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IAES International Journal of Robotics and Automation (IJRA)

IJRA
Website

Published by Institute of Advanced Engineering and Science

ISSN : 20894856 EISSN : 27222586 DOI : -

Core Subject : Engineering,

Automotive Engineering Electrical & Electronics Engineering

Robots are becoming part of people's everyday social lives and will increasingly become so. In future years, robots may become caretaker assistants for the elderly, or academic tutors for our children, or medical assistants, day care assistants, or psychological counselors. Robots may become our co-workers in factories and offices, or maids in our homes. The IAES International Journal of Robotics and Automation (IJRA) is providing a platform to researchers, scientists, engineers and practitioners throughout the world to publish the latest achievement, future challenges and exciting applications of intelligent and autonomous robots. IJRA is aiming to push the frontier of robotics into a new dimension, in which motion and intelligence play equally important roles. Its scope includes (but not limited) to the following: automation control, automation engineering, autonomous robots, biotechnology and robotics, emergence of the thinking machine, forward kinematics, household robots and automation, inverse kinematics, Jacobian and singularities, methods for teaching robots, nanotechnology and robotics (nanobots), orientation matrices, robot controller, robot structure and workspace, robotic and automation software development, robotic exploration, robotic surgery, robotic surgical procedures, robotic welding, robotics applications, robotics programming, robotics technologies, robots society and ethics, software and hardware designing for robots, spatial transformations, trajectory generation, unmanned (robotic) vehicles, etc.

Arjuna Subject : Ilmu Komputer (semua kategori) - Ilmu Komputer (Lain-Lain)

Articles 9 Documents

Search results for , issue "Vol 4, No 3: September 2015" : 9 Documents clear

A Techniques to Downgrade Objective Function in Parallel Robot Kinematics Problem Trung Thanh Trang; Guang Wei Li; Long Thanh Pham
IAES International Journal of Robotics and Automation (IJRA) Vol 4, No 3: September 2015
Publisher : Institute of Advanced Engineering and Science

Quadratic functions and quaternary functions are preferable forms solving parallel robot kinematics problems. In order to simplify and to use only one method to solve all forms of the objective functions, this article introduces prevalent techniques to downgrade mathematical model of the objective functions from quaternary function to quadratic function in parallel robot kinematics problem. By using equivalent alternative kinematic structure and additional mathematical constraints, we will change from the study of parallel robot kinematics problem with the form of quaternary objective function as the original configuration to equivalent alternative configuration in the form of quadratic objective function. The parallel robot kinematics problem based on alternative configuration with quadratic objective function is not only simpler but also helps to quickly identify the mathmatical relationships in the joint space and work space of parallel robot. Then, more accurate control solution of parallel robot kinematics problem can be identified. Moreover, by using techniques in this study, all forms of objective functions of parallel robot of any structure can be easily solved. The result from numerical simulation has been used to prove the presented approaches.

Adaptive Sliding Mode Controller Design For Attitude Small UAV Samaneh Amini
IAES International Journal of Robotics and Automation (IJRA) Vol 4, No 3: September 2015
Publisher : Institute of Advanced Engineering and Science

The dynamic of Unmanned Aerial Vehicle (UAV) is nonlinear, strongly coupled, multi-input multi-output (MIMO), and subject to uncertainties and external disturbances. In this paper, an adaptive sliding mode controller (ASMC) is integrated to design the attitude control system for an inner loop fixed wing UAV. In the proposed scheme, sliding mode control law parameters due to uncertainty are assumed to be unknown and are estimated via adaptation laws. The synthesis of the adaptation laws is based on the positivity and Lyapunov design principle. Navigation outer loop parameters are regulated via PID controllers. Simulation results indicate that the proposed controller design can stabilize the nonlinear system, and it is robust to parametric model uncertainties and external disturbance.

Fractional order PID Design using the Taguchi method Somayeh Nouruzi Ghazbi; Alireza Akbarzadeh
IAES International Journal of Robotics and Automation (IJRA) Vol 4, No 3: September 2015
Publisher : Institute of Advanced Engineering and Science

This paper presents a gain-tuning scheme for Fractional order PID control systems using the Taguchi method. A prismatic series elastic actuator is selected as an experimental set-up. An optimal controller gains has been obtained through a series of experiments suggested by the Taguchi method. Four stages of tuning are performed in order to accurately tune the controller gains. It is shown that when performance of the proposed controller is compared with two additional controllers: a traditional FOPID tuned with Ziegler-Nichols (Z-N) method and a PID tunned with genetic algorithm, a 94% and 84% improvements in position error is observed, respectively.

Manuscript shapes generated by novel bi-axis control algorithm based on a mathematical handwriting model Imene Mahmoud; Ines Chihi; Afef Abedlkrim; Mohamed Benrejeb
IAES International Journal of Robotics and Automation (IJRA) Vol 4, No 3: September 2015
Publisher : Institute of Advanced Engineering and Science

Handwriting movement is one of the most complex activities of human motions. It’s a blend of kinesthetic, cognitive, perceptual and motor components. The study of this biological process shows that bell-shaped velocity profiles are generally observed in the handwriting motion. In this paper, an identification technique, based on Recursive Least Square algorithm (RLS), is proposed to identify the pen-tip movement in human handwriting process, by using input and output data which present EMG signals and velocities according to x and y coordinates. Using the estimated coordinates that have resulted from the velocity model; we propose a novel algorithm to generate handwritten graphic traces, which is inspired from the idea of tracing circles by Bresenham bi-axis control algorithm. The effectiveness of this approach should be observed on predicting cursive Arabic letters and Arabic word written on (x,y) plane, these shapes constituting a recorded experimental basis.

Kinematic Modelling of Multi-Terrain Pine Needle Collecting Robot (PiNCoR) for the Hilly areas of Uttarakhand Shival Dubey; Manish Prateek; Mukesh Saxena
IAES International Journal of Robotics and Automation (IJRA) Vol 4, No 3: September 2015
Publisher : Institute of Advanced Engineering and Science

Uttarakhand – a northern state of India in the foothills of Himalayas has approximately 64.8% of forest. Pine (Pinus roxburghii) is an important tree species which is because of its numerous uses becomes more prominent in this hilly state. Pine Needle Collecting Robot (PiNCoR) is a machine designed to collect pine needles from the high altitude pine forest regions. The robot is capable to maneuver over rough terrains, can navigate through craters and can stock the collected pine needles. After analyzing the design constraints for navigation on the hilly terrains, a small rover was designed and the kinematics portion is discussed in this paper. With the use of a versatile rocker bogie suspension mechanism, this paper also presents the kinematic modelling of a wheeled mobile robot being the best for hilly areas with super stability and traction control being its assets. It analyzes the different inputs from the information provided by the on-board sensor system for maneuvering. The robot has five degrees of freedom (DoF) providing it the flexibility to work in x and z axes as along with the standard pitch, roll and yaw directions.

PLC based Multi-Floor Elevator Control System Shrey Gupta
IAES International Journal of Robotics and Automation (IJRA) Vol 4, No 3: September 2015
Publisher : Institute of Advanced Engineering and Science

This paper presents programmable logic controller based elevator control system. Primary focus is on using programmable logic controller to build the elevator model. To control the motion of the elevator through various levels DC geared motor is used. Push buttons are used to give signal to the elevator to come to the desired floor, traversing up and down. Moreover DC relays are used as switches, not protective devices, to drive the motor in clockwise and anticlockwise direction. Ladder logic is used for the model implementation.

Obstacle Avoidace Robot Using LabView Tasher Ali Sheikh; Swacheta Dutta; Smriti Baruah; Pooja Sharma; Sahadev Roy
IAES International Journal of Robotics and Automation (IJRA) Vol 4, No 3: September 2015
Publisher : Institute of Advanced Engineering and Science

The concept of path planning and collision avoidance are two of the most common theories applied for designing and developing in advanced autonomous robotics applications. NI LabView makes it possible to implement real-time processor for obstacle avoidance. The obstacle avoidance strategy ensures that the robot whenever senses the obstacle stops without being collided and moves freely when path is free, but sometimes there exists a probability that once the path is found free and the robot starts moving, then within a fraction of milliseconds, the robot again sense the obstacle and it stops. This continuous swing of stop and run within a very small period of time may cause heavy burden on the system leading to malfunctioning of the components of the system. This paper deals with overcoming this drawback in a way that even after the robot calculates the path is free then also it will wait for a specific amount of time before running it. So as to confirm that if again the sensor detects the obstacle within that specified period then robot don’t need to transit its state suddenly thus avoiding continuous transition of run and stop. Thus it reduces the heavy burden on the system.

Nonlinear Hybrid Controller for a Quadrotor Based on Sliding Mode and Backstepping Chuan Lian Zhang; Kil To Chong
IAES International Journal of Robotics and Automation (IJRA) Vol 4, No 3: September 2015
Publisher : Institute of Advanced Engineering and Science

In this paper, one nonlinear hybrid controller, based on backstepping and sliding mode, was developed and applied to a quadrotor for waypoint navigation application. After dynamics modeling, the whole quadrotor dynamics system could be divided into two subsystems: rotational system and translational system. Backstepping control law was derived for attitude control whereas sliding mode control law was developed for position control. By using Lyapunov theory and satisfying sliding stable rules, the convergence of system could be guaranteed. A nonlinear equation was proposed to solve the under-actuated problem. To validate the effectiveness of proposed nonlinear hybrid controller, waypoint navigation simulation was performed on the nonlinear hybrid controller. Results showed that the nonlinear hybrid controller finished waypoint navigation successfully.

Design and Fabrication of Delta Robot with Voice control Bala Maga Ganapathi G.S.
IAES International Journal of Robotics and Automation (IJRA) Vol 4, No 3: September 2015
Publisher : Institute of Advanced Engineering and Science

The objective of the project is to design and control the Delta robot with voice for pick and place operation using ARM7 processor. Till now there is no implementation of voice recognition and control in Delta robot. The maximum payload of the robot is 200grams-300grams. The robot has been made based on the SEQUENTIAL QUADRATIC PROGRAMMING. Various links of the robot are controlled using the servo motor and the gripper is separately controlled by a servo motor.

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Reviewer

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Contact Name
Tae Jin Park

Contact Email
iaes.ijra@gmail.com

Phone
-

Journal Mail Official
iaes.ijra@gmail.com

Editorial Address
-

Location
Kota yogyakarta,

Daerah istimewa yogyakarta

INDONESIA

Abstract

Abstract

Abstract

Abstract

Abstract

Abstract

Abstract

Abstract

Abstract

Home Page

OAI Link

Editorial Team

Contact

Reviewer

Google Scholar

Contact Name Tae Jin Park

Contact Email iaes.ijra@gmail.com

Phone -

Journal Mail Official iaes.ijra@gmail.com

Editorial Address -

Location Kota yogyakarta, Daerah istimewa yogyakarta INDONESIA

Abstract

Abstract

Abstract

Abstract

Abstract

Abstract

Abstract

Abstract

Abstract

Contact Name
Tae Jin Park

Contact Email
iaes.ijra@gmail.com

Phone
-

Journal Mail Official
iaes.ijra@gmail.com

Editorial Address
-

Location
Kota yogyakarta,

Daerah istimewa yogyakarta

INDONESIA