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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 361 Documents

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Adaptive Fuzzy and Robust H∞ Compensation Control for Uncertain Robot Yuan Chen; Guangying Ma; Shuxia Lin; Jun Gao
IAES International Journal of Robotics and Automation (IJRA) Vol 2, No 4: December 2013
Publisher : Institute of Advanced Engineering and Science

In this paper, two types of robust adaptive compensation control schemes for the trajectory tracking control of robot manipulator with uncertain dynamics are proposed. The proposed controllers incorporate the computed-torque control scheme as a nominal portion of the controller; an adaptive fuzzy control algorithm to approximate the structured uncertainties; and a nonlinear H∞ tracking control model as a feedback portion to eliminate the effects of the unstructured uncertainties and approximation errors. The validity of the robust adaptive compensation control schemes is investigated by numerical simulations of a two-link rotary robot manipulator

Efficacy of GWO Optimized PI and Lead-lag Controller for Design of UPFC based Supplementary Damping Controller Narayan Nahak; Ranjan Kumar Mallick
IAES International Journal of Robotics and Automation (IJRA) Vol 6, No 4: December 2017
Publisher : Institute of Advanced Engineering and Science

On line tuning of FACTS based damping controller is a vital decisive task in power system. In this regard two things need to be addressed, one is selection of a proper controller and another one is selection of a powerful optimization technique. In this work Grey Wolf Optimizer (GWO) technique is proposed to tune parameters of PI and lead lag controller based on UPFC to damp intra plant and inter area electromechanical oscillations with single and multi machine power system. A broad comparison has been performed with eigen value analysis between optimized PI and lead lag damping controller subject to different disturbances in power system. The recently revealed GWO, standard PSO and DE techniques are explicitly employed to tune UPFC based PI and lead-lag controller parameters. The system response predicts that performance of GWO is much better than PSO and DE techniques, and also lead lag controller is a better choice than PI controller pertaining to design of UPFC based damping controller.

The Novel of Six axes Robotic Arm for Industrial Applications Rajendra R Aparnathi; Ved Vyas Dwivedi
IAES International Journal of Robotics and Automation (IJRA) Vol 3, No 3: September 2014
Publisher : Institute of Advanced Engineering and Science

Automation technology is widely accepted and rapidly growing technology in the field of core and many other industries. Anyone can observe that due to these problems many industries are turning towards automaton. When searching for problem of labor manpower in middle-case industries, we came to know about many other things like production, speed of manufacturing and quality of the product are necessary in the current scenario. These parameters are not being well maintained in incorporate industries with manual manufacturing processes instead of using automatic system. Our objective is to solve these problems by efficient use of different technologies for making an industry fully or partially automated. By using technologies we can try to solve or reduce the effects of above problems.

Design of Neuro-Fuzzy Controller for Stabilization of Single Phase Stand-Alone PV Power System Hitendra Singh Thakur; Ram Narayan Patel
IAES International Journal of Robotics and Automation (IJRA) Vol 7, No 3: September 2018
Publisher : Institute of Advanced Engineering and Science

For the three phase power electronic and drive applications, vector control or the synchronous reference frame (SRF) based control concept is well accepted and settled amongst the research communities. Although the SRF concept has gained popularity and appreciation in developing the three phase controllers, still the concept has not reached the same level in case of a single phase system. The work presented in this paper is mainly concerned to the design of a hybrid Artificial Neural Network and Fuzzy Logic based controller for a single phase stand-alone photo-voltaic (PV) power system. The adaptive neuro fuzzy inference system (ANFIS) controller proposed in this paper is chiefly meant for improving the transient and steady state responses; for minimizing the distorting effect of the low order load current harmonics encountered particularly in case of switching the drive based inductive loads and to help maintain the inverter output voltage constant under different loading circumstances. The result obtained through simulation work, shows the effectiveness of the proposed controller as compared with the previously established research works.

A PSO-Optimized Reciprocal Velocity Obstacles Algorithm for Navigation of Multiple Mobile Robots Ziyad Allawi; Turki Abdalla
IAES International Journal of Robotics and Automation (IJRA) Vol 4, No 1: March 2015
Publisher : Institute of Advanced Engineering and Science

In this paper, a new optimization method for the Reciprocal Velocity Obstacles (RVO) is proposed. It uses the well-known Particle Swarm Optimization (PSO) for navigation control of multiple mobile robots with kinematic constraints. The RVO is used for collision avoidance between the robots, while PSO is used to choose the best path for the robot maneuver to avoid colliding with other robots and to get to its goal faster. This method was applied on 24 mobile robots facing each other. Simulation results have shown that this method outperforms the ordinary RVO when the path is heuristically chosen.

Current sensorless vector controlled induction motor drive Vimlesh Verma
IAES International Journal of Robotics and Automation (IJRA) Vol 8, No 1: March 2019
Publisher : Institute of Advanced Engineering and Science

This paper presents a current sensorless vector controlled induction motor drive with only speed sensor present in the system. The same performance as that of normal vector control drives (which uses two current and one speed sensor) is achieved with the proposed current sensorless drive. Such an approach is suitable for applications, where speed sensor cannot be eliminated. Thus, elimination of current sensor results in reduction of cost, increases reliability, reduced size and noise immunity. A new current estimation algorithm is proposed in this paper. The current estimation algorithm, estimates the current in two phase stationary reference frame. The proposed current estimation technique can also be used as a fault tolerant algorithm for normal vector controlled drives in case of current sensor failures. The performance of the current sensorless drive using the proposed current estimation technique is verified through MATLAB/SIMULINK. Extensive simulation results are presented to confirm the effectiveness of the algorithm. The algorithm is also experimentally validated with the laboratory developed prototype and the results are presented. The prototype is built around a dSPACE 1104 controller board.

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.

Design and testing of stability improvement of nine multi-level H-Inverter for distribution system R. Arulmurugan
IAES International Journal of Robotics and Automation (IJRA) Vol 8, No 4: December 2019
Publisher : Institute of Advanced Engineering and Science

In this article, a solitary phase nine-level series connected H-Bridge powered by photovoltaic MPPT based SHAPF in view of basic controller is proposed. SRF is utilized for reference input current extraction and to create pulses for the SHAPF. The principle point of the cascaded bridge is to dispense harmonics, enhance power factor and reactive energy compensation of the single-phase distribution framework. The suggested control calculation has two parts, changing the load current into stationary reference outline directions and estimation of peak amplitude of load currents. Consequently, a basic and dependable controller effortlessly of execution was created. The calculation for single-phase SHAF is intending to perform with exact tracking performance under step changes in load currents and to give great dynamic compensation. In this article, synchronous reference theory PLL with Inverse-Park change is adopted for producing quadrature part of current. The execution of the control calculation is tried and assessed utilizing MATLAB/Simulink tool.

Degree of Achievability of Omnidirectional Motion in Various Mobile Robot Designs: A Review Ajju Raja Justus
IAES International Journal of Robotics and Automation (IJRA) Vol 5, No 1: March 2016
Publisher : Institute of Advanced Engineering and Science

In the current field of robotics, many new robots are being developed based on different working principles. Each robot has its own strengths and weaknesses. Omnidirectional mobility is a major functional requirement for performing more complex actions. This article is a comprehensive study of some of the robots developed by different people with distinctive driving mechanisms. The actuation, driving method, operating conditions and control mechanism of all the selected robots is studied. Then finally, all the considered robots are compared based on various parameters to gauge the efficiency and degree of achievability of omnidirectional motion in each robot. Therefore, by the end of this article, we can have an understanding of how much effective each driving mechanism is in producing omnidirectional mobility.

Nonlinear systems identification with discontinuous nonlinearity Mohamed Benyassi; Adil Brouri; Smail Slassi
IAES International Journal of Robotics and Automation (IJRA) Vol 9, No 1: March 2020
Publisher : Institute of Advanced Engineering and Science

In this paper, nonparametric nonlinear systems identification is proposed. The considered system nonlinearity is nonparametric and is of hard type. This latter can be discontinuous and noninvertible. The entire nonlinear system is structured by Hammerstein model. Furthermore, the linear dynamic block is of any order and can be nonparametric. The problem identification method is done within two stages. In the first stage, the system nonlinearity is identified using simple input signals. In the first stage, the linear dynamic block parameters are estimated using periodic signals. The proposed algorithm can be used of large class of nonlinear systems.

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Contact Name
Tae Jin Park

Contact Email
iaes.ijra@gmail.com

Phone
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Journal Mail Official
iaes.ijra@gmail.com

Editorial Address
-

Location
Kota yogyakarta,

Daerah istimewa yogyakarta

INDONESIA

Abstract

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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

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