2017 2nd International Conference on Cybernetics, Robotics and Control (CRC)

21-23 July 2017

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  • [Front cover]

    Publication Year: 2017, Page(s): c1
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  • [Title page i]

    Publication Year: 2017, Page(s): i
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  • [Title page iii]

    Publication Year: 2017, Page(s): iii
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  • [Copyright notice]

    Publication Year: 2017, Page(s): iv
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  • Table of contents

    Publication Year: 2017, Page(s):v - viii
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  • Preface

    Publication Year: 2017, Page(s): ix
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  • Conference Organization

    Publication Year: 2017, Page(s): x
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  • Program Committee

    Publication Year: 2017, Page(s): xi
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  • Keynotes

    Publication Year: 2017, Page(s):xii - xvi
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (178 KB)

    Provides an abstract for each of the keynote presentations and may include a brief professional biography of each presenter. The complete presentations were not made available for publication as part of the conference proceedings. View full abstract»

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  • Head Following Control Method of a Mobile Continuum Robot for Deep-Cavity Inspection

    Publication Year: 2017, Page(s):1 - 5
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (377 KB) | HTML iconHTML

    Continuum robots can adapt to the deep-cavity tasks due to the slim and flexible features. However, it is difficult for the robot to navigate into the deep destination point without interference of the whole body. Therefore, a head following control method is proposed to realize navigation in the complex non-structural environments. Firstly, the kinematics model is established through the virtual ... View full abstract»

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  • Sliding Mode Control of Three-Links Spatial Robot Based on Low-Pass Filter

    Publication Year: 2017, Page(s):6 - 11
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (195 KB) | HTML iconHTML

    In order to improve the trajectory tracking control performance of three-links spatial robot, a new sliding mode control method with low-pass filter is proposed in this paper. Due to Fast response speed and invariant to system parameter perturbation and external disturbance uncertainties, traditional sliding mode control can assure the asymptotic stability of the system, but its disadvantage is th... View full abstract»

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  • Kinematic Analysis and Trajectory Planning for Serial Robot in Hazardous Biochemical Treatment

    Publication Year: 2017, Page(s):12 - 17
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (736 KB) | HTML iconHTML

    Aiming at the application of serial robot in the treatment of hazardous biochemical products, the kinematic analysis and trajectory planning are carried out in our study. Serial robot is used to replace humans to handle the hazardous biochemical products, making operations to be more accurate and efficient. The robot's kinematics modeling has been built through Denavit-Hartenberg (D-H) method. For... View full abstract»

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  • Trajectory Tracking Control of WMR Based on Sliding Mode Disturbance Observer with Unknown Skidding and Slipping

    Publication Year: 2017, Page(s):18 - 22
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (148 KB) | HTML iconHTML

    This paper proposed a novel trajectory tracking control method for the wheeled mobile robot with unknown skidding, slipping and uncertainty of dynamics system. The method is based on sliding mode control and disturbance observer by using back-stepping design technology. The WMR system uncertainties of parameters and non-parameters are compensated fast through disturbance observer. In combination w... View full abstract»

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  • Calibration Method and Simulation of Kinematic Parameters for Light-Weight Robot Based on Flexible Error Analysis

    Publication Year: 2017, Page(s):23 - 27
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (258 KB) | HTML iconHTML

    A light-weight robot kinematic parameters calibration method based on flexible error analysis is proposed. The kinematic model is established using MDH method. On the basis of the kinematic model and the flexible error analysis, the integrated error model is established. And then, a kinematic parameter calibration method considering the flexible factors is proposed. Simulation results show that th... View full abstract»

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  • An Improved Obstacle Avoidance Method for Robot Based on Constraint of Obstacle Boundary Condition

    Publication Year: 2017, Page(s):28 - 32
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (314 KB) | HTML iconHTML

    Integrating odometer, IMU and laser radar information, we can obtain the robot's current location, heading, as well as the surrounding environment and obstacle information. Using obstacle information, especially boundary information of obstacles, an improved obstacle avoidance algorithm is proposed on the basis of Vector Field Histogram algorithm (VFH). In this algorithm, the robot's feasible dire... View full abstract»

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  • Motion Planning of Automatic Press Line with Hybrid Type Transferring Robot

    Publication Year: 2017, Page(s):33 - 38
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (509 KB) | HTML iconHTML

    This paper presents a kinematic model of a new hybrid transferring robot for an automatic press line. Based on geometric constraints and closed-chain analysis, inverse-direct kinematics and Jacobian are analyzed so that the position and velocity model can be derived. Press-unit analysis, robot-unit analysis, and polynomial interpolation are used for the optimal motion planning of the manipulator. ... View full abstract»

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  • Optimal Trajectory Planning for Delta Robot Based on Three-Parameter Lamé Curve

    Publication Year: 2017, Page(s):39 - 44
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (446 KB) | HTML iconHTML

    This paper presents a method of optimal trajectory planning for Delta robot based on three-parameter Lamé curve. Using the curve to smoothen the corners of adept motion in Cartesian space. A 6th order polynomial with asymmetrical acceleration and deceleration is adopted to generate the motion profile. The general formulations of displacement, velocity and acceleration are derived at discrete time.... View full abstract»

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  • Mechanism Design and Analysis for an Automatical Reconfiguration Cable-Driven Parallel Robot

    Publication Year: 2017, Page(s):45 - 50
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1355 KB) | HTML iconHTML

    An automatical reconfiguration cable-driven parallel robot (ARCPR) is optimally designed on the basis of conventional cable-driven parallel robots, and it can realize the change of degrees of freedom (DOFs) from two to six. The 3D model for the ARCPR is built, and then the kinematics characteristics of the rotating guide-bar mechanism is analyzed. The automatical reconfiguration method of mechanis... View full abstract»

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  • Impedance Control of Robots: An Overview

    Publication Year: 2017, Page(s):51 - 55
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (142 KB) | HTML iconHTML

    Impedance control has received significant efforts in recent decades in robotics as impedance control aims to achieve the desired mechanical interaction with uncertain environment. This paper is dedicated to the overview of basic concepts and principles, implementation strategies, challenging research problems and interests, etc. The objective is to help readers quickly get into problems of their ... View full abstract»

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  • Process Simulation and Optimization of Ammunition Filling Robot Based on DELMIA

    Publication Year: 2017, Page(s):56 - 60
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (591 KB) | HTML iconHTML

    The development of ammunition production technology directly affects the level of national defense construction, the application of industrial robot improves the automation degree of ammunition production line, but its work path is complex and the craft is numerous, so simulation verification is needed before the actual installation and debugging, domestic simulation research is still in its infan... View full abstract»

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  • Robust Control of Boost Converter

    Publication Year: 2017, Page(s):61 - 65
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (289 KB) | HTML iconHTML

    In recent years, high-performance DC-DC converter is a key research direction in the fields of power design. This paper takes the Boost-converter as an example to construct the mathematical model. Besides, it also applies several control strategies which includes PID control based on genetic algorithm, sliding mode control algorithm and so on to the design of DC-DC converter. Finally, we analyzed ... View full abstract»

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  • An Efficient Fuzzy Alarm System for Improving Human Performance in Supervisory Task

    Publication Year: 2017, Page(s):66 - 70
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (156 KB) | HTML iconHTML

    As machines and equipments have become more complex and increasingly automated, and with the advent of microprocessor control, the role of the human operator has changed from that of an active controller to a decision maker and manager, a shift from active to supervisory control. The purpose of this study was to develop an efficient supervisory alarm system by using fuzzy sets to evaluate and impr... View full abstract»

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  • Design of a Two-Point-Contact Fingertip Tactile Force Feedback Device

    Publication Year: 2017, Page(s):71 - 74
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (357 KB) | HTML iconHTML

    Fingertip tactile force feedback device has been applied to a variety of systems in recent years. However, most of them assume the feedback force concentrating at a point of a plane rather than on a multi-point distribution. Therefore, this paper proposes a novel device to provide a touch sensation by generating two feedback forces distributed in two points of user¡ s finger pad, where the local f... View full abstract»

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  • Strong Tracking Current Statistical Model Based on Mixed Bayesian-Fisher Model

    Publication Year: 2017, Page(s):75 - 79
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (318 KB) | HTML iconHTML

    The current statistical (CS) model has poor performance on tracking weak and sudden maneuvering targets due to non-adaptively adjusting the maneuvering parameters. To solve this problem, a new method based on mixed Bayesian-Fisher model is proposed. By introducing the mixed Bayesian-Fisher model and fusing input estimation (IE) theory, the maneuvering acceleration is adaptive estimated as an addit... View full abstract»

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  • Vibration Analysis of U-Shaped Beam Electrothermal Microactuators

    Publication Year: 2017, Page(s):80 - 84
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (353 KB) | HTML iconHTML

    This paper presents an analytical model for the vibration analysis of a U-shaped electrothermal microactuators. A U-shaped electrothermal microactuator has a unique geometrical structure which consist of, interconnected multiple thick and thin beam segments. In this proposed model, both the longitudinal and lateral deflections of each beam segment are incorporated. To facilitate the modelling proc... View full abstract»

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