IAES International Journal of Robotics and Automation (IJRA)
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.
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<![CDATA[A MULTI OBJECTIVE FUNCTION AND OPTIMAL DESIGN OF BAM USING MATLAB ]]>
<![CDATA[Bammidi, Roopsandeep]]>;
<![CDATA[Ravi Teja, N.]]>;
<![CDATA[Naveen Babu, S.]]>;
<![CDATA[R. Sai Reddy, P.]]>;
<![CDATA[Akhil, N.]]>;
<![CDATA[Prakashini, O.]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 9, No 3: September 2020 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v9i3.pp%p
<![CDATA[From past decades, the different types of mechanisms in mobile robots have been created so far which includes legged, treaded-tyre and wheeled type robots. Among these types, the wheeled type is easiest to control while the treaded-tyre type offers improved flexibility. Legged locomotion, though not widely used for industrial purposes, has growing implications mainly due to its ease of maneuvering in rough terrains. The Walking motion is obtained through various mechanisms. Most obvious of these is the crank and rocker mechanism, which gives a walking style characteristic of human being. The present research work uses a different type of mechanism for driving a biped that is most distinguished by its ease of operation that produces a type of ?walk? similar to that of two legged mammals. In this research initially, a multi-objective optimization is carried out for the optimal design of the mechanism. This research involves a simulation of a simple Biped model using Crank-Rocker mechanism. The design of the biped robot is done by considering two important objective parameters stride and lift, a multi objective function must be created and optimization is done by using MATLAB Programming.]]>
<![CDATA[GEOMETRICAL MODELLING OF KINEMATICS OF ARTICULATED ROBOTIC ARM ]]>
<![CDATA[Bastawade, Keval Suresh]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 9, No 3: September 2020 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v9i3.pp%p
<![CDATA[This paper presents a direct way of modeling the Kinematics of an Articulated Robotic Arm. The range for industrial application of this configuration is wide. Kinematics includes Forward Kinematics and inverse Kinematics. Forward kinematics refers to conversion of joint angles to end effectors position whereas Inverse Kinematics refers to conversion of world co-ordinates of end effector to joint angles of the Arm. The proposed method uses spherical co-ordinate system to model it?s both Forward and Inverse Kinematics. Using this model, path planning for different scenarios can be done. Implementation of different algorithms to evaluate effective path by either avoiding obstacles or by passing through intermediate path points is possible. End effector of Robotic Arm easily follows complex 3D space curves like Circular Helix and Conical Helix, etc. using this algorithm. The above-mentioned algorithm also has been tested in scenarios where real time inputs from user are used for robotic arm actuation using a custom designed software]]>
<![CDATA[VOICE CONTROLLED ROBOTIC ARM ]]>
<![CDATA[P Naik, Adwait]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 9, No 3: September 2020 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v9i3.pp%p
<![CDATA[Robotic arms are programmable mechanical manipulators with movable components which can cause relative motion between adjoining links. The aim of this project is developing a robotic arm capable of identifying the voice commands. The speech acts as an input responsible for triggering action. Apart from having diverse applications in industries, with advancement in technology and medical sciences, the robotic prosthesis is highly successful at restoring one&#39;s biological ability to perform daily chores comfortably. This approach commits to a goal to accomplish a well-built system with minimum faults. Computing coordinates to attain a Soft-home position is an essential task which is responsible for achieving the required speed, torque, and delivers optimum performance. Most challenging part in the whole procedure is to obtain high calibration for smooth working of the arm. We have employed a software-based calibration technique which is simple to implement and highly efficient.]]>
<![CDATA[Deriving the system equations of unbalanced two-phase induction motor ]]>
<![CDATA[Hany Ibrahim Shousha]]>;
<![CDATA[Abdelsamie B. Kotb]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 9, No 3: September 2020 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v9i3.pp171-177
<![CDATA[As there is no system driven especially for the two-phase induction motor fed from unbalanced two-phase supply yet, so we start for derivation the system equations for the said motor to be generally used even for the balanced or unbalanced two-phase supply. In this paper, we will derive a system equation starting from the sequence equivalent circuit for the forward and backwards equivalent circuits, then we will re-arrange the equations with some mathematical assumptions which will lead us to the new system equations. first for the voltage equations then for the current equations and finally for both power and torque equations. Moreover, we will put an example which will cover all cases with specific values and relations charts.]]>
<![CDATA[Forward kinematic analysis of Dobot using closed-loop method ]]>
<![CDATA[Javier Dario Sanjuan De Caro]]>;
<![CDATA[Mohammad Rahman]]>;
<![CDATA[Ivan Rulik]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 9, No 3: September 2020 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v9i3.pp153-159
<![CDATA[Dobot is a hybrid robot that combines features from parallel and serial robots. Because of this characteristic, the robot excels for is reliability, allowing its implementation in diverse applications. Therefore, researchers have studied its kinematics to improve its capabilities. However, to the extent of our knowledge, no analysis has been reported taking into consideration the closed-loop configuration of Dobot. Thus, this article presents the complete analytical solution for the forward kinematics of Dobot, considering each link. The results are expected to be utilized in the development of a dynamical model that contemplates the dynamics of each element of the robot.]]>
<![CDATA[Improvement of an automated CAN packaging system based on modeling and analysis approach through robot simulation tools ]]>
<![CDATA[Khongsak Srasrisom]]>;
<![CDATA[Pramot Srinoi]]>;
<![CDATA[Seksan Chaijit]]>;
<![CDATA[Fasai Wiwatwongwana]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 9, No 3: September 2020 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v9i3.pp178-189
<![CDATA[The application of robot simulation tools for modelling, analysis and improvement of existing industrial manufacturing cells is presented with reference to the development and implementation of the digital factory concept. A real case study of aerosol can packaging and palletizing cell scenario in the metal can manufacturing industry for containing food and products is used as a reference in this paper. For studying manual aerosol can packaging and palletizing conditions of the worker, a detailed time and motion analysis of workers is carried out. On the basis of cycle time analysis results, an alternative to the manual operation, a more sophisticated automated packaging and palletizing system is suggested. A proposed system which uses a robotic manipulator including automated production machine and devices are also developed and tested. The viability of the suggested system is checked through simulation and cycle time analysis. A fuzzy logic software, MATLAB is employed in order to analyse the actual system’s behaviour in terms of productivity, and utilization of the available facilities. The 3D simulation software, DELMIA V6 is additionally employed to perform a detailed design phase of the manufacturing cell. From the simulation results, this gives a rough approximation that the production of one robotized manipulator, and automated packaging and palletizing cell is equal to the production of about 4.3 manual packaging and palletizing cells. These results have shown the need for change to automation in the aerosol can packaging and palletizing system.]]>
<![CDATA[Robust control and optimized parallel control double loop design for mobile robot ]]>
<![CDATA[Ahmed J. Abougarair]]>;
<![CDATA[Ali S. Elmolihi]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 9, No 3: September 2020 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v9i3.pp160-170
<![CDATA[Robots have been used in many applications in the past few decades. Moreover, due to high nonlinearity behavior of these systems, an optimal and robust control design approaches have been considered to stabilize and improve their performance and robustness. The uncertainties of the time delay on the output states of the mobile robot system have a significant influence on the system nominal performance. As a result, the work becomes here to address the influence of these uncertainties on the robot system performance. In order to achieve this objective, the nonlinear controller via sliding mode control (SMC) is designed by selecting a suitable sliding surface dynamics in which the considered robot displacement and tilt angle are sliding on. The lyapunov function is considered here to accomplish the design of the sliding control signals for robot stabilization. Furthermore, the stability of the considered system is guaranteed due to convergence of the lyapunov functions into zero when the state trajectories tend to desired set points. In addition, we consider the trajectory tracking and stabilization of TWBMR system using parallel double loop PID controllers whose controllers gains are tuning via linear quadratic regulator (LQR) approach. Finally, to demonstrate the effectiveness of SMC and PID-LQR design methods, the comparison is carried out when the nominal and uncertain conditions.]]>
<![CDATA[Air cloud algorithm for diminution of active power loss ]]>
<![CDATA[Kanagasabai Lenin]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 9, No 3: September 2020 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v9i3.pp190-195
<![CDATA[In this work, air cloud (AC) algorithm is used to solve the optimal reactive power problem. Clouds shape in numerous ways. Convective clouds are created when moist air is warmed and expand into floating. Air raises haulage water vapour and within it expands and gets cooled as it goes. As the temperature and pressure of the air diminish, its saturation point – the equilibrium level of evaporation and condensation – is reduced. Every x is one cloud droplet, and qualitative characteristic of one cloud is explained by the three digital character (Ex, En, He), droplets number n, where Ex (Expected value), En (Entropy) and He (Hyper entropy) of one cloud determine centre position of cloud, cover range of cloud and thickness of cloud equally. Projected AC algorithm has been tested in standard IEEE 14, 57, 300 bus systems and simulations results show the better performance of the proposed algorithm in reducing the real power loss.]]>
<![CDATA[Prototype development of tethered underwater robot for underwater vessel anchor release ]]>
<![CDATA[Ezeofor Chukwunazo Joseph]]>;
<![CDATA[Georgewill Oyengiye Moses]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 9, No 3: September 2020 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v9i3.pp196-210
<![CDATA[Tethered underwater robot (TUR) for underwater vessel anchor release is presented. In off-shore oil and gas enviromnment, there has been series of reported cases on stuck vessel anchors after mooring operations and divers are sent to release these anchors for the vessels to be in motion. The use of divers to perform such function is very risky because of human limitation and some divers have been reported dead on the process due to high pressure underwater or being attacked by underwater wide animals. This has caused very serious panic to the vessel owners and hence, this work is aimed to develop TUR that would be used by the vessel operators instead of divers to release the stuck anchor without loss. The underwater robot system comprises of three basic sections namely graphical user control interface (GUCI) that would be installed in the operator’s laptop, the WiFi LAN router for network connection, and TUR system hardware and software. Each of these sections was strictly designed. Various high-level programming languages were employed to design the GUCI and code the interface buttons, robot controller program codes etc. The implementation carried out and the prototype system tested in the University of Port Harcourt’s swimming pool of 6m depth for validation. The robot performed extremely good in swimming and release of constructed anchor underwater.]]>
<![CDATA[Emotional model for a multi-robot system with emergent behavior ]]>
<![CDATA[Angel Gil]]>;
<![CDATA[Jose Aguilar]]>;
<![CDATA[Eladio Dapena]]>;
<![CDATA[Rafael Rivas]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 9, No 3: September 2020 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v9i3.pp220-232
<![CDATA[This article describes an emotional model for a general-purpose robot operating in a multi-robot system with emergent behavior. The model considers four basic emotions: anger, rejection, sadness and joy, plus a neutral emotional state, which affect the behavior of the robot, both individually and collectively. The emotional state of each robot in the system is constructed through the conjunction of a series of factors related to their individual and collective actions, which are: safety, load, acting and interaction, which serve as input to an emotional process that results in an index of satisfaction of the robot that establishes the emotional state in which it is in a certain moment. The emotional state of a robot influences its interactions with the other robots and with the environment, that is, it determines its emergent behavior in the system. This paper presents the design of this model, and establishes some considerations for its implementation.]]>
