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In this paper a fixed-order dynamic output feedback controller for consensus of nonlinear multi-agent systems with input delay has been proposed via linear matrix inequalities (LMIs). The overall system is considered to be decentralized and each agent can only receive information from its neighbors. To guarantee consensus in this method, first the multi agent system should be augmented. Then, based...
The aim of this paper is to present a practical method to land a Quadrotor MAV (Micro Arial Vehicle) on a landing pad or charger dock station. Nowadays Quadrotor MAVs are very popular but due to nonlinear dynamics and ground effects problems landing of a Quadrotor MAV is a control challenge specially in outdoor environments. For this purpose a high level fuzzy controler and a low level PID stablizer...
In this paper, the full procedure of the mechanical design and electronic subsystems of a new Octorotor flying robot is discussed. The number of motors from four motors is increased to eight motors which all of motors set as coaxial and they are installed two by two. It means that four motors are placed on top of the robot and another four motors are placed on down of the robot coaxially. This structure...
In this paper, we proposed a simple but robust fuzzy logic path tracking controller for a mobile robot in a deterministic environment. Although some related works consider multiple dependent decision variables to determine the control inputs, we introduce two independent controllers with one input variable and one output variable which we named as control input. These two input variables are distance...
In recent years, different exoskeleton devices have been developed to provide the users with the mechanical power required in augmentation and rehabilitation applications. The exoskeleton control is one of the most challenging issues causes widely attention of researches during recent decade. Although different methods of control have been presented, there are several issues which have not been answered...
This research focuses on proposing an optimal trajectory planning method of two link rigid-flexible manipulators (TLRFM) for Dynamic Object Manipulation (DOM) missions. For the first time, achievement of DOM task using a rotating one flexible link robot was taken into account in [15]. The authors do not aim to contribute on either trajectory tracking or vibration control of the End-Effector (EE) of...
In this paper, a new balancing approach is presented for planar cable robot. In fact, an optimal trajectory planning problem is defined in which states, controls and the values of counterweights calculated simultaneously in order to minimize the performance objective in a point to point motion. The necessary conditions for optimality are achieved by calculus of variations which leads to the optimality...
In this paper a new ground contact model (GCM) for the calculation of foot-ground reaction forces (GRF) is presented. The model is appropriate for the simulation of walking, running and jumping of human and biped robots. To ensure this capability, some criteria of a proper GCM are introduced and it is shown that the new GCM passes all these criteria. Finally, the GCM is used for the simulation of...
Application of gait modeling in analysis of pathological behavior is an important subject in rehabilitation of neural disorders. Different simulations are conducted for imitating pathological manners of these patients that biomechanical abnormality was investigated more in details. Besides, in some injuries, e.g. stroke, abnormal behaviors caused majorly by the brain signal disruption than the biomechanical...
In this paper, a simplified method in human to robot motion mapping schemes is proposed and a prototype has been implemented. The proposed design contains two arms, a sample arm and a teach pendant robotic arm which will be taught to replicate the desired position. The camera starts the process by getting live images of the sample arm and sending it to the computer. After doing some calculations,...
This paper addresses bilateral control of a nonlinear teleoperation system with flexible-link slave manipulator. For this purpose, due to the non-minimum phase behavior of flexible-link manipulators, tip position tracking of the slave manipulator is performed based on the output redefinition method. Moreover, to compensate the uncertainties, a robustifying term is considered in the controller. However,...
This paper describes a novel offline approach to estimate the parameters of a nonlinear system using the optimal control theory. In the conventional methods, only the output is considered in the identification process and the problem is stated as a nonlinear optimization problem. Nevertheless, the proposed method here is based on the least square error of both output and input. To do this, the problem...
Non-intrusive person recognition in different poses is a crucial task in the field of human-robot interaction (HRI). Most of the previous work for person recognition were based on face. In these approaches, if the person's face is invisible to the robot, it will ask the person to stand in a location suitable for the robot and look at the robot to recognize him. However in a normal interaction, the...
In this paper the design and development of a vision based power line tracking system for power line inspection is presented to be used on quad-rotor aerial vehicles. The vehicle flies on top of a power line and a combination of the Gaussian steerable filters and the probabilistic Hough line transform were used for power line detection. An unscented Kalman filter was used as an observer to track the...
In this paper, three motion control techniques are discussed for 3RPS parallel robot. The main purpose of this research is to study the model-based control techniques to determine whether these techniques are capable of reducing the tracking error considering the measurement noise and external disturbance. In order to evaluate the proposed approach, three different techniques are presented. Inverse...
Maintaining the balance or stability of legged robots in natural terrains is a challenging problem. Besides the inherent unstable characteristics of legged robots, the sources of instability are the irregularities of the ground surface and also the external pushes. In this paper, a push recovery framework for restoring the robot balance against external unknown disturbances will be demonstrated. It...
In this paper the mechanical design process of a special linear-rotary joint for a SCARA robot, called FUM SCARA, is illustrated. FUM SCARA is constructed in the Robotics Lab of Ferdowsi University of Mashhad, in Iran. Main features of this robot are overall ±0.015 mm repeatability in XYZ plane, 8.5 m/s end-effector velocity and 0.5 seconds full pick and place cycle time. FUM SCARA robot is capable...
The application of a specific signal-based method is described in this paper to detect internal leakage faults in hydraulic actuators. By implementing an artificial leakage with various degrees of severity, pressure signals at either chambers of a laboratory-based hydraulic actuator is gathered in response to a periodic square input. The gathered data are used to train a set of transformations that...
In this paper a new architecture for robotic rehabilitation is introduced. The mutual interaction between the therapist and patient is accomplished with robots. The architecture divides the system into three subsystems: therapist, patient, and virtual environment, which is controlled locally ensuring that it is input to state stable (ISS). Finally, the interconnection of these subsystems are shown...
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