time for such calculation. The proposed algorithm starts from find the wrist point by vectors computation then compute the first three joint angles and after that compute the wrist angles by analytic solution. This algorithm is tested for the TQ MA2000 manipulator robot as case study. The obtained results was compared with results of rotational vector algorithm where both algorithms have the same accuracy but the proposed algorithm saving round about 99.6% of the computation time required by the rotational vector algorithm, which leads to used this algorithm in real time robot control.
Design and Analysis of Articulated Inspection Arm of RobotIJTET Journal
Nowadays Robot play a vital role in all the activities in human life including industrial needs. There is a definite trend in the manufacture of robotic arms toward more dexterous devices, more degrees of-Freedom, and capabilities beyond the human arm. The ultimate objective is to save human lives in addition to increasing productivity and quality of high technology work environments. The objective of this project is to design, analysis of a Generic articulated robot Arm. This project deals with the modeling of a special class of single-link articulated inspection arms of robot. These arms consist of flexible massless structures having some masses concentrated at certain points of hollow sections at the beam. Some aspects of the articulated Robot that are anticipated as useful are its small cross section and its projected ability to change elevation and maneuver over obstacle require large joint torque to weight ratios for joint actuation. A knuckle joint actions actuation scheme is described and its implementation is detailed in this project. The parts of the (AIA) arm are analyzed for deflection and stress concentration under loading conditions in different angles.
PID vs LQR controller for tilt rotor airplane IJECEIAES
The main thematic of this paper is controlling the main manoeuvers of a tilt rotor UAV airplane in several modes such as vertical takeoff and landing, longitudinal translation and the most important phase which deal with the transition from the helicopter mode to the airplane mode and visversa based on a new actuators combination technique for specially the yaw motion with not referring to rotor speed control strategy which is used in controlling the attitude of a huge number of vehicles nowadays. This new actuator combination is inspired from that the transient response of a trirotor using tilting motion dynamics provides a faster response than using rotor speed dynamics. In the literature, a lot of control technics are used for stabilizing and guarantee the necessary manoeuvers for executing such task, a multiple Attitude and Altitude PID controllers were chosen for a simple linear model of our tilt rotor airplane in order to fulfill the desired trajectory, for reasons of complexity of our model the multiple PID controller doesnt take into consideration all the coupling that exists between the degrees of freedom in our model, so an LQR controller is adopted for more feasible solution of complex manoeuvering, the both controllers need linearization of the model for an easy implementation.
Research on The Control of Joint Robot TrajectoryIJRESJOURNAL
ABSTRACT: This paper relates to a Robot that belongs to the category of Joint Robot.In the article,we analyze the path planning and control system of the robot,specifically speaking,it involves the interpolation of the robot trajectory, the analysis of the inverse kinematics, the introduction of the method to reduce the trajectory error, the optimization of the trajectory and in the end, the corresponding control system is designed according to the relevant parameters. This research project first introduces the importance of the robot, and then analyzes the whole process of the robot from the grasping pin, the screw to they are delivered to the designated position,finally, the process is introduced in detail, and the simulation result is displayed.
Modeling, Simulation, and Optimal Control for Two-Wheeled Self-Balancing Robot IJECEIAES
Two-wheeled self-balancing robot is a popular model in control system experiments which is more widely known as inverted pendulum and cart model. This is a multi-input and multi-output system which is theoretical and has been applied in many systems in daily use. Anyway, most research just focus on balancing this model through try-on experiments or by using simple form of mathematical model. There were still few researches that focus on complete mathematic modeling and designing a mathematical model based controller for such system. This paper analyzed mathematical model of the system. Then, the authors successfully applied a Linear Quadratic Regulator (LQR) controller for this system. This controller was tested with different case of system condition. Controlling results was proved to work well and tested on different case of system condition through simulation on matlab/Simulink program.
Insect inspired hexapod robot for terrain navigationeSAT Journals
Abstract The aim of this paper is to build a sixlegged walking robot that is capable of basicmobility tasks such as walking forward, backward, rotating in place and raising orlowering the body height. The legs will be of a modular design and will have threedegrees of freedom each. This robot will serve as a platform onto which additionalsensory components could be added, or which could be programmed to performincreasingly complex motions. This report discusses the components that make up ourfinal design.In this paper we have selected ahexapod robot; we are focusing &developingmainly on efficient navigation method indifferent terrain using opposite gait of locomotion, which will make it faster and at sametime energy efficient to navigate and negotiate difficult terrain.This paper discuss the Features, development, and implementation of the Hexapod robot Index Terms:Biologically inspired, Gait Generation,Legged hexapod, Navigation.
A NOVEL NAVIGATION STRATEGY FOR AN UNICYCLE MOBILE ROBOT INSPIRED FROM THE DU...JaresJournal
This paper deals with the design and the implementation of a novel navigation strategy for an unicycle
mobile robot. The strategy of navigation is inspired from nature (the duck walking) in the closed loop.
Therefore, a single sensor (gyroscope) is used to determine the pose of the robot, hence the proposed name
"gyroscopic navigation". A global presentation of the novel strategy and the robot and with its different
components are given. An experimental identification for the useful parameters are then exhibited.
Moreover, the controller design strategy and the simulation results are given. Finally, real time
experiments are accomplished to valid the simulation results.
Pick and place task is one among the most important tasks in industrial field handled by “Selective
Compliance Assembly Robot Arm” (SCARA). Repeatability with high-speed movement in horizontal plane is
remarkable feature of this type of manipulator. The challenge of design SCARA is the difficulty of achieving
stability of high-speed movement with long length of links. Shorter links arm can move more stable. This
condition made the links should be considered restrict then followed by restriction of operation area
(workspace). In this research, authors demonstrated on expanding SCARA robot’s workspace in horizontal area
via linear sliding actuator that embedded to base link of the robot arm. With one additional prismatic joint the
previous robot manipulator with 3 degree of freedom (3-DOF), 2 revolute joints and 1 prismatic joint is become
4-DOF PRRP manipulator. This designation increased workspace of robot from 0.5698m2 performed by the
previous arm (without linear actuator) to 1.1281m2 by the propose arm (with linear actuator). The increasing
rate was about 97.97% of workspace with the same links length. The result of experimentation also indicated
that the operation time spent to reach object position was also reduced.
Development of a quadruped mobile robot and its movement system using geometr...journalBEEI
As the main testbed platform of Artificial Intelligence, the robot plays an essential role in creating an environment for industrial revolution 4.0. According to their bases, the robot can be categorized into a fixed based robot and a mobile robot. Current robotics research direction is interesting since people strive to create a mobile robot able to move in the land, water, and air. This paper presents development of a quadruped mobile robot and its movement system using geometric-based inverse kinematics. The study is related to the movement of a four-legged (quadruped) mobile robot with three Degrees of Freedom (3 DOF) for each leg. Because it has four legs, the movement of the robot can only be done through coordinating the movements of each leg. In this study, the trot gait pattern method is proposed to coordinate the movement of the robot's legs. The end-effector position of each leg is generated by a simple trajectory generator with half rectified sine wave pattern. Furthermore, to move each robot's leg, it is proposed to use geometric-based inverse kinematic. The experimental results showed that the proposed method succeeded in moving the mobile robot with precision. Movement errors in the translation direction are 1.83% with the average pose error of 1.33 degrees, means the mobile robot has good walking stability.
Miniature Aerial Vehicles with four rotors is called Quad-rotor MAV, popularly used in aspects of life such military, civilian products, processes and remote sensor, etc. In this paper, the authors present the suitable structure of control system for the Quad-rotor MAV. The first, the Six Degrees of Freedom (6 DOF) of the Quad-rotor MAV dynamic model is built. After, the control structure with the single loop is built. But in the single-loop system, only four control signals of Quad-rotor MAV can be controlled, so the Quad-rotor MAV can be reached the height only and keep the stability. However, it is important to note that we have to well-known the orbit of the Quad-rotor MAV flight; the Quad-rotor MAV must fly point-to-point exactly, so the six coordinate variables must be controlled. So, the double loop control structure system is proposed to do that. Finally, the simulation results analysis and the experimental results of the real model are explored to prove the effectiveness of the proposed structure.
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology.
The research of 6-DOF flight simulator washout filter Control MethodIJRES Journal
Electric 6-DOF flight simulator used in large aircraft engineering simulation has great benefits,As a Flight Simulator vector parallel six degree of freedom motion system is a very important part of flight simulator. Feeling is the most important in Flight simulator test while flight.If a flight simulator can feel closer to the real feeling of flying aircraft, in is more better for trainning.According to the question above, In this paper, we will start from the control method,make research on electric 6-DOF flight simulator wash out the filter control method, we will research Longitudinal studies of flight parameters at takeoff position flight simulator. Using MATLAB simulation software to verify washout filter algorithm practicality simulator Simulation.
Experimental Comparison of Trajectory Planning Algorithms for Wheeled Mobile ...IJRES Journal
In this paper, we present an experimental approach to compare various trajectory planning methods for practical application of wheeled mobile robots. The first method generates a trajectory according to the acceleration limits of the mobile robot and its relationship with the curvature of the planned path. The second method is an improvement of the conventional convolution-based trajectory generation method, on which the heading angles of a curved path is being considered. Due to the limited scope of the considered constraints of the previous approaches, A third approach that conserves the merits of the convolution operator is proposed to consider the high curvature turning points of a sophisticated curve such as a Lemniscate of Gerono,which causes geometrical limitations during robot navigation. All methods are compared experimentally on a two-wheeled mobile robot. The goal of the experiment is to determine which approach meets the criteria of time optimality and sampling time uniformity while considering the physical limits of the mobile robot and the geometrical constraints of the planned path.
Velocity control of a two-wheeled inverted pendulum mobile robot: a fuzzy mod...journalBEEI
This paper presents the design of a fuzzy tracking controller for balancing and velocity control of a Two-Wheeled Inverted Pendulum (TWIP) mobile robot based on its Takagi-Sugino (T-S) fuzzy model, fuzzy Lyapunov function and non-parallel distributed compensation (non-PDC) control law. The T-S fuzzy model of the TWIP mobile robot was developed from its nonlinear dynamical equations of motion. Stabilization conditions in a form of linear matrix inequalities (LMIs) were derived based on the T-S fuzzy model of the TWIP mobile robot, a fuzzy Lyapunov function and a non-PDC control law. Based on the derived stabilization conditions and the T-S fuzzy model of the TWIP mobile robot, a state feedback velocity tracking controller was then proposed for the TWIP mobile robot. The balancing and velocity tracking performance of the proposed controller was investigated via simulations. The simulation result shows the effectiveness of the proposed control scheme.
The Use of Java Swing’s Components to Develop a WidgetWaqas Tariq
Widget is a kind of application provides a single service such as a map, news feed, simple clock, battery-life indicators, etc. This kind of interactive software object has been developed to facilitate user interface (UI) design. A user interface (UI) function may be implemented using different widgets with the same function. In this article, we present the widget as a platform that is generally used in various applications, such as in desktop, web browser, and mobile phone. We also describe a visual menu of Java Swing’s components that will be used to establish widget. It will assume that we have successfully compiled and run a program that uses Swing components.
3D Human Hand Posture Reconstruction Using a Single 2D ImageWaqas Tariq
Passive sensing of the 3D geometric posture of the human hand has been studied extensively over the past decade. However, these research efforts have been hampered by the computational complexity caused by inverse kinematics and 3D reconstruction. In this paper, our objective focuses on 3D hand posture estimation based on a single 2D image with aim of robotic applications. We introduce the human hand model with 27 degrees of freedom (DOFs) and analyze some of its constraints to reduce the DOFs without any significant degradation of performance. A novel algorithm to estimate the 3D hand posture from eight 2D projected feature points is proposed. Experimental results using real images confirm that our algorithm gives good estimates of the 3D hand pose. Keywords: 3D hand posture estimation; Model-based approach; Gesture recognition; human- computer interface; machine vision.
Camera as Mouse and Keyboard for Handicap Person with Troubleshooting Ability...Waqas Tariq
Camera mouse has been widely used for handicap person to interact with computer. The utmost important of the use of camera mouse is must be able to replace all roles of typical mouse and keyboard. It must be able to provide all mouse click events and keyboard functions (include all shortcut keys) when it is used by handicap person. Also, the use of camera mouse must allow users troubleshooting by themselves. Moreover, it must be able to eliminate neck fatigue effect when it is used during long period. In this paper, we propose camera mouse system with timer as left click event and blinking as right click event. Also, we modify original screen keyboard layout by add two additional buttons (button “drag/ drop” is used to do drag and drop of mouse events and another button is used to call task manager (for troubleshooting)) and change behavior of CTRL, ALT, SHIFT, and CAPS LOCK keys in order to provide shortcut keys of keyboard. Also, we develop recovery method which allows users go from camera and then come back again in order to eliminate neck fatigue effect. The experiments which involve several users have been done in our laboratory. The results show that the use of our camera mouse able to allow users do typing, left and right click events, drag and drop events, and troubleshooting without hand. By implement this system, handicap person can use computer more comfortable and reduce the dryness of eyes.
A Proposed Web Accessibility Framework for the Arab DisabledWaqas Tariq
The Web is providing unprecedented access to information and interaction for people with disabilities. This paper presents a Web accessibility framework which offers the ease of the Web accessing for the disabled Arab users and facilitates their lifelong learning as well. The proposed framework system provides the disabled Arab user with an easy means of access using their mother language so they don’t have to overcome the barrier of learning the target-spoken language. This framework is based on analyzing the web page meta-language, extracting its content and reformulating it in a suitable format for the disabled users. The basic objective of this framework is supporting the equal rights of the Arab disabled people for their access to the education and training with non disabled people. Key Words : Arabic Moon code, Arabic Sign Language, Deaf, Deaf-blind, E-learning Interactivity, Moon code, Web accessibility , Web framework , Web System, WWW.
Real Time Blinking Detection Based on Gabor FilterWaqas Tariq
New method of blinking detection is proposed. The utmost important of blinking detections method is robust against different users, noise, and also change of eye shape. In this paper, we propose blinking detections method by measuring of distance between two arcs of eye (upper part and lower part). We detect eye arcs by apply Gabor filter onto eye image. As we know that Gabor filter has advantage on image processing application since it able to extract spatial localized spectral features, such line, arch, and other shape are more easily detected. After two of eye arcs are detected, we measure the distance between both by using connected labeling method. The open eye is marked by the distance between two arcs is more than threshold and otherwise, the closed eye is marked by the distance less than threshold. The experiment result shows that our proposed method robust enough against different users, noise, and eye shape changes with perfectly accuracy.
Computer Input with Human Eyes-Only Using Two Purkinje Images Which Works in ...Waqas Tariq
A method for computer input with human eyes-only using two Purkinje images which works in a real time basis without calibration is proposed. Experimental results shows that cornea curvature can be estimated by using two light sources derived Purkinje images so that no calibration for reducing person-to-person difference of cornea curvature. It is found that the proposed system allows usersf movements of 30 degrees in roll direction and 15 degrees in pitch direction utilizing detected face attitude which is derived from the face plane consisting three feature points on the face, two eyes and nose or mouth. Also it is found that the proposed system does work in a real time basis.
Toward a More Robust Usability concept with Perceived Enjoyment in the contex...Waqas Tariq
Mobile multimedia service is relatively new but has quickly dominated people¡¯s lives, especially among young people. To explain this popularity, this study applies and modifies the Technology Acceptance Model (TAM) to propose a research model and conduct an empirical study. The goal of study is to examine the role of Perceived Enjoyment (PE) and what determinants can contribute to PE in the context of using mobile multimedia service. The result indicates that PE is influencing on Perceived Usefulness (PU) and Perceived Ease of Use (PEOU) and directly Behavior Intention (BI). Aesthetics and flow are key determinants to explain Perceived Enjoyment (PE) in mobile multimedia usage.
Collaborative Learning of Organisational KnolwedgeWaqas Tariq
This paper presents recent research into methods used in Australian Indigenous Knowledge sharing and looks at how these can support the creation of suitable collaborative envi- ronments for timely organisational learning. The protocols and practices as used today and in the past by Indigenous communities are presented and discussed in relation to their relevance to a personalised system of knowledge sharing in modern organisational cultures. This research focuses on user models, knowledge acquisition and integration of data for constructivist learning in a networked repository of or- ganisational knowledge. The data collected in the repository is searched to provide collections of up-to-date and relevant material for training in a work environment. The aim is to improve knowledge collection and sharing in a team envi- ronment. This knowledge can then be collated into a story or workflow that represents the present knowledge in the organisation.
Our research aims to propose a global approach for specification, design and verification of context awareness Human Computer Interface (HCI). This is a Model Based Design approach (MBD). This methodology describes the ubiquitous environment by ontologies. OWL is the standard used for this purpose. The specification and modeling of Human-Computer Interaction are based on Petri nets (PN). This raises the question of representation of Petri nets with XML. We use for this purpose, the standard of modeling PNML. In this paper, we propose an extension of this standard for specification, generation and verification of HCI. This extension is a methodological approach for the construction of PNML with Petri nets. The design principle uses the concept of composition of elementary structures of Petri nets as PNML Modular. The objective is to obtain a valid interface through verification of properties of elementary Petri nets represented with PNML.
Development of Sign Signal Translation System Based on Altera’s FPGA DE2 BoardWaqas Tariq
The main aim of this paper is to build a system that is capable of detecting and recognizing the hand gesture in an image captured by using a camera. The system is built based on Altera’s FPGA DE2 board, which contains a Nios II soft core processor. Image processing techniques and a simple but effective algorithm are implemented to achieve this purpose. Image processing techniques are used to smooth the image in order to ease the subsequent processes in translating the hand sign signal. The algorithm is built for translating the numerical hand sign signal and the result are displayed on the seven segment display. Altera’s Quartus II, SOPC Builder and Nios II EDS software are used to construct the system. By using SOPC Builder, the related components on the DE2 board can be interconnected easily and orderly compared to traditional method that requires lengthy source code and time consuming. Quartus II is used to compile and download the design to the DE2 board. Then, under Nios II EDS, C programming language is used to code the hand sign translation algorithm. Being able to recognize the hand sign signal from images can helps human in controlling a robot and other applications which require only a simple set of instructions provided a CMOS sensor is included in the system.
An overview on Advanced Research Works on Brain-Computer InterfaceWaqas Tariq
A brain–computer interface (BCI) is a proficient result in the research field of human- computer synergy, where direct articulation between brain and an external device occurs resulting in augmenting, assisting and repairing human cognitive. Advanced works like generating brain-computer interface switch technologies for intermittent (or asynchronous) control in natural environments or developing brain-computer interface by Fuzzy logic Systems or by implementing wavelet theory to drive its efficacies are still going on and some useful results has also been found out. The requirements to develop this brain machine interface is also growing day by day i.e. like neuropsychological rehabilitation, emotion control, etc. An overview on the control theory and some advanced works on the field of brain machine interface are shown in this paper.
Exploring the Relationship Between Mobile Phone and Senior Citizens: A Malays...Waqas Tariq
There is growing ageing phenomena with the rise of ageing population throughout the world. According to the World Health Organization (2002), the growing ageing population indicates 694 million, or 223% is expected for people aged 60 and over, since 1970 and 2025.The growth is especially significant in some advanced countries such as North America, Japan, Italy, Germany, United Kingdom and so forth. This growing older adult population has significantly impact the social-culture, lifestyle, healthcare system, economy, infrastructure and government policy of a nation. However, there are limited research studies on the perception and usage of a mobile phone and its service for senior citizens in a developing nation like Malaysia. This paper explores the relationship between mobile phones and senior citizens in Malaysia from the perspective of a developing country. We conducted an exploratory study using contextual interviews with 5 senior citizens of how they perceive their mobile phones. This paper reveals 4 interesting themes from this preliminary study, in addition to the findings of the desirable mobile requirements for local senior citizens with respect of health, safety and communication purposes. The findings of this study bring interesting insight to local telecommunication industries as a whole, and will also serve as groundwork for more in-depth study in the future.
Principles of Good Screen Design in WebsitesWaqas Tariq
Visual techniques for proper arrangement of the elements on the user screen have helped the designers to make the screen look good and attractive. Several visual techniques emphasize the arrangement and ordering of the screen elements based on particular criteria for best appearance of the screen. This paper investigates few significant visual techniques in various web user interfaces and showcases the results for better understanding and their presence.
Virtual teams are used more and more by companies and other organizations to receive benefits. They are a great way to enable teamwork in situations where people are not sitting in the same physical place at the same time. As companies seek to increase the use of virtual teams, a need exists to explore the context of these teams, the virtuality of a team and software that may help these teams working virtualy. Virtual teams have the same basic principles as traditional teams, but there is one big difference. This difference is the way the team members communicate. Instead of using the dynamics of in-office face-to-face exchange, they now rely on special communication channels enabled by modern technologies, such as e-mails, faxes, phone calls and teleconferences, virtual meetings etc. This is why this paper is focused on the issues regarding virtual teams, and how these teams are created and progressing in Albania.
Cognitive Approach Towards the Maintenance of Web-Sites Through Quality Evalu...Waqas Tariq
It is a well established fact that the Web-Applications require frequent maintenance because of cutting– edge business competitions. The authors have worked on quality evaluation of web-site of Indian ecommerce domain. As a result of that work they have made a quality-wise ranking of these sites. According to their work and also the survey done by various other groups Futurebazaar web-site is considered to be one of the best Indian e-shopping sites. In this research paper the authors are assessing the maintenance of the same site by incorporating the problems incurred during this evaluation. This exercise gives a real world maintainability problem of web-sites. This work will give a clear picture of all the quality metrics which are directly or indirectly related with the maintainability of the web-site.
USEFul: A Framework to Mainstream Web Site Usability through Automated Evalua...Waqas Tariq
A paradox has been observed whereby web site usability is proven to be an essential element in a web site, yet at the same time there exist an abundance of web pages with poor usability. This discrepancy is the result of limitations that are currently preventing web developers in the commercial sector from producing usable web sites. In this paper we propose a framework whose objective is to alleviate this problem by automating certain aspects of the usability evaluation process. Mainstreaming comes as a result of automation, therefore enabling a non-expert in the field of usability to conduct the evaluation. This results in reducing the costs associated with such evaluation. Additionally, the framework allows the flexibility of adding, modifying or deleting guidelines without altering the code that references them since the guidelines and the code are two separate components. A comparison of the evaluation results carried out using the framework against published evaluations of web sites carried out by web site usability professionals reveals that the framework is able to automatically identify the majority of usability violations. Due to the consistency with which it evaluates, it identified additional guideline-related violations that were not identified by the human evaluators.
Robot Arm Utilized Having Meal Support System Based on Computer Input by Huma...Waqas Tariq
A robot arm utilized having meal support system based on computer input by human eyes only is proposed. The proposed system is developed for handicap/disabled persons as well as elderly persons and tested with able persons with several shapes and size of eyes under a variety of illumination conditions. The test results with normal persons show the proposed system does work well for selection of the desired foods and for retrieve the foods as appropriate as usersf requirements. It is found that the proposed system is 21% much faster than the manually controlled robotics.
Dynamic Construction of Telugu Speech Corpus for Voice Enabled Text EditorWaqas Tariq
In recent decades speech interactive systems have gained increasing importance. Performance of an ASR system mainly depends on the availability of large corpus of speech. The conventional method of building a large vocabulary speech recognizer for any language uses a top-down approach to speech. This approach requires large speech corpus with sentence or phoneme level transcription of the speech utterances. The transcriptions must also include different speech order so that the recognizer can build models for all the sounds present. But, for Telugu language, because of its complex nature, a very large, well annotated speech database is very difficult to build. It is very difficult, if not impossible, to cover all the words of any Indian language, where each word may have thousands and millions of word forms. A significant part of grammar that is handled by syntax in English (and other similar languages) is handled within morphology in Telugu. Phrases including several words (that is, tokens) in English would be mapped on to a single word in Telugu.Telugu language is phonetic in nature in addition to rich in morphology. That is why the speech technology developed for English cannot be applied to Telugu language. This paper highlights the work carried out in an attempt to build a voice enabled text editor with capability of automatic term suggestion. Main claim of the paper is the recognition enhancement process developed by us for suitability of highly inflecting, rich morphological languages. This method results in increased speech recognition accuracy with very much reduction in corpus size. It also adapts Telugu words to the database dynamically, resulting in growth of the corpus.
An Improved Approach for Word Ambiguity RemovalWaqas Tariq
Word ambiguity removal is a task of removing ambiguity from a word, i.e. correct sense of word is identified from ambiguous sentences. This paper describes a model that uses Part of Speech tagger and three categories for word sense disambiguation (WSD). Human Computer Interaction is very needful to improve interactions between users and computers. For this, the Supervised and Unsupervised methods are combined. The WSD algorithm is used to find the efficient and accurate sense of a word based on domain information. The accuracy of this work is evaluated with the aim of finding best suitable domain of word. Keywords: Human Computer Interaction, Supervised Training, Unsupervised Learning, Word Ambiguity, Word sense disambiguation
Parameters Optimization for Improving ASR Performance in Adverse Real World N...Waqas Tariq
From the existing research it has been observed that many techniques and methodologies are available for performing every step of Automatic Speech Recognition (ASR) system, but the performance (Minimization of Word Error Recognition-WER and Maximization of Word Accuracy Rate- WAR) of the methodology is not dependent on the only technique applied in that method. The research work indicates that, performance mainly depends on the category of the noise, the level of the noise and the variable size of the window, frame, frame overlap etc is considered in the existing methods. The main aim of the work presented in this paper is to use variable size of parameters like window size, frame size and frame overlap percentage to observe the performance of algorithms for various categories of noise with different levels and also train the system for all size of parameters and category of real world noisy environment to improve the performance of the speech recognition system. This paper presents the results of Signal-to-Noise Ratio (SNR) and Accuracy test by applying variable size of parameters. It is observed that, it is really very hard to evaluate test results and decide parameter size for ASR performance improvement for its resultant optimization. Hence, this study further suggests the feasible and optimum parameter size using Fuzzy Inference System (FIS) for enhancing resultant accuracy in adverse real world noisy environmental conditions. This work will be helpful to give discriminative training of ubiquitous ASR system for better Human Computer Interaction (HCI). Keywords: ASR Performance, ASR Parameters Optimization, Multi-Environmental Training, Fuzzy Inference System for ASR, ubiquitous ASR system, Human Computer Interaction (HCI)
Students, digital devices and success - Andreas Schleicher - 27 May 2024..pptxEduSkills OECD
Andreas Schleicher presents at the OECD webinar ‘Digital devices in schools: detrimental distraction or secret to success?’ on 27 May 2024. The presentation was based on findings from PISA 2022 results and the webinar helped launch the PISA in Focus ‘Managing screen time: How to protect and equip students against distraction’ https://www.oecd-ilibrary.org/education/managing-screen-time_7c225af4-en and the OECD Education Policy Perspective ‘Students, digital devices and success’ can be found here - https://oe.cd/il/5yV
How to Split Bills in the Odoo 17 POS ModuleCeline George
Bills have a main role in point of sale procedure. It will help to track sales, handling payments and giving receipts to customers. Bill splitting also has an important role in POS. For example, If some friends come together for dinner and if they want to divide the bill then it is possible by POS bill splitting. This slide will show how to split bills in odoo 17 POS.
Welcome to TechSoup New Member Orientation and Q&A (May 2024).pdfTechSoup
In this webinar you will learn how your organization can access TechSoup's wide variety of product discount and donation programs. From hardware to software, we'll give you a tour of the tools available to help your nonprofit with productivity, collaboration, financial management, donor tracking, security, and more.
We all have good and bad thoughts from time to time and situation to situation. We are bombarded daily with spiraling thoughts(both negative and positive) creating all-consuming feel , making us difficult to manage with associated suffering. Good thoughts are like our Mob Signal (Positive thought) amidst noise(negative thought) in the atmosphere. Negative thoughts like noise outweigh positive thoughts. These thoughts often create unwanted confusion, trouble, stress and frustration in our mind as well as chaos in our physical world. Negative thoughts are also known as “distorted thinking”.
Instructions for Submissions thorugh G- Classroom.pptxJheel Barad
This presentation provides a briefing on how to upload submissions and documents in Google Classroom. It was prepared as part of an orientation for new Sainik School in-service teacher trainees. As a training officer, my goal is to ensure that you are comfortable and proficient with this essential tool for managing assignments and fostering student engagement.
Ethnobotany and Ethnopharmacology:
Ethnobotany in herbal drug evaluation,
Impact of Ethnobotany in traditional medicine,
New development in herbals,
Bio-prospecting tools for drug discovery,
Role of Ethnopharmacology in drug evaluation,
Reverse Pharmacology.
Unit 8 - Information and Communication Technology (Paper I).pdfThiyagu K
This slides describes the basic concepts of ICT, basics of Email, Emerging Technology and Digital Initiatives in Education. This presentations aligns with the UGC Paper I syllabus.
How to Create Map Views in the Odoo 17 ERPCeline George
The map views are useful for providing a geographical representation of data. They allow users to visualize and analyze the data in a more intuitive manner.
Operation “Blue Star” is the only event in the history of Independent India where the state went into war with its own people. Even after about 40 years it is not clear if it was culmination of states anger over people of the region, a political game of power or start of dictatorial chapter in the democratic setup.
The people of Punjab felt alienated from main stream due to denial of their just demands during a long democratic struggle since independence. As it happen all over the word, it led to militant struggle with great loss of lives of military, police and civilian personnel. Killing of Indira Gandhi and massacre of innocent Sikhs in Delhi and other India cities was also associated with this movement.
How to Make a Field invisible in Odoo 17Celine George
It is possible to hide or invisible some fields in odoo. Commonly using “invisible” attribute in the field definition to invisible the fields. This slide will show how to make a field invisible in odoo 17.
This is a presentation by Dada Robert in a Your Skill Boost masterclass organised by the Excellence Foundation for South Sudan (EFSS) on Saturday, the 25th and Sunday, the 26th of May 2024.
He discussed the concept of quality improvement, emphasizing its applicability to various aspects of life, including personal, project, and program improvements. He defined quality as doing the right thing at the right time in the right way to achieve the best possible results and discussed the concept of the "gap" between what we know and what we do, and how this gap represents the areas we need to improve. He explained the scientific approach to quality improvement, which involves systematic performance analysis, testing and learning, and implementing change ideas. He also highlighted the importance of client focus and a team approach to quality improvement.
Determination of the Operational Parameters of a Planar Robot with Three Joints
1. Muharrem Zeytinoglu & Halil Ünal
International Journal of Robotics and Automation, (IJRA), Volume (1): Issue (5) 69
Determination of the Operational Parameters of a Planar
Robot with Three Joints
Muharrem Zeytinoğlu mzeytin@uludag.edu.tr
Department of Biosystems Engineering
Faculty of Agriculture
Uludağ University
Bursa, 16059, Turkey
Halil Ünal hunal@uludag.edu.tr
Department of Biosystems Engineering
Faculty of Agriculture
Uludağ University
Bursa, 16059, Turkey
Abstract
Robots are currently made in numerous types and are used in diverse roles
such as production lines, daily living activities and some security fields. These
types of robots are well designed and successfully applied in many areas
requiring high sensitivity and stability. The aim of this study was to determine
the optimum values of several operational parameters for a planar robot with
respect to robot design and construction. With this aim, a small planar robot
with a three-jointed arm activated by hydraulic cylinders in each segment was
evaluated using a technical design drawing. The arm motions of the planar
robot are rotary and parallel within a vertical plane. The resulting optimal
operational parameters of the planar robot were determined as starting and
target positions of 31.5 cm and 55 cm, respectively, on the x-axis and 17.18
cm and 118.44 cm on the y–axis. Time-position and time-velocity graphs were
constructed corresponding to the orbit-planning parameters, resulting in
Cartesian velocities for the terminal processor of 13.98 m/sec on the x-axis
and 20.16 m/sec on the y-axis at 1.5 seconds after initiation. The maximum
power consumption of the robot was determined as 1 kW according to the
outer load and arm weights.
Keywords: Planar robot, Orbit-planning parameter, Cartesian velocity, Kinematic analysis.
1. INTRODUCTION
Planar robots are well recognized as practical robots; they are generally of linear construction
and operate on a fixed route in a process implemented by rotating or sliding in parallel to a
given plane. These types of robots have mostly been applied to linear activities such as the
rapid lifting, carrying, and placement of various parts [4]. The vibrational rate of planar robots
is lower than for other kinds of more versatile robots because planar robots are required to
perform fewer operations; therefore, planar robots have an important advantage with respect
to sensitivity and stability.
Currently, a number of different types of planar robots are required in industrial, agricultural,
and security areas as well as daily living activities; they are constructed in a diversity of
designs and dimensions for these different applications [9]. In this study, a planar robot was
designed from a technical drawing (Figure 1) with three arm segments and three joints. Each
segment is moved by a hydraulic cylinder; the motion of the arm segments is in parallel to a
2. Muharrem Zeytinoglu & Halil Ünal
International Journal of Robotics and Automation, (IJRA), Volume (1): Issue (5) 70
plane, and the entire arm rotates. The planar robot also has a terminal processor, i.e., a hook
attached to its end point, which moves linearly and rotates in the same plane between the
starting point, which is at the inactive position of the hydraulic cylinders, and the target point,
which is at the fully actuated position of the hydraulic cylinders. The inverse analysis can be
made by considering the planar robot to work in the opposite direction, i.e., by swapping the
starting and target points. The planar robot was designed to lift a specific load. The
operational parameters investigated were the starting and target positions, the time-position
and time-velocity relations, the Cartesian velocities of the terminal processor and the
maximum power consumption of the robot, which in turn depend on the robot design
parameters. The optimal operational parameters were determined by means of several
analytical methods; to this end, time-position and time-velocity graphs were constructed from
the results of a kinematic analysis of the robot [5]. The motion of the terminal processor was
the main factor in the kinematic analysis, and its motion is determined by the configuration of
the joint points in the action plane. The motion can be configured into various paths, such as
a linear, circular, sinusoidal or irregular path [1]. Kinematic analysis was performed by orbit
planning, which is necessary to ensure that robot motion is steady and controllable, without
vibration or deflection from the working space [3].
FIGURE 1: Views of the planar robot with three joints in the target position;
all dimensions are in cm
Orbit planning for robots can be done using either of two methods: the Cartesian and joint-
space methods. In this study, the joint-space method was used; here, each joint was
considered to be independent of the others, and therefore, the velocity of each joint was
different in the orbit planning. In this model, the hydraulic-cylinder pressures and capacities
are also different when reaching the required position of the terminal processor. A detailed
view of the orbit planning was obtained through a third-degree polynomial equation, and the
time-position and time-velocity relations were determined from the solutions of the polynomial
equation 5. Determining the Cartesian velocities from the operational parameters of the robot
is very important with respect to the level of swing inertia encountered during the lifting of a
specific load. The working velocity and arm-segment lengths of the robot are the determining
factors of the Cartesian velocities. The maximum robot power consumption was calculated
3. Muharrem Zeytinoglu & Halil Ünal
International Journal of Robotics and Automation, (IJRA), Volume (1): Issue (5) 71
corresponding to the planar velocities of the solid materials [6]. The final results for the
optimum operational parameters are given in Table 3.
As shown in Figure 1, the robot under study has a base frame constructed of thick-walled
steel tubing that is located on the floor at one side. The terminal processor has a top working
weight combined with a hook; these are restrained by a stop in the starting position of the
lifting operation. As the lifting operation concludes, the hook is cleared on the reverse side by
the balanced movement of the top weight, facilitating the release of the load from the hook,
thus leaving the load on the conveyor band in the target position. The hook is located at the
end of the third arm segment, and its weight is considered as equal to the empty volume of
the third arm segment. The hook-lifted load is 40 N, and this weight was added to the weight
of arm Segment 3 in the calculation of the robot’s power consumption.
2. DETERMINATION OF THE ROBOT OPERATIONAL PARAMETERS
The operating parameters were determined for the robot arm shown in Figure 1. The
analytical methods used to determine the robot operational parameters are given below.
2.1. Starting and Target Positions
Each position was determined with respect to the reference axis of the base of the frame as
shown in Figures 1 and 2.
The starting position can be expressed as:
( ) 321 60. LCLLP o
X −+= (1)
( )o
Y LP 6050 2 .S−= (2)
where:
PX : Horizontal distance between the reference axis of the frame base and the
terminal processor (cm)
PY : Vertical distance between the reference axis of the frame base and the
terminal processor (cm)
L1, L2, and L3 : Lengths of robot arm Segments 1, 2 and 3, respectively (cm)
The target position can be expressed as:
( ) ( )( ) ( )1111223 ...L+.CL
θθθ
CLCLPX ++= (3)
( ) ( )1122 ..50
θθ
SLSLPY ++= (4)
where:
21,
θθ
: Angles of robot arm Segments 1 and 2 (degrees)
50 : Height of frame base (cm)
2.2. Orbit Planning By the Joint-Space Method
Orbital planning was performed using several polynomial equations describing the robot’s
motions. Third-degree or higher polynomials are often used in robot designs using the joint-
space method. In this study, a third-order polynomial equation and a cubic orbit were used to
represent position as a function of time. Position angles and velocities, which are related to
the starting and target positions, were the main variables taken into consideration in the
polynomial. Here the starting angle and target position are denoted by f
θθ
,0 , respectively,
and the corresponding velocities are given by
0)(,0 ''
== ft
θθ
. With these conditions, the
starting and target positions are not active; therefore, the velocities and angles of both of
these positions were set at zero.
The third-order polynomial equation can be expressed as:
( )
3
3
2
210 tStStSSt +++=
θ
(5)
where:
4. Muharrem Zeytinoglu & Halil Ünal
International Journal of Robotics and Automation, (IJRA), Volume (1): Issue (5) 72
S0 : (θ 0) Coefficient of starting position in the inactive condition
S1, S2, S3 : Polynomial coefficients
t : Time (seconds)
The velocities and accelerations of the robot joints were determined by taking the first and
second derivatives of Equation 5, respectively.
The first derivative of Equation 5 can be expressed as:
( )
2
321 32' tStSSt ++=
θ
(6)
where:
S1, S2, S3 : Polynomial coefficients
t : Time (sec)
The polynomial coefficients can be determined from Equation 5 corresponding to specific
angles of the robot. The coefficient S1 is zero in Equation 5, representing the starting time.
The polynomial coefficient S2 can be expressed as:
( )02
2
3 θθ
−⋅= f
f
t
S (7)
where:
tf = Time at target position (sec)
fθ = Angle at target position (degrees)
0θ = Angle at starting position (degrees)
The polynomial coefficient S3 can be expressed as:
( )03
3
2 θθ
−⋅−= f
f
t
S (8)
The robot processing time (t) between the starting and target positions in the stationary frame
was taken as four seconds. The maximum joint angles corresponding to the robot shown in
Figure 1 were 60º, 75º and 45º, respectively, for Joints 1, 2 and 3. Robot joint angles are
inactive conditions in the starting position; therefore, the joint velocities are zero at the starting
position, as shown in Figure 2. The joint positions are given at a time of 1.5 sec in the same
figure. Time-position and time-velocity graphs were determined from the results of the
polynomial equations, as shown in Figure 3. The maximum velocity of each joint was at t = 2
sec, and the results for the joint positions and velocities for the times of 1.5 and 2 sec, also
derived from Figure 3, are given in Table 1.
The Cartesian velocities of Joint 3 were determined from the velocities of Joints 1 and 2 in a
two-dimensional plane; there was a large swing velocity at t = 1.5 sec, as shown in Table 1.
Position times (sec.) Starting Target 1.5 sec. 2 sec.
Joint 1 Position (Degree) 0 60 18.98 30
Velocity (Degree/sec.) 0 0 21.10 22.50
Joint 2 Position (Degree) 120 75 23.72 37.49
Velocity (Degree/sec.) 0 0 26.36 28.12
Joint 3 Position (Degree) 60 45 14.23 22.50
Velocity (Degree/sec.) 0 0 15.82 16.87
TABLE 1: Positions and velocities of joints at the times of 1.5 and 2 sec.
5. Muharrem Zeytinoglu & Halil Ünal
International Journal of Robotics and Automation, (IJRA), Volume (1): Issue (5) 73
FIGURE 2: Profile view of the planar robot with three joints in the starting position and in a lifting position
at a time of 1.5 sec; all dimensions are in cm
FIGURE 3: Graphs of position and velocity versus time for a) Joint 1, b) Joint 2 and c) Joint 3
The Cartesian velocities can be expressed as:
6. Muharrem Zeytinoglu & Halil Ünal
International Journal of Robotics and Automation, (IJRA), Volume (1): Issue (5) 74
⋅
−
+
−−
=
'
2
'
1
122
122
12211
12211
3
0
.
.
..
...
θ
θ
θ
θ
θθ
θθ
CL
SL
CLCL
SLSL
V
V
Y
X
(9)
where:
VX, VY : Cartesian velocities of Joint 3 (m/sec)
L1, L2 : Lengths of robot arm Segments 1 and 2 (m)
( )2112
θθθ
+= SS : Sine representation of the joint angles in Equation 9
( )2112
θθθ
+= CC : Cosine representation of the joint angles in Equation 9
'
2
'
1,
θθ
: Joint velocities at t = 1.5 sec
The Cartesian velocities can be expressed for the robot in reverse as:
⋅
−
+
−−
=
'
2
'
3
322
322
32233
32233
3
0
.
.
..
..
θ
θ
θ
θ
θθ
θθ
CL
SL
CLCL
SLSL
V
V
Y
X
(10)
where:
VX, VY : Cartesian velocities of Joint 2 (m/sec)
L3, L2 : Lengths of robot arm Segments 2 and 3 (m)
( )2332
θθθ
+= SS : Sine representation of the joint angles in Equation 10
( )2332
θθθ
+= CC : Cosine representation of the joint angles in Equation 10
'
2
'
3 ,
θθ
: Joint velocities at t = 1.5 sec
The Cartesian velocities of the terminal processor were determined by taking the normal and
reverse of the velocity matrices according to Equations 9 and 10, and the difference in the
velocities of Joint 3 and Joint 2 was thus determined. Subsequently, this difference in
velocities was divided by four because the mean velocities of Joints 3 and 2 and the mean
velocities of the reverse kinematics give the pointedlly coordinate velocities of the terminal
processor.
2.3. Robot Power Consumption
The kinetic energy of the robot arm can be expressed as [2], [8]:
∑∑ ==
+=
3
1
2'
3
1
2
11 .
2
1
.
2
1
i
a
i
IVmK
θ
(11)
where:
K : Kinetic energy (Hp-h)
m1, m2, and m3 : Masses of arm segments 1, 2 and 3 (N sec
2
/m)
(mass of Segment 3 (m3) is combined with a specific load)
V1, V2, and V3 : Maximum linear velocities of each arm segment (m/sec)
I1, I2, and I3 : Inertial moments of each arm segment (N sec
2
m),
'
a
θ
: Angular velocities of each joint 321 ',',' aaa θθθ (r/sec)
The inertial moment of each arm can be expressed as [6], [8]:
3
.
2
l
g
W
I = (12)
where:
W : Weight of each arm segment (the weight of the third arm segment is combined with
a specific load) (N)
g : Acceleration of gravity (m/sec2)
l : Length of each arm segment (m)
7. Muharrem Zeytinoglu & Halil Ünal
International Journal of Robotics and Automation, (IJRA), Volume (1): Issue (5) 75
The angular velocity of each joint can be expressed as [7]:
r
V
a ==
ωθ
'
(13)
where:
V : Maximum linear velocity of each arm segment (m/sec)
r : Length of each arm segment; r = l (m)
The dimensions of the arm segments are given in Figure 4; the arm material is “ST 42” steel,
and the arm-segment weights were computed according to the arm dimensions. The results
of the arm-segment weights are given in Table 2.
Robot arm number Weights (N)
Arm 1 105
Arm 2 37
Arm 3 27
TABLE 2: Weights of linkage arms.
First, the kinetic energy was calculated for the maximum power consumed (P) per second
from Equation 11, then the kinetic-energy result was multiplied by 3,600 seconds per hour
and divided by the coefficient of 75 to yield the robot power consumption [11].
FIGURE 4: Diagrams of linkage arms and their dimensions (in cm)
8. Muharrem Zeytinoglu & Halil Ünal
International Journal of Robotics and Automation, (IJRA), Volume (1): Issue (5) 76
3. RESULTS AND DISCUSSION
The results of the study are summarized in Table 3.
Parameters Symbol Results
Starting position (cm) Px
Py
31.5
17.18
Target position (cm) Px
Py
55
118.44
Maximum velocity of joints (Degree/sec.) Joint 1
Joint 2
Joint 3
22.5
28.12
16.87
Cartesian velocity of terminal processor at 1.5 sec. (m/sec.) Vx
Vy
13.98
20.16
Cartesian velocities in reverse of terminal processor at 1.5
sec. (m/sec.)
Vx
Vy
10.18
16.18
Max.linear velocities of robot arms (m/sec.) Arm 1
Arm 2
Arm 3
0.157
0.171
0.088
Max.robot power consumtion (kW) P 1
TABLE 3: Results of study related to the planar robot with three-joint
As evidenced by the dimensions of the positions in Table 3, the working space of the planar
robot was relatively small compared to the base area, and the size of the load was small
compared to the robot’s weight. In these conditions, designs for the construction of larger
robots with more power can be achieved via the simulation of planar robots working by
hydraulic power.
The motion of the planar robots is linear and rotary in the same plane, and the terminal
processor may travel a long distance because of the rotary path in the working space;
therefore, the Cartesian velocities and robot power consumption are increased according to
the shape of the rotary path. Another important factor causing increased power consumption
is the short operational time of four seconds. Robot joint velocities were determined according
to the operating time, which was taken into consideration as a basis in reaching the target
position of the robot terminal processor. To this end, time-position and time-velocity graphics
were determined as operational parameters (Figure 3). High velocities were determined for
Joint 2 of the robot: 26.36 and 28.12 degrees/sec at the times of 1.5 and 2 seconds,
respectively. The corresponding Cartesian velocities were determined as VX = -13.98 and VY
= 20.16 m/sec at the time of 1.5 seconds, as shown in the Table 3. The Cartesian velocities
can be considered to be at a moderate level with respect to the swing of the terminal
processor with a weight of 40 N or less. In the case of a new design for a planar robot of
greater dimensions and load capacity, revisions should be made to control the swing of the
bigger load due to the increasing Cartesian velocities. Maximum robot power consumption
was determined to be 1 kW. Generally, the power can be considered to the optimal level
corresponding to a small working space. Consequently, the maximum Cartesian velocities
and robot power are related to the construction dimensions and the operating time; these
important parameters should thus be taken into consideration in other planar-robot designs.
4. CONCLUSION
The robot under study is considered fairly small for a large activity area and working with
heavy loads. In contrast, this type of robot can be considered on the larger side for smaller
areas working with a minimal activity and a light load. Designs for the construction of planar
robots working on a small scale have been limited by the availability of auxiliary equipment,
e.g., miniature hydraulic components, which are not generally produced in nonstandard
specifications, except for the other driver unit. Generally, large constructions related to larger-
scale planar robots can be designed easily and suitably for heavy industrial applications,
agricultural harvesting and daily living activities. The robot in this study can be considered as
9. Muharrem Zeytinoglu & Halil Ünal
International Journal of Robotics and Automation, (IJRA), Volume (1): Issue (5) 77
being in the middle scale of construction and at a normal level of power consumption on the
basis of the scaling criteria. Consequently, the parameters resulting from this study are
applicable to the design and construction of planar robots driven by hydraulic cylinders,
especially in large activity areas at average operating velocities; for heavier loads, they can
be chosen as initial parameters for future designs.
Nomenclature
Px Robot starting and target positions in the x direction (cm)
Py Robot starting and target positions in the y direction (cm)
υ(t) Polynomial indicator
υ’(t) Joint-velocity indicator
S2, S3 Polynomial coefficients
t Time (sec)
υf Angle of target position (degrees)
υoo Angle of starting position (degrees)
tf Time at target position (sec)
Vx Cartesian velocity in the x direction (m/sec)
Vy Cartesian velocity in the y direction (m/sec)
L1, L2 Length of robot arm Segments 1 and 2 (m)
Sυ1,2 Sine representation of the joint angles
Cυ1,2 Cosine representation of the joint angles
υ’1 , υ’2 Velocities of Joints 1 and 2 (m/sec)
K Kinetic energy (Nm)
M Mass of arm segment (N sec2/m)
V Maximum velocity of arm segment (m/sec)
I Inertial moment of arm segment (N sec2 m)
υα’ Angular velocity of joint (rad/sec)
W Weight of arm segment (N)
g Acceleration of gravity (m/sec2)
r = l Length of arm segment (m)
P Maximum robot power consumption (kW)
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