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REFERENCE LINKING PLATFORM OF KOREA S&T JOURNALS
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Advances in robotics research
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Volume 1, Issue 2 - Apr 2014
Volume 1, Issue 1 - Jan 2014
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Overview of flexure-based compliant microgrippers
Aia, Wenji ; Xu, Qingsong ;
Advances in robotics research , volume 1, issue 1, 2014, Pages 1~19
DOI : 10.12989/arr.2014.1.1.001
Microgripper is an essential device in the micro-operation system. It can convert other types of energy into mechanical energy and produce clamp movement with required chucking force, which enables it a broad application prospect in the domain of tiny components' processing and assembly, biomedicine and optics, etc. The performance of a microgripper is dependent on its power supply, type of drive, mechanism structure, sensing components, and controller. This paper presents a state-of-the-art survey of recent development on flexure-based microgrippers. According to the drive type, the existing microgrippers can be mainly classified as electrostatic microgripper, electrothermal microgripper, electromagnetic microgripper, piezoelectric microgripper, and shape memory alloy microgripper. Additionally, some different mechanisms, sensors, and control methods that are used in microgripper system are reviewed. The key issue of how to choose those components in microgripper system design is also addressed.
Design and development of an automated all-terrain wheeled robot
Pradhan, Debesh ; Sen, Jishnu ; Hui, Nirmal Baran ;
Advances in robotics research , volume 1, issue 1, 2014, Pages 21~39
DOI : 10.12989/arr.2014.1.1.021
Due to the rapid progress in the field of robotics, it is a high time to concentrate on the development of a robot that can manoeuvre in all type of landscapes, ascend and descend stairs and sloping surfaces autonomously. This paper presents details of a prototype robot which can navigate in very rough terrain, ascend and descend staircase as well as sloping surface and cross ditches. The robot is made up of six differentially steered wheels and some passive mechanism, making it suitable to cross long ditches and landscape undulation. Static stability of the developed robot have been carried out analytically and navigation capability of the robot is observed through simulation in different environment, separately. Description of embedded system of the robot has also been presented and experimental validation has been made along with some details on obstacle avoidance. Finally the limitations of the robot have been explored with their possible reasons.
Nash equilibrium-based geometric pattern formation control for nonholonomic mobile robots
Lee, Seung-Mok ; Kim, Hanguen ; Lee, Serin ; Myung, Hyun ;
Advances in robotics research , volume 1, issue 1, 2014, Pages 41~59
DOI : 10.12989/arr.2014.1.1.041
This paper deals with the problem of steering a group of mobile robots along a reference path while maintaining a desired geometric formation. To solve this problem, the overall formation is decomposed into numerous geometric patterns composed of pairs of robots, and the state of the geometric patterns is defined. A control algorithm for the problem is proposed based on the Nash equilibrium strategies incorporating receding horizon control (RHC), also known as model predictive control (MPC). Each robot calculates a control input over a finite prediction horizon and transmits this control input to its neighbor. Considering the motion of the other robots in the prediction horizon, each robot calculates the optimal control strategy to achieve its goals: tracking a reference path and maintaining a desired formation. The performance of the proposed algorithm is validated using numerical simulations.
Dynamic characterisation of a two-link flexible manipulator: theory and experiments
Khairudin, M. ; Mohamed, Z. ; Husain, A.R. ; Mamat, R. ;
Advances in robotics research , volume 1, issue 1, 2014, Pages 61~79
DOI : 10.12989/arr.2014.1.1.061
This paper presents theoretical and experimental investigations into the dynamic modelling and characterisation of a two-link flexible manipulator incorporating payload. A planar two-link flexible manipulator that moves in a horizontal plane is considered. A dynamic model of the system is developed using a combined Euler-Lagrange and assumed mode methods, and simulated using Matlab. Experiments are performed on a lab-scaled two-link flexible manipulator for validation of the dynamic model and characterisation of the system. Two system responses namely hub angular position and deflection responses at both links are obtained and analysed in time and frequency domains. The effects of payload on the dynamic characteristics of the flexible manipulator are also studied and discussed. The results show that a close agreement between simulation and experiments is achieved demonstrating an acceptable accuracy of the developed model.
On low cost model-based monitoring of industrial robotic arms using standard machine vision
Karagiannidisa, Aris ; Vosniakos, George C. ;
Advances in robotics research , volume 1, issue 1, 2014, Pages 81~99
DOI : 10.12989/arr.2014.1.1.081
This paper contributes towards the development of a computer vision system for telemonitoring of industrial articulated robotic arms. The system aims to provide precision real time measurements of the joint angles by employing low cost cameras and visual markers on the body of the robot. To achieve this, a mathematical model that connects image features and joint angles was developed covering rotation of a single joint whose axis is parallel to the visual projection plane. The feature that is examined during image processing is the varying area of given circular target placed on the body of the robot, as registered by the camera during rotation of the arm. In order to distinguish between rotation directions four targets were used placed every
and observed by two cameras at suitable angular distances. The results were deemed acceptable considering camera cost and lighting conditions of the workspace. A computational error analysis explored how deviations from the ideal camera positions affect the measurements and led to appropriate correction. The method is deemed to be extensible to multiple joint motion of a known kinematic chain.
Biologically inspired modular neural control for a leg-wheel hybrid robot
Manoonpong, Poramate ; Worgotter, Florentin ; Laksanacharoen, Pudit ;
Advances in robotics research , volume 1, issue 1, 2014, Pages 101~126
DOI : 10.12989/arr.2014.1.1.101
In this article we present modular neural control for a leg-wheel hybrid robot consisting of three legs with omnidirectional wheels. This neural control has four main modules having their functional origin in biological neural systems. A minimal recurrent control (MRC) module is for sensory signal processing and state memorization. Its outputs drive two front wheels while the rear wheel is controlled through a velocity regulating network (VRN) module. In parallel, a neural oscillator network module serves as a central pattern generator (CPG) controls leg movements for sidestepping. Stepping directions are achieved by a phase switching network (PSN) module. The combination of these modules generates various locomotion patterns and a reactive obstacle avoidance behavior. The behavior is driven by sensor inputs, to which additional neural preprocessing networks are applied. The complete neural circuitry is developed and tested using a physics simulation environment. This study verifies that the neural modules can serve a general purpose regardless of the robot's specific embodiment. We also believe that our neural modules can be important components for locomotion generation in other complex robotic systems or they can serve as useful modules for other module-based neural control applications.