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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 8 Documents

Search results for , issue "Vol 5, No 1: March 2016" : 8 Documents clear

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.

Validation of End Effector Matrix for Robotic Kit OWI-535 using Matlab and Robo Analyzer Bhivraj Suthar; Tanmay Shrivastava; Lamyanba Heisnam
IAES International Journal of Robotics and Automation (IJRA) Vol 5, No 1: March 2016
Publisher : Institute of Advanced Engineering and Science

This paper presents the validation of the end effector matrix having D-H parameter of the 4 DOF educational manipulator OWI-535 by MAT-LAB and Robo Analyzer. Transformation matrix of order 4x4 which describes end effecter’s position and orientation with respect to the base reference frame. MAT-LAB programming which gives details about the translation steps of the manipulator simultaneously. Forward kinematics of OWI 535 robotic kit has been calculated by Mat-lab as well as Robo Analyzer. We had calculated the End effector matrix in both software and compare it. We found that the results are similar up to three digit in some elements and up to two digits from decimal in few elements and it was different after three digit from the decimal in end effector matrix.

Studies on Affecting Factors of Wheel Slip and Odometry Error on the Performance of Wheeled Mobile Robots – A Review Vidhya Prakash
IAES International Journal of Robotics and Automation (IJRA) Vol 5, No 1: March 2016
Publisher : Institute of Advanced Engineering and Science

The wheeled mobile robots (WMR) find use for doing a variety of tasks in different types of workspaces. These workspaces are form of ideal natural flat, smooth terrain, unpredictable and irregular nature of these work spaces demanding a design challenges. Typically there work spaces may have pits, undulatory is not flat terrain, obstacles into tasks of the robot. There would result in wheel slippage orodometry error. This tasks a toll in the form of deviation from intended trajectory, navigation, travel time &budgeted energy consumption. These engineering issues can be addressed by proper design of wheel rotation, vibration amplitude of the robot body, travel time modulation differently up to the terrain condition (wet, dry, soft, hard)&wind effect. The wheel slip & odometry error is estimate of computational by design, pay load distribution, speed, wheel diameter, wheel width are the ply able design parameter in the designness scope. The effect of proper selection of the values of there parameters is studied in this review. The paper reviews are analyzing the basic& direct effect of parameters are how to associate with wheel slippage and odometry error and also which is the most affecting factor on the wheeled mobile robots.

Nonlinear dynamic modeling and optimal motion analysis of two-link manipulators Moein Taheri
IAES International Journal of Robotics and Automation (IJRA) Vol 5, No 1: March 2016
Publisher : Institute of Advanced Engineering and Science

Manipulators are used in various industrial applications to perform variant operations such as conveying payloads. Regarding to their applications, dynamic modeling and motion analysis of manipulators are known as important and appealing tasks. In this work, nonlinear dynamics and optimal motion analysis of two-link manipulators are investigated. To dynamic modeling of the system, the Lagrange principle is employed and nonlinear dynamic equations of the manipulator are presented in state-space form. Then, optimal motion analysis of the nonlinear system is developed based on optimal control theory. By means of optimal control theory, indirect solution of problem results in a two-point boundary value problem which can be solved numerically. Finally, in order to demonstrate the power and efficiency of method, a number of simulations are performed for a two-link manipulator which show applicability of proposed method.

Implementation of Human Robot Interaction on UDOO Board Min Raj Nepali; Priyanka C Karthik; Jharna Majumdar
IAES International Journal of Robotics and Automation (IJRA) Vol 5, No 1: March 2016
Publisher : Institute of Advanced Engineering and Science

Advanced Robot for Interactive Application (ARIA) is a Humanoid Robotic Head which is capable of mimicking Various Human Facial Expressions. Much work has been done on Implementation of Humanoid Robotic Head with High end systems and Personal Computers (PCs). This paper presents the essential elements necessary for the implementation of Advanced Robot for Interactive Application (ARIA) on UDOO Board. The main aim of the Project was to develop a control system and Graphical User Interface (GUI) for ARIA to deliver real time human facial expressions using embedded board. Humanoid Robotic Head which is capable of mimicking Human Facial Expressions in Real time. Implementation of ARIA involved careful selection of Embedded Board, actuators, control algorithms, motor drivers, operating system, communication protocols, and programming languages. The Board contains a Quad Core A9 Processor and a Controller embedded on it, which are interconnected. In this project the controller is dedicated to control micro servo motors which are controlling eyes, eyebrows and eyelids movements whereas the Processor Handles the Dynamixel motors, GUI and different communication modules.

A New 6 DOF Robotic Arm with Linkage Motion Mechanism and Actuators Placed in Base Mohsen Shahhosseini; Rambod Rastegari; Roozbeh Abbasi
IAES International Journal of Robotics and Automation (IJRA) Vol 5, No 1: March 2016
Publisher : Institute of Advanced Engineering and Science

We examined mechanism design and kinematic simulation of a new six degrees of freedom (DOF) robotic arm with rotational joints and a linkage motion mechanism. In the design, a parallel linkage mechanism, accompanied by an additional set of bevel gears, was used to create the desired motion for all six links along with transfer of all actuators to the robot’s base to reduce the mass of most of the arms. These changes resulted in reduction of the torque required for joints 1, 2, and 3. Using this parallel mechanism ensures dependence to motion links and creates a special case for the control of the robot and more rigidity against unwanted movement. Initially, we examined mechanism design methods for a parallel linkage mechanism and considered methods for application in an operational robot. In the next step, we determined the kinematic relationships that were established between the robot’s actuators and joints spaces due to the use of this mechanism. Then, we developed an example of the robot’s function in a performance simulation. The simulation results indicated that the mechanism and controller performance were acceptable.

Automation in the unloading and loading process of hot rolled coil using workspace simulation software : A Review Kunal Abhay Patil; Santosh Jaju; Babu Achmare
IAES International Journal of Robotics and Automation (IJRA) Vol 5, No 1: March 2016
Publisher : Institute of Advanced Engineering and Science

The aim of this paper is to confirm the importance of unloading and loading process of hot rolled coil and automation in manufacturing industry. This paper describes about the different systems which are used in various ISPAT industries for material handling purpose or lifting the heavy coils. There are six main systems which are used in industries for material handling purpose. After studying all these systems, we will propose one system which is more beneficial than other systems. Later in this paper we will also study the introductory part of the workspace simulation software, its features, benefits and applications. The objective of this project is to overcome the problems at industry by designing and simulating a robot arm to perform the task. By simulating, the process of unloading and loading of hot rolled coil can perform more effectively. Workspace LT is the software used in this project.

Design of energy efficient four finger robotic hand Bhivraj Suthar
IAES International Journal of Robotics and Automation (IJRA) Vol 5, No 1: March 2016
Publisher : Institute of Advanced Engineering and Science

Future would be the world of robotics. Human arm is the best serial manipulator in the world. End part of manipulator is known as End effector or hand. At the end of serial manipulator we always put gripper just like our hand. Today many mechanisms have been proposed for robotic hand. We proposed a novel mechanical design and we used one motor to operate the gripper mechanism and it consumes less electrical power than other gripper. For energy efficient robot we have to reduce the number of motors and have to look in the mechanical design. In this paper we targeted to make gripper more energy efficient. We used only one motor to operate four fingers symmetrically. Our proposed model has four fingers, each are placed orthogonally to each other. In market, other manufactures use single motor for motion of each finger. Each motor has its own power consumption capacity to manipulate the load on finger. We replaced all four motors with single motor by Geneva mechanism. So electrical power consumption reduced by 1/4th. Energy conservation point of view it is energy efficient system. This paper presents a methodology that has been applied for a design mechanism for energy efficient robotic hand with four fingers. Wide applications of gripper are in automobile industries. Automobile companies are used gripers and serial manipulators in plenty

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Home Page

OAI Link

Editorial Team

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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

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

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