- The document discusses the research interests and work of Aditya KSKV, including bio-inspired robots, reconfigurable robots, kinematics, dynamics and control, compliant mechanisms, soft actuators and sensors.
- Specific projects discussed include the kinematic analysis of a novel 3-RSR mechanism for finger tip haptics, the development and characterization of miniaturized pneumatic artificial muscles, and the design of an endoscopic surgical device using these muscles.
- References and publications are provided for further reading on topics like the modeling and control of pneumatic artificial muscles, a flexible micro actuator for grippers, and a process for biologically inspired design.
Ziegler nichols pid controller for effective pay-load torque responses and ti...eSAT Journals
Abstract Robotic Technology is an imitation for human being’s. It is an electro mechanical modelling objects are important aspect of manipulator. A Manipulator is a machine able to drive the robot. This paper describes and investigates on effective pay-load torque responses, tip-vibrations. This paper presents modelling and simulation of the double link manipulator using the proposed PID Controller. Here the proposed Ziegler-Nichols proportional–integral–derivative controller (PID controller) initiates more advantageous in the view of better performance and flexible operation of manipulator. First, the electro mechanical object was modeled and simulated using State space technique. Here the torque responses and end tip vibrations are assigned by state space variables. The entire two link manipulator topology was investigated and modeled, simulated. The proposed control strategy carries a back –back feed forward controller can be used for flexible operation of manipulator. Here, the simulation was done by using M-File Technique in Control tool box of MATLAB. Keywords: Double Link Manipulator, Ziegler-Nichols PID Controller, Pay-Load Torque Responses, Tip-Vibrations, State space technique, back –back feed forward controller
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.
Fuzzy-PID Controller Design for Random Vibration Attenuated Smart Cantilever ...Mojtaba Hasanlu
نگارپژوه
مرکز تخصصی شبیه سازی سیستم ها ی مهندسی مکانیک
http://www.negarpajooh.com
شما مستقیما و بدون واسطه با محقق در ارتباط هستید.
آیدی تلگرام :NegarPajoohProject
میتوانید سایر ویدیوهای نگار پژوه را در کانال زیر مشاهده نمایید.
https://t.me/engineeringsimulation
Ziegler nichols pid controller for effective pay-load torque responses and ti...eSAT Journals
Abstract Robotic Technology is an imitation for human being’s. It is an electro mechanical modelling objects are important aspect of manipulator. A Manipulator is a machine able to drive the robot. This paper describes and investigates on effective pay-load torque responses, tip-vibrations. This paper presents modelling and simulation of the double link manipulator using the proposed PID Controller. Here the proposed Ziegler-Nichols proportional–integral–derivative controller (PID controller) initiates more advantageous in the view of better performance and flexible operation of manipulator. First, the electro mechanical object was modeled and simulated using State space technique. Here the torque responses and end tip vibrations are assigned by state space variables. The entire two link manipulator topology was investigated and modeled, simulated. The proposed control strategy carries a back –back feed forward controller can be used for flexible operation of manipulator. Here, the simulation was done by using M-File Technique in Control tool box of MATLAB. Keywords: Double Link Manipulator, Ziegler-Nichols PID Controller, Pay-Load Torque Responses, Tip-Vibrations, State space technique, back –back feed forward controller
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.
Fuzzy-PID Controller Design for Random Vibration Attenuated Smart Cantilever ...Mojtaba Hasanlu
نگارپژوه
مرکز تخصصی شبیه سازی سیستم ها ی مهندسی مکانیک
http://www.negarpajooh.com
شما مستقیما و بدون واسطه با محقق در ارتباط هستید.
آیدی تلگرام :NegarPajoohProject
میتوانید سایر ویدیوهای نگار پژوه را در کانال زیر مشاهده نمایید.
https://t.me/engineeringsimulation
Design and control of an exoskeleton based device for hand rehabilitationHossein Hajiyan, Ph.D.
In this paper, a new exoskeleton-based design is proposed that imitates natural hand movements for rehabilitation purposes. For controlling the motion of the proposed design, we subsequently designed five different controllers computed torque control (CTC), PD, PID, and two sliding mode controllers
(SMC). It was shown that the second sliding mode controller resulted in improved trajectories that were chosen based on the natural hand movements. The proposed design along with the sliding mode controller has the potential to be used as a continues passive machine (CPM) resulting in an improved recovery of injured hand for patients after stroke or post-surgical training.
Top Cited Articles in Control Theory and Computer Modelling : June 2020ijctcm
The International Journal of Control Theory and Computer Modelling (IJCTCM) is a Quarterly open access peer-reviewed journal that publishes articles which contribute new results in all areas of Control Theory and Computer Modelling. The journal focuses on all technical and practical aspects of Control Theory and Computer Modelling. The goal of this journal is to bring together researchers and practitioners from academia and industry to focus on advanced control engineering and modeling concepts and establishing new collaborations in these areas.
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.
TOP Most Read Articles in Informatics Engineeringieijjournal
Informatics is rapidly developing field. The study of informatics involves human-computer interaction and how an interface can be built to maximize user-efficiency. Due to the growth in IT, individuals and organizations increasingly process information digitally. This has led to the study of informatics to solve privacy, security, healthcare, education, poverty, and challenges in our environment. The Informatics Engineering, an International Journal (IEIJ) is a open access peer-reviewed
journal that publishes articles which contribute new results in all areas of Informatics. The goal of this journal is to bring together researchers and practitioners
from academia and industry to focus on the human use of computing fields such as communication, mathematics, multimedia, and human-computer interaction design and establishing new collaborations in these areas.
International Journal of Engineering Research and Applications (IJERA) is a team of researchers not publication services or private publications running the journals for monetary benefits, we are association of scientists and academia who focus only on supporting authors who want to publish their work. The articles published in our journal can be accessed online, all the articles will be archived for real time access.
Our journal system primarily aims to bring out the research talent and the works done by sciaentists, academia, engineers, practitioners, scholars, post graduate students of engineering and science. This journal aims to cover the scientific research in a broader sense and not publishing a niche area of research facilitating researchers from various verticals to publish their papers. It is also aimed to provide a platform for the researchers to publish in a shorter of time, enabling them to continue further All articles published are freely available to scientific researchers in the Government agencies,educators and the general public. We are taking serious efforts to promote our journal across the globe in various ways, we are sure that our journal will act as a scientific platform for all researchers to publish their works online.
Novel Approaches for Robotic Control Using Flex SensorIJERA Editor
The aim of the project is to develop the Prosthetic robotic hand using flex sensor for amputees. The main aim of the project is to develop the robotic hand that performs pick and place activities. Here we are using flex sensors to sense the signals from artificial hand signal is transmitted and that signal is used to drive the mechanical hand. Stroke is the third leading cause of the death. Nearly 7, 00,000 people suffered from stroke last year and 2/3 rd of them survived but were left with many number of disabilities; one such disability is upper extremity hemiplegia. If the hand and the arm do not have therapy immediately after stroke, it will lose its power and muscle control, resulting in a claw like appearance and loss of function. Activities of the patient, daily living activities will be significantly affected.Prosthetic hand must resemble human hand in size and shape and must perform like human hand.
Design and analysis of x y- positioning stage based on redundant parallel li...eSAT Journals
Abstract This paper presents the concept of a planar positioning stage based on a kinematically redundant parallel linkage. Basic kinematics and workspace analysis of base redundant manipulator is initially explained and the procedure of static analysis to predict the actuated joint torques is described. As there are six actuators in the linkage, the redundancy can be overcome by proper selection of the base joint variables. Also it is assumed that the motion is at a constant speed. A numerical example is shown with a straight line trajectory to illustrate the workspace and joint force calculation aspects of this linkage. The possible arrangement of the stage with electrostatic actuation and sensing are finally highlighted. Keywords: Kinematic redundancy, Parallel mechanism, Static analysis, and Workspace characteristics
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.
Manipulability index of a parallel robot manipulatorIAEME Publication
The manipulability index is used to quantify manipulators velocity transmission capabilities or the dexterity of robot. The index is a measure of manipulating ability of robotic echanisms in positioning and orienting the end effectors. The index allows to quantify the proximity of the robot to a singularity, which is ideal for identifying paths of welding with continuous and soft movements at the robot joints.
Design and control of an exoskeleton based device for hand rehabilitationHossein Hajiyan, Ph.D.
In this paper, a new exoskeleton-based design is proposed that imitates natural hand movements for rehabilitation purposes. For controlling the motion of the proposed design, we subsequently designed five different controllers computed torque control (CTC), PD, PID, and two sliding mode controllers
(SMC). It was shown that the second sliding mode controller resulted in improved trajectories that were chosen based on the natural hand movements. The proposed design along with the sliding mode controller has the potential to be used as a continues passive machine (CPM) resulting in an improved recovery of injured hand for patients after stroke or post-surgical training.
Top Cited Articles in Control Theory and Computer Modelling : June 2020ijctcm
The International Journal of Control Theory and Computer Modelling (IJCTCM) is a Quarterly open access peer-reviewed journal that publishes articles which contribute new results in all areas of Control Theory and Computer Modelling. The journal focuses on all technical and practical aspects of Control Theory and Computer Modelling. The goal of this journal is to bring together researchers and practitioners from academia and industry to focus on advanced control engineering and modeling concepts and establishing new collaborations in these areas.
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.
TOP Most Read Articles in Informatics Engineeringieijjournal
Informatics is rapidly developing field. The study of informatics involves human-computer interaction and how an interface can be built to maximize user-efficiency. Due to the growth in IT, individuals and organizations increasingly process information digitally. This has led to the study of informatics to solve privacy, security, healthcare, education, poverty, and challenges in our environment. The Informatics Engineering, an International Journal (IEIJ) is a open access peer-reviewed
journal that publishes articles which contribute new results in all areas of Informatics. The goal of this journal is to bring together researchers and practitioners
from academia and industry to focus on the human use of computing fields such as communication, mathematics, multimedia, and human-computer interaction design and establishing new collaborations in these areas.
International Journal of Engineering Research and Applications (IJERA) is a team of researchers not publication services or private publications running the journals for monetary benefits, we are association of scientists and academia who focus only on supporting authors who want to publish their work. The articles published in our journal can be accessed online, all the articles will be archived for real time access.
Our journal system primarily aims to bring out the research talent and the works done by sciaentists, academia, engineers, practitioners, scholars, post graduate students of engineering and science. This journal aims to cover the scientific research in a broader sense and not publishing a niche area of research facilitating researchers from various verticals to publish their papers. It is also aimed to provide a platform for the researchers to publish in a shorter of time, enabling them to continue further All articles published are freely available to scientific researchers in the Government agencies,educators and the general public. We are taking serious efforts to promote our journal across the globe in various ways, we are sure that our journal will act as a scientific platform for all researchers to publish their works online.
Novel Approaches for Robotic Control Using Flex SensorIJERA Editor
The aim of the project is to develop the Prosthetic robotic hand using flex sensor for amputees. The main aim of the project is to develop the robotic hand that performs pick and place activities. Here we are using flex sensors to sense the signals from artificial hand signal is transmitted and that signal is used to drive the mechanical hand. Stroke is the third leading cause of the death. Nearly 7, 00,000 people suffered from stroke last year and 2/3 rd of them survived but were left with many number of disabilities; one such disability is upper extremity hemiplegia. If the hand and the arm do not have therapy immediately after stroke, it will lose its power and muscle control, resulting in a claw like appearance and loss of function. Activities of the patient, daily living activities will be significantly affected.Prosthetic hand must resemble human hand in size and shape and must perform like human hand.
Design and analysis of x y- positioning stage based on redundant parallel li...eSAT Journals
Abstract This paper presents the concept of a planar positioning stage based on a kinematically redundant parallel linkage. Basic kinematics and workspace analysis of base redundant manipulator is initially explained and the procedure of static analysis to predict the actuated joint torques is described. As there are six actuators in the linkage, the redundancy can be overcome by proper selection of the base joint variables. Also it is assumed that the motion is at a constant speed. A numerical example is shown with a straight line trajectory to illustrate the workspace and joint force calculation aspects of this linkage. The possible arrangement of the stage with electrostatic actuation and sensing are finally highlighted. Keywords: Kinematic redundancy, Parallel mechanism, Static analysis, and Workspace characteristics
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.
Manipulability index of a parallel robot manipulatorIAEME Publication
The manipulability index is used to quantify manipulators velocity transmission capabilities or the dexterity of robot. The index is a measure of manipulating ability of robotic echanisms in positioning and orienting the end effectors. The index allows to quantify the proximity of the robot to a singularity, which is ideal for identifying paths of welding with continuous and soft movements at the robot joints.
2. Kinematic Analysis of A Novel 3- RSR
Mechanism for Finger Tip Haptics
Aditya Kapilavai, M.Solazzi, Daniele leonardis, Basilio Lenzo and Antonio Frisoli , “Kinematic
Analysis of A Novel 3- RSR Mechanism for Finger Tip Haptics” communicated Robotica Journal
3. Cutaneous stimuli are fundamental in recognizing shapes in
curvature discrimination tasks and to improve the illusion of
presence in virtual and remote environments
4. Novel 3- RSR Kinematic
Architecture
Workspace of the end-effector, obtained considering
a range of 45° angular displacement for each
actuator.
Kinematics of the presented haptic device
7. Suggested References
L-W. Tsai, “A Three Degree of Parallel Manipulators With Only
Translational Degree of Freedom” , Ph.D. thesis, University of
Maryland, college park, MD, pp.64-89,1997.
G.R.Dunlop, T.P.Jones, “Position Analysis of A 3-DOF Platform
Manipulator”, Mech. Mach. Theory, Vol.32, 1997, No.8,
pp.903-920.
Sameer A. Joshi, “A Comparative Study of Two Classes of
3-DOF Parallel Manipulators” , Ph.D. thesis, University of
Maryland, college park, MD,pp.40-96 , 2002.
Raffaele Di Gregorio ,"Inverse position analysis, workspace
determination and position synthesis of parallel manipulators
with 3-RSR topology", Robotica 2003 volume 21,pp.627-632
17. (a)Geometric representation of the actuator,
(b) pantograph representation of the braid.
Kinematics Model of MPAM
(a)
(b)
To get clear idea for modeling and understanding please read the paper
21. Summary
• Pneumatic muscle as soft actuator
• MPAM developed and characterized
• Robust control of MPAM
• Initial prototype of an endoscopic surgical device
22. Suggested References
•Chou, C.-P., and Hannaford, B., 1996, “Measurement and Modelling of
McKibben Pneumatic Artificial Muscles,” IEEE Trans. Rob. Autom., 12(1),pp. 90–102.
• Tonus, B., and Lopez, P., 2000, “Modelling and Control of McKibben Artificial
Muscle Robot Actuators,” IEEE Control Syst. Mag., 20(2), pp. 15–38.
• Tondu, B., 2012, “Modelling of the McKibben Artificial Muscle: A Review,”
J. Intell. Mater. Syst. Struct., 23(3), pp. 225–253.
• Klute, G. K., and Hannaford, B., 1998, “Fatigue Characteristics of McKibben
Artificial Muscle Actuators,” IEEE/RSJ International Conference on Intelligent
Robots and Systems, Victoria, BC, Canada, Oct. 13–17, pp. 1776–1781.
•Zhou, B., Accorsi, M., and Leonard, J., 2004, “A New Finite Element for Modeling
Pneumatic Muscle Actuators,” Comput. Struct., 82(11), pp. 845–856.
23. Eccentric Actuator
Ganesha Udupa, Pramod Sreedharan and Aditya K., “Robotic Gripper Driven by Flexible Micro Actuator based on Innovative
Technique”,2010 IEEE Workshop on Advanced Robotics and Social Impacts(ARSO-2010), p.p,111-116, Seoul, South Korea,2010.
25. Suggested References
G. Udupa, Study and development of an unconventional device for industrial applications
including robots and instrumentation[M.S. thesis], University B.D.T College of Engineering,
Davangere, India, 1992.
G. Udupa and R. Krishna Murthy, “A new flexing technique for soft Gripper design,” in
Proceedings of the 16th All India Manufacturing Technology Design and Research
Conference, pp. 353–358, Bangalore, India, December 1994.
S. Dinesh, R. Raveendran, K. Aditya, P. Sreedharan, and G.Udupa, “Innovative micro walking
robot using flexible micro actuator,” in Proceedings of the 28th International Symposium on
Automation and Robotics in Construction, Seoul, Republic of Korea, June 2011.
G. Udupa, “Artificial robotic hand and process of manufacturing thereof,” Patent
3631/CHE/2011, 2011.
K. Suzumori, S. Iikura, and H. Tanaka, “Development of flexible micro actuator and its
applications to robotic mechanisms,” in Proceedings of the IEEE International Conference
on Robotics and Automation, pp. 1622–1627, Sacramento, Calif, USA, April 1991.
26. Biologically Inspired Design
Process
Identification of the Need
Defining the problem in
terms of Engineering or
Biology
Suitable design procedure For
Eg:PB-BID,SB-BID,BICD
…etc
Studying existing
methods and available
techniques
Search for the Biological
Solutions
Extracting the Fundamental
Principles Eg: Morphology
Robotics Implementation
of Principles
Mechanical Design,
Analyses, Test and Results
Modulating
Aditya kapilavai , Ning Tan and Mohan Rajesh Elara, “ BIOINSPIRED DESIGN: A CASE STUDY
OF RECONFIGURABLECRAWLING-ROLLING ROBOT” In Review International conference on
Engineering and Design ( ICED 2015)