Mechatronics and Robotics Engineering for Advanced and Intelligent Manufacturing (eBook)

Preface 6
Contents 8
Design and Manufacturing of the Robot 12
1 Critical Review and Progress of Adaptive Controller Design for Robot Arms 13
Abstract 13
1 Introduction 13
2 General Adaptive Control 16
3 Adaptive Control for Robotic Manipulators 17
4 Conclusion 21
Acknowledgments 21
References 21
2 Stiffness Analysis of a Planar 3-RPS Parallel Manipulator 23
Abstract 23
1 Introduction 23
2 Stiffness Model of the Planar 3-RPS PM 24
2.1 Kinematics Description 24
2.2 Stiffness Matrix Establishment 26
3 Stiffness Characteristics Analysis 28
3.1 The Eigenscrew Decomposition of Stiffness Matrix 28
3.2 The Principle Axes Decomposition of Spatial Stiffness Matrix 29
3.3 Compliant Axis and Center of Compliance 30
3.4 The Stiffness Characteristics Along Z-Axis 31
4 Numerical Examples 32
4.1 Finite Element Analysis 32
4.2 Decomposition of Planar 3-RPS PM Stiffness Matrix 33
4.3 Compliant Axes of Planar 3-RPS PM 35
5 Conclusions 37
References 37
3 Overview of an Engineering Teaching Module on Robotics Safety 39
Abstract 39
1 Introduction 39
2 Types of Robots and Industrial Robots 40
2.1 Classifications of Robots 40
2.2 Cartesian Coordinate Robots 41
2.3 Cylindrical Robots 41
2.4 Spherical/Polar Robots 42
2.5 Articulated/Joint-Arm Robots 42
2.6 Industrial Robot Components 43
3 Types and Sources of Robotics Hazards 44
3.1 Types of Robot Accidents 44
3.2 Sources of Hazards 45
4 Robot Safety Requirements 46
4.1 Requirements and Safety Measures in Normal Operation 46
4.2 Demands and Safety Measures in Special Operation Modes 46
4.3 Demands on Safety Control Systems 47
5 Robot Safeguards 47
6 Robot Safety Standards 50
6.1 Standard ANSI/RIA R15.06/ANSI/RIA/ISO 10218/RIA TR R15.206 51
6.2 Standard CAN/CSA-Z434-03 (R2013) 51
6.3 Standards ISO 10218-1:2011 and ISO 10218-2:2011 51
7 Conclusion 52
Acknowledgments 52
References 52
4 Mobile Robot Applied to QR Landmark Localization Based on the Keystone Effect 54
Abstract 54
1 Introduction 54
2 Related Work 56
3 Localization of QR Landmark 56
3.1 Binarization 57
3.2 QR Code Extraction 58
3.3 Evaluation of Rotation Angle Based on Keystone Effect 58
4 The Necessity of QR Landmark Localization for Mobile Robot Applications 60
5 Mobile Robot Actions Based on QR Landmarks 61
6 Experimental Works and Evaluation 64
7 Conclusion 67
Acknowledgments 68
References 68
5 A Collective Behaviour Framework for Multi-agent Systems 70
Abstract 70
1 Introduction 70
2 Collective Behavior Framework 71
2.1 Forces Applied to Robots 72
2.2 Generic Grouping Algorithm 73
2.3 Coordinated Motion of Swarm 75
3 Evaluation of the System 76
4 Conclusions 78
Acknowledgments 79
References 79
6 Kinematic Performance Analysis of a Hybrid-Driven Waist Rehabilitation Robot 81
Abstract 81
1 Introduction 82
2 Structure Design 83
3 Inverse Kinematics and Statics 84
3.1 Inverse Kinematics 84
3.2 Static Analysis 86
4 Kinematic Performance Analysis 87
4.1 Workspace Analysis 87
4.2 Dexterity Analysis 88
4.3 Stiffness Analysis 91
5 Conclusion 93
Acknowledgments 93
References 93
7 Admittance Filter Parameter Adjustment of a Robot-Assisted Rehabilitation System (RehabRoby) 95
Abstract 95
1 Introduction 95
2 RehabRoby 97
3 Admittance Filter Parameter Adjustment 98
4 Task and Experimental Set-up 101
5 Results 102
6 Conclusions and Future Work 102
Acknowledgments 103
References 103
8 Continuum Robot Surfaces: Smart Saddles and Seats 105
Abstract 105
1 Introduction 105
2 Robot Surfaces and Continuum Robotics 106
2.1 Discrete Robot Surfaces 106
2.2 Continuum Robotics and Continuum Robot Surfaces 106
3 Application to Adaptive Seating 108
3.1 Robotic Saddles 108
3.2 Adaptive Seating in General 110
3.3 Design and Modeling of Continuum Robot Surfaces 111
4 Conclusions 112
Acknowledgments 113
References 113
9 Structural Parameter Identification of a Small Robotic Underwater Vehicle 114
Abstract 114
1 Introduction 114
2 Mathematical Model 115
2.1 Equations of Motion 116
3 Parameter Estimation 116
3.1 Least-Square Method 117
3.2 Estimation Using Curve Fitting 118
3.3 Estimation in Discrete Time Domain 119
3.4 Base Inertial Parameters 120
3.5 Numerical Differentiation 121
4 Identification Procedure 121
4.1 Identification of Mounting Mechanism and Thruster Dynamics 121
4.2 Identification Using Forced Oscillations 122
4.3 Free-Decay Identification Procedure 123
5 Results of Identification 125
6 Conclusion 126
Acknowledgments 127
References 128
10 Using Online Modelled Spatial Constraints for Pose Estimation in an Industrial Setting 129
Abstract 129
1 Introduction 129
2 State of the Art 131
3 Methods 131
3.1 The Concept of a Stable Pose 132
3.2 Modeling Spatial Constraints 133
3.3 The Simulation Environment 134
4 On-line Modelling and Application of Constraints 135
5 Results 137
6 Conclusion 138
Acknowledgments 139
References 139
11 Comparison Study of Industrial Robots for High-Speed Machining 140
Abstract 140
1 Introduction 140
2 Robot-Based Machining 142
3 Compliance Errors and Their Estimation 145
3.1 Manipulator Positioning Errors Under the Loading 145
3.2 Evaluation of Machining Accuracy Using Circularity 146
4 Experimental Result 149
5 Conclusions 152
Acknowledgments 152
References 153
12 Adaptive Robust Control and Fuzzy-Based Optimization for Flexible Serial Robot 155
Abstract 155
1 Introduction 155
2 Fuzzy Dynamical Model of the System 156
3 Deterministic Adaptive Robust Control Design 159
4 Optimal Gain Design 165
5 Conclusion 168
Acknowledgments 168
References 168
13 Wired Autonomous Vacuum Cleaner 170
Abstract 170
1 Introduction 170
2 Motion Planning 171
3 Robot Hardware 172
4 Navigation Algorithm 174
5 Simulation Results 175
6 Conclusions and Future Work 177
Acknowledgments 178
References 178
14 Human Safety Index Based on Impact Severity and Human Behavior Estimation 179
Abstract 179
1 Introduction 179
2 Safety Index 181
2.1 Algorithm 182
2.2 Danger Score 182
2.2.1 Impact Severity 183
2.2.2 Collisions 183
2.2.3 Asymmetricity 184
2.3 Human Behavior Modeling 185
3 Experimental Setup 187
3.1 Compared Methods 187
3.2 Test Cases 187
3.3 Simplified HRI Scenarios 188
4 Results 189
4.1 Human Safety Comparison 189
4.2 Efficiency Evaluation 189
5 Conclusions 191
References 192
15 Swarm Robots’ Communication and Cooperation in Motion Planning 193
Abstract 193
1 Introduction 193
2 Kinematic Models and Obstacle Avoiding Algorithms 194
2.1 Differential Drive Kinematics 194
2.2 Forward Kinematics for Differential Drive Robots 196
2.3 Inverse Kinematics of a Mobile Robot 196
2.4 Obstacles and the Configuration Space 197
2.5 Bug Algorithms 197
3 Experiments and Results 198
3.1 Setting up Electronics Components 199
3.2 Connect and Synchronize Two Robots 199
3.3 Path Planning for Individuals 200
3.3.1 Message of Goal’s Position 201
3.3.2 Introduce Global Coordinate System and Local Coordinate System 201
3.3.3 Process Received Goal Position to Create New Traveling Path 202
3.3.4 Results 203
3.3.5 Suggestion to Avoid Obstacles Using Bug 2 Algorithm 204
3.4 Cooperate Between Two Swarm Robot Individuals in Path Planning Task 205
3.4.1 Task Description 205
3.4.2 Task Programming 206
4 Conclusion 206
References 207
16 Indoor Localization for Swarm Robotics with Communication Metrics Without Initial Position Information 208
Abstract 208
1 Introduction 208
2 Methodology 210
2.1 Positioning with Metrics 210
2.2 Realization Number and the Noise Effect 213
3 Results 213
4 Conclusion and Future Work 215
References 215
17 Multi-objective Optimization of a Parallel Fine-tuning Manipulator for Segment Assembly Robots in Shield Tunneling Machines 217
Abstract 217
1 Introduction 217
2 Description of Architectures 219
2.1 Manipulator of a Segment Assembly Robot 219
2.2 Model of the Parallel Orientation Fine-tuning Manipulator 220
2.3 Inverse Kinematics and Velocity Analysis 222
2.4 Forward Direct Kinematics of the Passive Leg 224
3 Performance Indexes of the Orientation Fine-tuning Manipulator 225
3.1 Kinematic Dexterity 226
3.2 Dynamic Dexterity 227
3.3 Stiffness Index 228
3.4 Load-Bearing Capacity Index 229
3.5 Actuating Force Equilibrium Index 230
4 Multi-objective Optimization Model for Fine-tuning Manipulator 231
4.1 Design Variable 231
4.2 Objective Function 232
4.3 Constraint Condition 232
5 Multi-objective Optimization Design Based on Isight 232
6 Optimization Design Results and Analysis 234
6.1 Result of the Experiment Design 235
6.2 Result of Multi-objective Optimization 235
7 Conclusion 238
Acknowledgments 238
References 238
18 An Imitation Framework for Social Robots Based on Visual Input, Motion Sensation, and Instruction 240
Abstract 240
1 Introduction 240
2 Proposed Framework 242
2.1 Inputs 242
2.2 Perception 243
2.3 Learning 243
2.4 Knowledge 244
2.5 Generation 244
2.6 Output 245
3 Scenario and Experimental Results 245
3.1 Experimental Setup 246
3.2 Task Structure and Demos 246
3.3 Results 248
3.3.1 First Experiment 248
3.3.2 Second Experiment 249
3.3.3 Third Experiment 249
4 Conclusion 250
References 251
Mechanical Engineering and Power System 253
19 New Reactionless Spatial Grasper Design and Analysis 254
Abstract 254
1 Introduction 254
2 New Grasper Design 255
2.1 Principal Dimensions 256
2.2 Symmetrical Design 257
3 Application 259
4 Conclusion 260
Acknowledgments 260
References 260
20 Tracking and Vibration Control of a Carbon Nanotube Reinforced Composite Robotic Arm 261
Abstract 261
1 Introduction 261
2 Governing Equations of the Robotic System 262
3 Control Design 267
4 Simulation Results 267
5 Conclusion 269
References 270
21 Synthesis and Analysis of Pneumatic Muscle Driven Parallel Platforms Imitating Human Shoulder 271
Abstract 271
1 Introduction 271
2 System Description 273
3 Kinematic Analysis 274
4 Index of the PMDPPs 277
4.1 Tension Factor 277
4.2 Stiffness Factor 278
4.3 Hybrid Tension-Stiffness Index 279
5 Numerical Results and Discussion 279
6 Conclusion 282
Acknowledgments 282
References 282
22 Conceptual Design of Energy Efficient Lower Extremity Exoskeleton for Human Motion Enhancement and Medical Assistance 284
Abstract 284
1 Introduction 284
2 Conceptual Design of Exoskeleton Mechanical System 286
3 Conceptual Design of Controller for Human-Machine Interfacing 290
4 Conclusion 295
Acknowledgments 295
References 295
23 A New Algorithm for Analyzing Method of Electrical Faults of Three-Phase Induction Motors Using Duty Ratios of Half-Period Frequencies According to Phase Angle Changes 297
Abstract 297
1 Introduction 298
1.1 Background 298
1.2 Problem and a Suggestion for a New Algorithm of Analysis Method 299
2 Background Theory 299
2.1 Phase Changes 300
2.2 Negative Sequence 301
2.3 Imbalance Between Frequencies by Interpretation of Imbalance 303
2.4 An Analysis of Duty Ratio of Frequency 303
3 Experiment 304
3.1 Experiment Condition 304
3.2 Measurement Error Range 305
3.3 Frequency Distortion Phenomenon in Case of Stator Fault and Duty Ratio 306
3.4 Frequency Distortion Phenomenon in Case of Rotor Fault and Duty Ratio 307
3.5 Experiment Result 308
4 Conclusion 310
Acknowledgments 310
References 310
24 Mathematical Foundations and Software Simulation of Stress-Strain State of the Plate Container Ship 312
Abstract 312
1 Introduction 312
2 Modern Tools Used in the Design of Ships 313
3 Mathematical Model 314
4 Building Software and Example of the Proposed Model 317
5 Conclusion 320
References 320
25 Kalman Filtering for Precise Mass Flow Estimation on a Conveyor Belt Weigh System 322
Abstract 322
1 Introduction 322
1.1 Background 324
2 Filtering Approach 325
3 Modeling 327
3.1 System Modeling 327
3.2 Input Modeling 328
4 Experimentation 329
4.1 Experimental Setup 329
4.2 Results 329
5 Conclusion 331
References 331
Automation and Control Engineering 332
26 Stiffness Analysis and Optimization for a Bio-inspired 3-DOF Hybrid Manipulator 333
Abstract 333
1 Introduction 333
2 Geometric Modeling of 4UPS-PU Mechanism 334
3 Inverse Kinematics 336
4 Maximum and Minimum Stiffness 337
5 Stiffness Optimization of 4UPS-PU Manipulator 339
5.1 Global Stiffness of the Manipulator 339
5.2 Optimization 340
6 Conclusion 341
Acknowledgments 342
References 342
27 Robust Gust Rejection on a Micro-air Vehicle Using Bio-inspired Sensing 343
Abstract 343
1 Introduction 343
2 Bio-inspired Hair Sensor 345
3 Gust Speed Estimation 346
4 Robust Controller Design 347
4.1 Controller Synthesis 348
4.2 Theoretical Analysis 349
5 Experimental Validation 351
6 Summary and Conclusion 353
References 353
28 Development of Guidance, Navigation and Control System Using FPGA Technology for an UAV Tricopter 355
Abstract 355
1 Introduction 355
2 Methodology 357
3 Mechanics 357
4 Electronics 359
5 Guidance, Navigation and Control System 360
6 Results 363
7 Conclusions and Future Works 366
References 366
29 Fault Recoverability Analysis via Cross-Gramian 368
Abstract 368
1 Introduction 369
2 Review on Controllability and Observability Gramian for Discrete-Time Bilinear Systems 370
3 Cross-Gramian for Discrete-Time Bilinear Systems 371
4 Fault Recoverability for Discrete-Time Bilinear Systems 372
5 Fault Recoverability for Hydraulic Drive System 373
6 Conclusion 376
References 376
30 Implementation of RFID-Based Car Ignition System (CIS) in Kazakhstan 378
Abstract 378
1 Introduction 378
2 RFID System Components 379
3 The Development Process of CIS 381
4 Conclusion 384
References 385
31 Design and Development of a Self-adaptive, Reconfigurable and Low-Cost Robotic Arm 386
Abstract 386
1 Introduction 386
2 Methods 388
2.1 Mechanical Design 388
2.2 Customization 389
2.3 Torque Calculations 390
2.4 Forward and Inverse Kinematics Calculations 392
3 Conclusions and Further Work 395
References 395
32 Workplace Emotion Monitoring—An Emotion-Oriented System Hidden Behind a Receptionist Robot 397
Abstract 397
1 Introduction 397
2 Background—Emotion Analyzer Systems 398
3 Proposed System 400
3.1 Capturing Emotions 401
3.2 Collecting Data of Human–Machine Interaction 401
3.3 Monitoring Strategy 402
3.4 Graphic Interface 403
4 ANA, the Receptionist Robot 405
5 Experiments 405
5.1 Results 406
5.2 Discussion 408
6 Conclusion 409
Acknowledgment 410
References 410
33 Optimum Control for the Vehicle Semi-active Suspension System 411
Abstract 411
1 Introduction 411
2 Types of Vehicle Suspension 412
2.1 Passive Suspension 412
2.2 Active Suspension 413
2.3 Semi-active Suspension 414
3 Heat Transfer Search Algorithm 414
4 Teaching-Learning Based Optimization Algorithm 415
5 Mathematical Modelling of Semi-active Suspension for Quarter Car Model 416
5.1 Quarter Car Semi-active Suspension 416
5.1.1 Figure of Quarter Car 416
5.1.2 Equations of Motion 417
5.2 Formulation of Optimization Problem 417
5.3 Road Profile and Its Equation 417
5.4 Range of Values of Decision Variable 418
6 Results and Discussion 418
6.1 Plots of Passive and Semi-active Suspension 418
7 Conclusion 420
References 420
34 Depth Control of AUV Using a Buoyancy Control Device 421
Abstract 421
1 Introduction 421
2 Description of SOTAB-I and Its Buoyancy Control Device 423
2.1 SOTAB-I Overview 423
2.2 Buoyancy Control Device 423
3 Establishment of the Buoyancy Model 424
3.1 Experiments Results of Buoyancy Variation 425
3.1.1 Pressure Tank Experiments 425
3.1.2 At-sea Experiments 426
3.2 Model of the Buoyancy Variation with Depth 426
3.3 Comparison Between Buoyancy Variation Model and Experimental Data 428
4 Depth Control 428
4.1 Control Algorithm 428
4.2 Experiments Results 430
5 Progressive Depth Control 430
6 Conclusions 434
References 434
35 DOB Tracking Control for Systems with Input Saturation and Exogenous Disturbances via T-S Disturbance Modelling 435
Abstract 435
1 Introduction 435
2 Problem Formulation 436
3 Controller Design and Stability Analysis 438
4 Simulation Examples 441
5 Conclusion 444
References 444
36 Application of H-Infinity Output-Feedback Control with Analysis of Weight Functions and LMI to Nonlinear Nuclear Reactor Cores 446
Abstract 446
1 Introduction 447
2 Modeling of PWR Core 447
3 H? Output-Feedback Control with Weight Functions and LMI for Core 449
3.1 H? Control Theory 449
3.2 Selection of Weight Functions 451
3.3 LMI Based Solution for H? Controller 452
4 Design of Nonlinear Core Power H? Control System 453
5 Simulation 454
6 Conclusions 456
Acknowledgments 456
References 456