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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 470 Documents

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Micro controller based asymmetrical multilevel inverter Arun V.; Prabaharan N.
IAES International Journal of Robotics and Automation (IJRA) Vol 8, No 1: March 2019
Publisher : Institute of Advanced Engineering and Science

This paper presents the Asymmetrical multilevel inverter with 1:3 voltage propagation. Switching pulse for Asymmetrical multilevel inverter are generated using embedded controller in m-file using MATLAB. The Asymmetrical multilevel inverter with 1:3 voltage propagation can produce high quality output voltage with less number of switches and voltage sources compare to conventional multilevel inverters. Contrasting other switching schemes, the proposed Switching scheme significantly reduces the Total Harmonic Distortion (THD) and minimize switching losses and reduces the complexity. To evaluate the developed scheme, simulations are carried out through MATLAB and real time implementations are done through microcontroller ARM Cortex™-M0 Core. The simulation and hardware results are presented.

Backstepping Controller for Electrically Driven Flexible Joint Manipulator Under Uncertainties Lilia Zouari; Hafedh Abid; Mohamed Abid
IAES International Journal of Robotics and Automation (IJRA) Vol 4, No 2: June 2015
Publisher : Institute of Advanced Engineering and Science

The grown complexity of the robot manipulators dynamics taking into account the jointflexibility, parameter uncertainties and unknown bounded disturbances makes conventionalcontrol strategies difficult and complex to synthesize. This paper focuses on the investiga-tion into backstepping control of flexible joint manipulator driving by Brushless DC Motor(BDCM) in the presence of parameter uncertainties and unknown bounded disturbances fortracking trajectory. The goal of this paper is to compensate all uncertainties and distur-bances for flexible joint manipulator. To study the effectiveness of the controllers, backstep-ping controller has been developed for position control and an hysteresis controller has beentreated for current control. Simulation results of the response of the flexible joint manipu-lators associated with their controllers have been presented. The high performances of thebackstepping control are examined in terms of tracking accuracy and error reduction.

Identification of robust controller for 3hp 3Φ induction motor H. Sathishkumar; S. S. Parthasarathy
IAES International Journal of Robotics and Automation (IJRA) Vol 8, No 2: June 2019
Publisher : Institute of Advanced Engineering and Science

This paper deals about the identification of robust controller for 3hp 3Φ induction motor which is used in cable industry (Ravicab cables private limited) at Bidadi. In this cable industry 3hp 3Φ induction motor is used for cable pulling purpose. This industry is using PID (Proportional derivative integral) controller based VFD (Voltage frequency drive) for controlling the speed of this 3hp 3Φ induction motor. This VFD is not functioning well for the non linear load and disturbance environment. Therefore in this paper Neural network based speed controller is proposed as proposed controller-I for replacing the PID based VFD. Performance of the 3hp 3Φ induction motor is estimated when Neural network controller is interfaced with the motor. Then Neuro-fuzzy controller based speed controller is proposed as proposed controller-II for replacing the PID based VFD. Performance of the 3hp 3Φ induction motor is estimated when Neuro-fuzzy controller is interfaced with the motor. At last robust controller for the 3hp 3Φ induction motor which is used for cable pulling purpose is going to be identified by doing comparison chart between Neural network and Neuro-fuzzy controller.

Autonomous Lavatory Cleaning System A. Adithya Bharadwaj; C. Arun Kumar; R. Balasubramanian; P. Gowtham
IAES International Journal of Robotics and Automation (IJRA) Vol 4, No 4: December 2015
Publisher : Institute of Advanced Engineering and Science

The application of integrated robotics is becoming increasingly commonplace in day to day applications. The idea presented in this paper seeks to provide a convenient and a hassle-free means of cleaning public toilets whilst maintaining hygienic and sanitary standards. By using a counter to record the number of times of usage, a line follower mechanism to guide the robot and an RFID module to initiate the flushing, the cleaning operation is fully automated and requires low operational power. Furthermore, a robotic arm is part of the module, so as to thoroughly clean the toilet bowl. Such a provision will curtail the role of manpower in maintenance of public toilets to a great degree, and thus, serves as a win-win situation; a revolting objective is accomplished with considerable ease.

Discrete time reaching law based variable structure control for fast reaching with reduced chattering Padmalatha, Pournami; Thomas, Susy
IAES International Journal of Robotics and Automation (IJRA) Vol 9, No 1: March 2020
Publisher : Institute of Advanced Engineering and Science

In this paper, a variable structure control law is proposed for discrete time sliding mode control so as to reduce both reaching time and quasi sliding mode band reduction. This new law is composed of two different sliding variable dynamics; one to achieve fast reaching and the other to counter its effect on widening the quasi sliding mode band. This is accomplished by introducing a boundary layer around the sliding surface about which the transformation of the sliding variable dynamics takes place. This provides the flexibility to choose the initial dynamics in such a way as to speed up the reaching phase and then at the boundary transform this dynamics to one that reduces the quasi sliding mode band. Thus, the law effectively coalesces the advantageous traits of hitherto proposed reaching laws that succeed in either the reduction of reaching phase or the elimination of quasi sliding mode band. The effectiveness of the proposed reaching law is validated through simulations.

Design and Coordination of Cooperative Mobile Robots Mohamed Krid
IAES International Journal of Robotics and Automation (IJRA) Vol 5, No 2: June 2016
Publisher : Institute of Advanced Engineering and Science

Object transportation is an important task considered in mobile robotics. For many years, it has been performed by single robots, capable to transport payload of moderate size and mass with respect to the robot size and mass. But if the payload gets bigger, the robot fails in the transporting task. For wider or heavier payloads, human operators improve their capacities by working in group. A similar improvement should be expected with a group of mobile robots.In this paper, we proposed a new concept of cooperative mobile robots to deal with the problem of long object transportation in unstructured environment whatever the payload length. The proposed C3Bots AT/VLP robot is formed by the association of two or more mono-robots with simple kinematics forming a poly-robot system.The paper presents several kinematic schemes and the corresponding obstacle-crossing processes. It deals with the problem of how to maintain stable motion for the poly-robot during obstacle crossing. Changes in the internal configuration of the robot adjust the center of gravity to guarantee stable motion. A specific stability criterion for contact on three wheels is presented. By adjusting the relative poses of the front and rear axles with respect to the payload, it is possible to maximize the stability of the poly-robot and its payload during obstacle crossing.

Robot Kinematics, using Dual Quaternions Mahmoud Gouasmi; Mohammed Ouali; Fernini Brahim
IAES International Journal of Robotics and Automation (IJRA) Vol 1, No 1: March 2012
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (287.862 KB)

From the point of view of classical mechanics, deriving the equations of motion for systems of coupled rigid bodies is regarded as a straightforward procedure: once a suitable set of generalized coordinates and reference frames have been chosen, what remains is to either apply Lagrange’s equations or Newton and Euler’s equations to obtain the differential equations of motion. As the complexity of multibody system increases, the need for more elegant formulation of the equation of motion becomes an issue of paramount importance. Our primary focus is on the kinematic analysis of rigid bodies and serial manipulators (robotic systems) using simultaneously, both homogeneous transformations (4x4) matrices and Dual Quaternions, for the sake of results comparisons (cost,complexity,storage capacity etc.) . This paper has been done mainly for educational and peadagogical purposes, hoping that the scientific community will finally adopt and use Dual Quaternions at least when dealing with multibody systems and specially robotics.DOI: http://dx.doi.org/10.11591/ijra.v1i1.275

Anchor Movement Strategy for Conjecture Geometry Based Localization Scheme in Wireless Sensor Network Niraj Bhupal Kapase; Santosh P Salgar; Mahesh K Patil; Prashant P Zirmite
IAES International Journal of Robotics and Automation (IJRA) Vol 5, No 4: December 2016
Publisher : Institute of Advanced Engineering and Science

Abstract—Localization of sensor node with least error is one of the major concern in wireless sensor network as some of the application require sensor node to know their location with high degree of precision. For mobile anchor based localization many of the path planning schemes already developed which includes scan, double scan, Circles & S- Curves. These path planning schemes have some limitations like localization error, Number of sensor nodes covered in the network, Trajectory length of mobile anchor node. This paper represents anchor movement strategy which is based on Scan path, with modifications are made in such a way that it satisfies the requirements of localization scheme. This movement strategy ensures that trajectory of mobile anchor node will minimize localization error and also will cover majority of sensor node in the environment. The localization error yielded by Modified Scan algorithm is in the range of 0.2 to 0.4m which is quite lower than the other existing mentioned path planning strategies producing localization error in the range 0.6 to 1.8mKeywords—Localization; Mobile anchor node; Wireless sensor network; Modified Scan algorithm

Dynamics and Optimal Feet Force Distributions of a Realistic Four-legged Robot Saurav Agarwal; Abhijit Mahapatra; Shibendu Shekhar Roy
IAES International Journal of Robotics and Automation (IJRA) Vol 1, No 4: December 2012
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (1379.599 KB)

This paper presents a detailed dynamic modeling of realistic four-legged robot. The direct and inverse kinematic analysis for each leg has been considered in order to develop an overall kinematic model of the robot, when it follows a straight path. This study also aims to estimate optimal feet force distributions of the said robot, which is necessary for its real-time control. Three different approaches namely, minimization of norm of feet forces (approach 1), minimization of norm of joint torques (approach 2) and minimization of norm of joint power (approach 3) have been developed. Simulation result shows that approach 3 is more energy efficient foot force formulation than other two approaches. Lagrange-Euler formulation has been utilized to determine the joint torques. The developed dynamic models have been examined through computer simulation of continuous gait of the four-legged robot.DOI: http://dx.doi.org/10.11591/ijra.v1i4.762

Delta Parallel Robot Based on Crank-Slider Mechanism Zhe Qin; Xiao-Chu Liu; Zhuan Zhao
IAES International Journal of Robotics and Automation (IJRA) Vol 6, No 2: June 2017
Publisher : Institute of Advanced Engineering and Science

A three-degree-of-freedom Delta parallel manipulator driven by a crank-slider mechanism is proposed. In Cartesian space, a gate-shaped curve is taken as the path of the pick-and-place operation, combining with the inverse kinematics theory of the Delta robot, and a mathematical model of robot statia force transmission is established. The force and the output torque of the robot-driven joint are taken as the main performance indexes, and the value of the crank-slider mechanism applied to Delta robot is further measured. The simulation results show that the delta robot driven by the crank slider mechanism can reduce the force and output torque of the driving joint during the picking and discharging operation, and has good practical application value.

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Tae Jin Park

Contact Email
iaes.ijra@gmail.com

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iaes.ijra@gmail.com

Editorial Address
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Location
Kota yogyakarta,

Daerah istimewa yogyakarta

INDONESIA

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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

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