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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 9 Documents

Search results for , issue "Vol 5, No 3: September 2016" : 9 Documents clear

Self-Tuning Geometric Control for a Quadrotor UAV Based on Lyapunov Stability Analysis Farhad Goodarzi
IAES International Journal of Robotics and Automation (IJRA) Vol 5, No 3: September 2016
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v5i3.pp136-150

A Lyapunov-based self gain tuning geometric nonlinear controller for a quadrotor UAV has been developed on SE(3) in this paper. By designing an adaptive law with Lyapunov stability analysis for the controller gains, the proposed control system can asymptotically follow an attitude and position command while tuning the PID gains online, and it is extended to guarantee boundedness of tracking errors in the presence of unstructured disturbances. This introduce an unprecedented algorithm to autonomously tune the controller gains without need of extra effort or introducing boundary conditions. Proposed controller considers all the coupling effects between rotational and translational dynamics, and it is developed in a coordinate-free fashion to avoid complexities and ambiguities associated with other attitude representations such as Euler angles or quaternions. The desirable features of the proposed controller are illustrated by numerical simulations and juxtaposed with a well-known offline gain tuning method. The proposed algorithm is ultimately validated with an experimental example.

Design and Fabrication of Voice Controlled Unmanned Aerial Vehicle S. Sakthi Anand; R. Mathiyazaghan
IAES International Journal of Robotics and Automation (IJRA) Vol 5, No 3: September 2016
Publisher : Institute of Advanced Engineering and Science

Unmanned Aerial Vehicles have gained well known attention in recent years for a numerous applications such as military, civilian surveillance operations as well as search and rescue missions. The UAVs are not controlled by professional pilots and users have less aviation experience. Therefore it seems to be purposeful to simplify the process of aircraft controlling. The objective is to design, fabricate and implement an unmanned aerial vehicle which is controlled by means of voice recognition. In the proposed system, voice commands are given to the quadcopter to control it autonomously. This system is navigated by the voice input. The control system responds to the voice input by voice recognition process and corresponding algorithms make the motors to run at specified speeds which controls the direction of the quadcopter.

Accelerometer Based Control of Robotic Arm Yogita sawant
IAES International Journal of Robotics and Automation (IJRA) Vol 5, No 3: September 2016
Publisher : Institute of Advanced Engineering and Science

Abstract— Robots are very smart and interactive machines that can be programmed and used in many areas such as industry, manufacturing, production lines, household or health, etc. These robots can perform hard, dangerous, and accurate work to facilitate our life and to increase the production. Humans are trying to minimize the time required to do the similar kind of jobs. The task in which picking & placing of an object is to be done, can be carried out with the help of robots. These robots can minimize the human efforts. The robotic arms can be also used in the industries to assemble the small parts, in chemical industries to pick and place small types of object such as tablets. Artificial robotic arms thus can be used to control gestures. In this paper an idea of controlling robotic arm is implemented using an accelerometer which is placed on the human hand, capturing its behavior (gestures and postures) which are then transmitted at some distance and the robotic arm assembly connected wirelessly moves accordingly.

A New Approach to the Solution of Robot Kinematics Based on Relative Transformation Matrices Mohammad Reza Elhami; Iman Dashti
IAES International Journal of Robotics and Automation (IJRA) Vol 5, No 3: September 2016
Publisher : Institute of Advanced Engineering and Science

In analyzing robot manipulator kinematics, we need to describe relative movement of adjacent linkages or joints in order to obtain the pose of end effector (both position and orientation) in reference coordinate frame. Denavit-Hartenberg established a method based on a 4×4 homogenous matrix so called “A” matrix. This method used by most of the authors for kinematics and dynamic analysis of the robot manipulators. Although it has many advantages, however, finding the elements of this matrix and link/joint’s parameters is sometimes complicated and confusing. By considering these difficulties, the authors proposed a new approach called ‘convenient approach’ that is developed based on “Relative Transformations Principle”. It provides a very simple and convenient way for the solution of robot kinematics compared to the conventional D-H representation. In order to clarify this point, the kinematics of the world known Stanford manipulator has been solved through D-H representation as well as convenient approach and the results are compared.

Local Path Planning of Mobile Robot Using Critical-PointBug Algorithm Avoiding Static Obstacles SUBIR KUMAR DAS
IAES International Journal of Robotics and Automation (IJRA) Vol 5, No 3: September 2016
Publisher : Institute of Advanced Engineering and Science

Path planning is an essential task for the navigation of Autonomous Mobile Robot. This is one of the basic problems in robotics. Path planning algorithms are classified as global or local, depending on the knowledge of surrounding environment. In local path planning, the environment is unknown to the robot, and sensors are used to detect the obstacles and to avoid collision. Bug algorithms are one of the frequently used path planning algorithms where a mobile robot moves to the target by detecting the nearest obstacle and avoiding it with limited information about the environment. This proposed Critical-PointBug algorithm, is a new Bug algorithm for path planning of mobile robots. This algorithm tries to minimize traversal of obstacle border by searching few important points on the boundary of obstacle area as a rotation point to goal and end with a complete path from source to goal.

Optimal Trajectory Planning of Industrial Robots using Geodesic Pradip Kumar Sahu
IAES International Journal of Robotics and Automation (IJRA) Vol 5, No 3: September 2016
Publisher : Institute of Advanced Engineering and Science

This paper intends to propose an optimal trajectory planning technique using geodesic to achieve smooth and accurate trajectory for industrial robots. Geodesic is a distance minimizing curve between any two points on a Riemannian manifold. A Riemannian metric has been assigned to the workspace by combining its position and orientation space together in order to attain geodesic conditions for desired motion of the end-effector. Previously, trajectory has been planned by considering position and orientation separately. However, practically we cannot plan separately because the manipulator joints are interlinked. Here, trajectory is planned by combining position and orientation together. Cartesian trajectories are shown by joint trajectories in which joint variables are treated as local coordinates of position space and orientation space. Then, the obtained geodesic equations for the workspace are evaluated for initial conditions of trajectory and results are plotted. The effectiveness of the geodesic method validated through numerical computations considering a Kawasaki RS06L robot model. The simulation results confirm the accuracy, smoothness and the optimality of the end-effector motion.

Environment Detection and Path Planning Using the E-puck Robot Muhammad Saleem Sumbal
IAES International Journal of Robotics and Automation (IJRA) Vol 5, No 3: September 2016
Publisher : Institute of Advanced Engineering and Science

Automatic path planning is one of the most challenging problems confronted by autonomous robots. Generating optimal paths for autonomous robots are some of the heavily studied subjects in mobile robotics applications. This paper documents the implementation of a path planning project using a mobile robot in a structured environment. The environment is detected through a camera and then a roadmap of the environment is built using some algorithms. Finally a graph search algorithm called A* is implemented that searches through the roadmap and ﬁnds an optimal path for robot to move from start position to goal position avoiding obstacles

Analysis of M42SP-7P on the Balinese Papyrus Script Printing Control System Made Sudarma
IAES International Journal of Robotics and Automation (IJRA) Vol 5, No 3: September 2016
Publisher : Institute of Advanced Engineering and Science

Script writing art in the lives of Balinese people has a very important function, particularly in terms of writing a sacred script such as writing an inscription on copper plate, bronze, silver, and gold, by using a penknife which required a persistence, patience, skill and experience by itself, since not all Balinese people is able to do this very complicated work. Considering the difficulty in writing a script on papyrus and the rarity of script writer experts, therefore the researcher gives appreciation on papyrus preservation and conservation. In the present time, sophisticated technology has replaced manual equipments which required a lot of manpower to be operated. Maybe also the inscription writing model with ancient language and writing has been done so many times with computer technology by using the printer as the interface for printing. In this research the Balinese script printing tools will be designed namely a penknife using robotic technology which mimicking human hand’s motion when writing a script on papyrus. Thought the script tool printer design through robotic technology in order to write a script on palm leaves is an important role of technology as an innovation strategy that is able to create new thinking, new ideas and inovation creative products. Eventually is also expected to satisfy the user as consumer and a new creative market.

Load Carrying Assistance Device Pogo Suit Sangram Redkar
IAES International Journal of Robotics and Automation (IJRA) Vol 5, No 3: September 2016
Publisher : Institute of Advanced Engineering and Science

Wearable robots including exoskeletons, powered prosthetics, and powered orthotics must add energy to the person at an appropriate time to enhance, augment, or supplement human performance. Adding energy while not being in sync with the user can dramatically hurt performance. Many human tasks such as walking, running, and hopping are repeating or cyclic tasks and a robot can add energy in sync with the repeating pattern for assistance. A method has been developed to add energy at the appropriate time to the repeating limit cycle based on a phase oscillator. The phase oscillator eliminates time from the forcing function which is based purely on the motion of the user. This approach has been simulated, implemented and tested in a robotic backpack which facilitates carrying heavy loads. The device oscillates the load of the backpack, based on the motion of the user, in order to add energy at the correct time and thus reduce the amount of energy required for walking with a heavy load. Models were developed in Working Model 2-D, a dynamics simulation software, in conjunction with MATLAB to verify theory and test control methods. The control system developed is robust and has successfully operated on different users, each with their own different and distinct gait. The results of experimental testing validated the corresponding models.

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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

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

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