Movement Of Robot Research Articles

PERANCANGAN PROTOTYPE ROBOTIK MOBIL PEMILAH SAMPAH OTOMATIS DENGAN PENGGUNAAN BLUETOOTH BERBASIS ARDUINO UNO

The concept behind this research is the development of an automatic control system, a vehicle that can be operated without a crew and controlled remotely by using Bluetooth as a controller connection. Robotic Prototype Garbage sorting car is a robot construction that has an actuator in the form of wheels to move and move positions from one point to another. Robotic Prototype This garbage sorting car is designed to move using Arduino Uno with a Bluetooth connection controller that has applications that are suitable for robot movement through Android smartphone control. This Robotic prototype uses Arduino Uno as a Bluetooth robot control system, the module for the tool made this time uses a Bluetooth module as a data receiver that is sent via an android smartphone which will then be processed by Arduino and then forwarded to the MG90S motor driver which will provide output to move the DC motor according to commands given wirelessly. The method used is an experimental method, the research carried out will focus on communication between the connecting device and the Arduino Uno via Bluetooth to control the Robotic Prototype device. In its implementation, it can be applied to reach locations that are difficult or dangerous enough for humans to enter, so that with technology like this it will make it easier for humans to reach these areas without having to enter the location but only by controlling the device remotely.

Green EEG energy control robot for supporting bedfast patients

The objectives of this study were (1) to develop a prototype for controlling the movements of a robot by using green electroencephalography (EEG) energy and (2) to test a prototype algorithm’s effectiveness for controlling robot movements. The study was conducted as experimental research. An EEG detects electrical energy from activities of the brain and nervous system. The brain’s electrical energy or EEG is produced by thinking or the mind controlling, blinking, meditating, and focusing. The raw acquired EEG data underwent preprocessing and feature extraction. The acquired EEG signals were used to control the robot. Algorithms were designed and developed to connect the EEG data and the robot. The effectiveness of the prototype algorithm in controlling a robot to perform unidirectional movement was determined. The algorithm achieved an accuracy of 81.43%. Likewise, an evaluation of the effect of the prototype algorithm in controlling a robot to perform continuous movement was performed. The algorithm was modified and combined with a gyroscope accelerometer magnetic sensor (IMU) node in a hybrid manner. The experimental result presented 80.22% accuracy, and the algorithm worked properly and consumed 2.40 min of time. The results indicated that the EEG algorithm could correctly control robot movements.

Control and Design of Dancing Robot based on STM32

The emergence and development of robot technology not only fundamentally changed the traditional industrial production, but also had a profound impact on society. With the rapid development of social technology, the application field of robots is expanding. In this paper, the control core of the proposed dancing robot is STM32F103C8T6 single chip microcomputer, the upper arm is controlled by the steering gear, the feet are two flexible wheels, and the DC deceleration motor is used as the driving motor of the wheels, so that the wheels of the robot can realize free movement and complete the dancing action of the robot. The power needed for robot movement comes from 18650 lithium battery. In the process of robot movement, the LD3320 voice recognition module is used to control the robot's movement direction and state, the MPU6050 is used to control the robot's balance, and the JQ6500 music playback module is added to the robot to control the music playback through voice recognition. After the power of dancing robot is turned on, the dancing robot starts to adjust itself to make its posture in a balanced and upright state, and then waits for the user to issue a command. The dancing robot has simple human body function and can complete simple dance actions such as moving forward and backward, walking left and right, turning left and right, and has voice function, and can also play music. The operation password is simple in the process of application, which makes it convenient for the user to use. In addition, the dancing robot is small in size and can move freely with good practical effect, regardless of the user’s age.

A robust and simple collision avoidance approach for pick and place robot applications

Purpose The aim of this study is to create a robust and simple collision avoidance approach based on quaternion algebra for vision-based pick and place applications in manufacturing industries, specifically for use with industrial robots and collaborative robots (cobots). Design/methodology/approach In this study, an approach based on quaternion algebra is developed to prevent any collision or breakdown during the movements of industrial robots or cobots in vision system included pick and place applications. The algorithm, integrated into the control system, checks for collisions before the robot moves its end effector to the target position during the process flow. In addition, a hand–eye calibration method is presented to easily calibrate the camera and define the geometric relationships between the camera and the robot coordinate systems. Findings This approach, specifically designed for vision-based robot/cobot applications, can be used by developers and robot integrator companies to significantly reduce application costs and the project timeline of the pick and place robotics system installation. Furthermore, the approach ensures a safe, robust and highly efficient application for robotics vision applications across all industries, making it an ideal solution for various industries. Originality/value The algorithm for this approach, which can be operated in a robot controller or a programmable logic controller, has been tested as real-time in vision-based robotics applications. It can be applied to both existing and new vision-based pick and place projects with industrial robots or collaborative robots with minimal effort, making it a cost-effective and efficient solution for various industries.

Passability and Internode Mechanics Analysis of a Multisection Micro Pipeline Robot

In submarine oil and gas pipelines, the movement of a differential pressure multisection pipeline robot mainly relies on the front and rear driving pressure difference of the fluid and the friction between the cup and the pipe wall. The passability of the pipeline is a key point to guarantee success in scanning and detecting the inner wall of a pipeline by robot. When the multisection pipeline robot moves, the force of the internode connection points changes the degree of freedom of the robot. The existence of the connection points causes speed fluctuations in the robot during the movement process which, in turn, affects the detection accuracy of the pipeline. Consequently, a systematic analysis of the connection point movement is of great importance. In this paper, a rigid–flexible, coupled, multibody, dynamic motion system is established, where a multisection micro pipeline robot is built. The cup of the robot is set as a flexible body. The motion law of the differential pressure multisection pipeline robot is analyzed through simulation, and the robot’s motion speed and internode stress of the different cabin sections are explored jointly in practice. Taking the transportation of an oil and gas pipeline into full consideration, the motion law and force of the multisection pipeline robot are analyzed by changing the bulge and turning the radius of the inner wall of the pipeline. A corresponding experimental bench is built to explore the effects of different numbers of cups and lengths of the cabin sections on the turning characteristics of the robot. Simulations and experiments results are highly similar and within the error range. To this end, the presented work provides significant information for the model selection of multisection micro pipeline robots in the fields of submarine oil and gas pipelines.

Biomimetic Soft Underwater Robot Inspired by the Red Muscle and Tendon Structure of Fish

Underwater robots are becoming increasingly important in various fields. Fish robots are attracting attention as an alternative to the screw-type robots currently in use. We developed a compact robot with a high swimming performance by mimicking the anatomical structure of fish. In this paper, we focus on the red muscles, tendons, and vertebrae used for steady swimming of fish. A robot was fabricated by replacing the red muscle structure with shape memory alloy wires and rigid body links. In our previous work, undulation motions with various phase differences and backward quadratically increasing inter-vertebral bending angles were confirmed in the air, while the swimming performance in insulating fluid was poor. To improve the swimming performance, an improved robot was designed that mimics the muscle contractions of mackerel using a pulley mechanism, with the robot named UEC Mackerel. In swimming experiments using the improved robot, a maximum swimming speed of 25.8 mm/s (0.11 BL/s) was recorded, which is comparable to that of other soft-swimming robots. In addition, the cost of transport (COT), representing the energy consumption required for robot movement, was calculated, and a minimum COT of 0.08 was recorded, which is comparable to that of an actual fish.

MÔ HÌNH HÓA ĐỘNG LỰC HỌC RÔ BỐT SONG SONG 3RRR

This article studies the dynamic modeling of parallel robot 3RRR. Based on analysis and synthesis of results from domestic and foreign studies, the article presents the problem of analyzing the mechanical model, the mathematical model describing the motion of the parallel robot 3RRR as the basis for kinematic and dynamic analysis. The process of calculation and analysis is performed on Maple for intuitive, explicit results and describes the quantities by vivid simulation graphs. From that result, research and develop the model design on SolidWorks software using the Simscape Multibody tool in MATLAB to simulate the robot's movement according to defined trajectories. Therefore, the study obtained the graph of torque signal at the active joints by the same two methods, proving that the analysis and calculation results are correct. The research also develops the design of a real robot model, and performs model control according to the given trajectories. These research results will serve as a useful reference for the application for the calculation and design of parallel robot 3RRR models in other practical situations.

An Underwater Bionic Snake Soft Robot with Tunable Deformation and Motion Based on Composite Materials

AbstractSoft‐bodied aquatic organisms and amphibians have different locomotion forms optimized for the living environment. With the increase of scientific research on oceanographic engineering, more and more researchers are paying attention to the underwater movement of bionic robots. Currently, underwater robots face two critical problems, that is, the inefficient actuation of traditional stimulatory response materials and the inability to ensure accurate spatiotemporal control of deformation. In this study, a soft stimulus‐responsive material is designed for remote cordless control in the water environment. An underwater bionic snake soft robot is fabricated using a temperature‐sensitive hydrogel Poly(N‐isopropylacrylamide) and carbon nanotubes with the ability to convert light into heat. Tunable shape deformation and movement, including the concertina and serpentine locomotion of a light‐driven bionic snake soft robot, are realized by controlling the position of joints through light illumination. In addition, the transport of rod‐like objects, obstacle‐surmounting, and working on different surfaces are achieved by the bionic snake robot. This study will provide references for research on the multiple underwater locomotion forms of light‐driven soft robots.

A Child-Robot Musical Theater Afterschool Program for Promoting STEAM Education: A Case Study and Guidelines

With the advancements of machine learning and AI technologies, robots have been more widely used in our everyday life and they have also been used in education. The present study introduces a 12-week child-robot theater afterschool program designed to promote science, technology, engineering, and mathematics (STEM) education with art elements (STEAM) for elementary students using social robots. Four modules were designed to introduce robot mechanisms as well as arts: Acting (anthropomorphism), Dance (robot movements), Music and Sounds (music composition), and Drawing (robot art). These modules provided children with basic knowledge about robotics and STEM and guided children to create a live robot theater play. A total of 16 students participated in the program, and 11 of them were involved in completing questionnaires and interviews regarding their perceptions towards robots, STEAM, and the afterschool program. Four afterschool program teachers participated in interviews, reflecting their perceptions of the program and observations of children’s experiences during the program. Our findings suggest that the present program effectively maintained children’s engagement and improved their interest in STEAM by connecting social robots and theater production. We conclude with design guidelines and recommendations for future research and programs.

Magnetically and Electrically Responsive Soft Actuator Derived from Ferromagnetic Bimetallic Organic Framework.

The advancement in smart devices and soft robotics necessitates the use of multiresponsive soft actuators with high actuation stroke and stable reversibility for their use in real-world applications. Here, this work reports a magnetically and electrically dual responsive soft actuator based on neodymium and iron bimetallic organic frameworks (NdFeMOFs@700). The ferromagnetic NdFeMOFs@700 exhibits a porous carbon structure with excellent magnetization saturation (166.96 emu g-1 ) which allows its application to a dual functional material in both magnetoactive and electro-ionic actuations. The electro-ionic soft actuator, which is fabricated using NdFeMOFs@700 and PEDOT-PSS, demonstrates 4.5 times higher ionic charge storage capacity (68.21 mF cm-2 ) and has excellent cycle stability compared with the PEDOT-PSS based actuator. Under a low sinusoidal input voltage of 1V, the dual-responsive actuator displays bending displacement of 15.46mm and also generates deflection of 10mm at 50 mT. Present results show that the ferromagnetic bimetallic organic frameworks can open a new way to make dual responsive soft actuators due to the hierarchically porous structures with its high redox activity, superior magnetic properties, and larger electrochemical capacitance. With the NdFeMOFs@700 based soft actuators, walking movement of a starfish robot is demonstrated by applying both the magnetic and electric fields.

Room cleaning robot movement using A* algorithm and imperfect maze

Cleanliness is a mandatory requirement to help prevent virus spread. The cleaning process can be done automatically by humans or robotic devices. If a robot does this process, it is a must that the robot is able to explore the room autonomously. The robot movement in room tracking should reach all points without obstructions and return to its initial position. This study simulated the movement of a room explorer robot using the imperfect maze method, as well as searching a room that has not been explored using the A* algorithm. The A* algorithm was also used to find the shortest path to reach the initial place of the robot when the room exploration was completed. The results of the simulation showed that the imperfect maze could be used to explore the room well, and A* algorithm is quite optimal to be used for searching both the unexplored room and the path to return to its initial position

Calibration procedure and biomechanical validation of an universal six degree-of-freedom robotic system for hip joint testing

PurposeAmong various test methods for different human joints, the use of robot systems has attracted major interest and inherits the potential to become a gold standard in biomechanical testing in the future. A key issue associated with those robot-based platforms is the accurate definition of parameters, e.g., tool center point (TCP), length of tool or anatomical trajectories of movements. These must be precisely correlated to the physiological parameters of the examined joint and its corresponding bones. Exemplified for the human hip joint, we are creating an accurate calibration procedure for a universal testing platform by using a six degree-of-freedom (6 DOF) robot and optical tracking system for recognition of anatomical movements of the bone samples.MethodsA six degree-of-freedom robot (TX 200, Stäubli) has been installed and configured. The physiological range of motion of the hip joint composed of a femur and a hemipelvis was recorded with an optical 3D movement and deformation analysis system (ARAMIS, GOM GmbH). The recorded measurements were processed by automatic transformation procedure (created in Delphi software) and evaluated in 3D CAD system.ResultsThe physiological ranges of motion were reproduced for all degrees of freedom with the six degree-of-freedom robot in adequate accuracy. With the establishment of a special calibration procedure by using a combination of different coordinate systems, we were able to achieve a standard deviation of the TCP depending of the axis between 0.3 and 0.9 mm and for the length of tool between + 0.67 and − 0.40 mm (3D CAD processing) resp. + 0.72 mm to − 0.13 mm (Delphi transformation). The accuracy between the manual and robotic movement of the hip shows an average deviation between − 0.36 and + 3.44 mm for the points on the movement trajectories.ConclusionA six degree-of-freedom robot is appropriate to reproduce the physiological range of motion of the hip joint. The described calibration procedure is universal and can be used for hip joint biomechanical tests allowing to apply clinically relevant forces and investigate testing stability of reconstructive osteosynthesis implant/endoprosthetic fixations, regardless of the length of the femur, size of the femoral head and acetabulum or whether the entire pelvis or only the hemipelvis will be used.

Robot 3D spatial motion measurement via vision-based method

Measuring the motion of a robot accurately is an important and integral part of evaluating the dynamic and static performance of the robot. The performance index of a robot, such as kinematic accuracy, bearing capacity, deformation, vibration, stability, and structural mode can all be calculated according to the motion displacement of the robot. Therefore, improving the robot motion measurement method, promoting the measurement accuracy, and enriching the measurement content have received considerable scholarly attention worldwide. In this paper, an approach based on binocular vision was proposed to measure the 3D spatial motion of a robot. In the process of reconstructing robot movement, a mathematical model that can facilitate the solving process and improve the accuracy of results was derived to build 3D coordinates information. A novel coordinate transformation method that is based on the singular value decomposition was drawn up to realize the transformation from camera coordinates to robot coordinates. Several experiments were carried out on the self-built three-degree-of-freedom rectangular coordinate robot platform. The marker was designed specially and glued to the end of robot, and a new train of thought was adopted to extract the marker’s feature point. The vision-based measurement results were compared with the actual coordinate value. Results of experiments demonstrated that the proposed method can successfully reconstruct the 3D spatial motion of a robot more exactly, which can meet the requirements of high-precision motion control, motion performance evaluation, and operation state evaluation.

A Robotic Wearable Device Assists Shoulder Movement in ALS

A Robotic Wearable Device Assists Shoulder Movement in ALS

Implicit Robot Control Using Error-Related Potential-Based Brain–Computer Interface

This article investigates the application of using error-related potential (ErrP)-based brain–computer interface (BCI) paradigm to control robot movements with implicit commands. ErrP is a neural signal that is automatically evoked when the machine’s behavior deviates from the observer’s expectations. By continuously monitoring the presence of ErrP, the system infers the observer’s reaction toward robot movements and automatically translates them into control commands, allowing the implicit control of robot movements without interfering the observer’s other tasks. However, ErrP-based BCI has a major limitation: the ErrP is evoked after the robot has committed an error, which might be costly or dangerous in contexts, such as assembly line or autonomous driving. To address these limitations, we propose a novel robotic design for ErrP-based BCI that allows humans to continuously evaluate the robot’s intentions and intervene earlier, if necessary before the robot commits an error. We evaluate the proposed robotic design and BCI system via an experiment where a ground robot performs a binary target-reaching task. The high classification accuracy (77.57%) demonstrated that the proposed ErrP-based BCI is feasible for human–robot intention communication before the robot commits an error and has the potential to broaden the range of applications for ErrP-based BCIs.

Training Path Optimization Method of a Moveable Multifunction Rehabilitation Robot

Passive path tracking training is usually used for robot assisted lower limb rehabilitation. The movement of robot will cause the fluctuation of joint force. This letter presents an optimal training path planning algorithm to reduce the patient's joint force caused by a moveable multifunction rehabilitation robot during passive pedaling training. The dynamics model of the human-robot system is established, and the joint forces of the patient are analysed. The planning process is divided into a series of motion steps based on the original training path, at which the optimal algorithm is applied to search the best path. Then, the optimal path is fitted by Bezier curve to get a closed training trajectory. Finally, a Bionic Experiment Platform (BEP) and Human-robot Interaction Platform (HIP) are established to verify the effectiveness of the optimal algorithm. The (BEP) experimental results show that the knee joint force drops by an average of 12.71%, and the maximum drops by 15.41%.The HIP experiment results show that the interaction force drops by an average of 8.5%.

Experimental study and numerical simulation of hydrodynamics for fish-like underwater vehicle

This article presents the results of experimental and computational modeling of the movement of a fish-like underwater robot. The experimental 3D model is constructed from photographs of Pacific bluefin tuna. This model allows us to study biomorphic swimming with various motion parameters, namely: the amplitude and frequency of strokes is set by the servo control signal, the angle between the tail fin and the elastic plate is set by the number and stiffness of springs in the hinge. The calculation method involves the joint solution of the equations of dynamics of the robot and the equations of hydrodynamics of the fluid flowing around it. For this task, an original mesh deformation algorithm was developed that allows hydrodynamic calculations to be performed near the tail of the model performing transverse oscillations. The use of deformable mesh technology allows you to reproduce the shape of the tail vibrations as accurately as possible. In addition, the calculation scheme has the property of conservativeness, which makes it possible to obtain high quality calculations, confirmed by comparison with experimental data.

Delivering Natural Robotic Movement

What role do sensors play in the development of natural robotic movement? Neil Tyler reports

Development of the control system for LEGO Mindstorms EV3 mobile robot based on MATLAB/Simulink elements

The Mindstorms EV3 robot, developed by LEGO, is one of the popular robots that has been widely used in various fields. Unlike previous versions of mobile LEGO robots, EV3 allows the development of real-time applications for teaching a variety of subjects, as well as for conducting research experiments. The object of research in this case is the Mindstorms EV3 robot connected to MATLAB/Simulink. The design consists of a controller, one color sensor, two servo motors and one support wheel. Each servo motor is built on a DC collector motor with a matching gearbox and has the ability to measure the number of revolutions corresponding. A digital sensor with a sampling frequency of 1 kHz is used as a color sensor, which can determine the color or brightness of light. Despite its popularity, the EV3 robot control system in interaction with the MATLAB/Simulink programming environment is a rather complex solution and therefore requires further research. The scientific part of the research focuses on discovering the regularities of the Mindstorms EV3 control system, developing a control system model, and exploring the potential of MATLAB/Simulink to expand the robot's capabilities. An analysis of the main elements of the control system, such as sensors and servos, was carried out. The graphs of the dependences of the characteristics of the servo drives were built and the efficiency of the robot movement was checked depending on the parameters set in the program. The result of the development of the mobile robot control system was the adjustment of the mobile robot movement regulators along a given trajectory in the form of a drawn line, which allowed estimating the maximum permissible speed of the robot movement. The presented research and development of a control system based on MATLAB/Simulink elements allows using the proposed method to control a mobile robot with high precision, analyze and verify the robot's electromechanical parameters in real time. This control system has a high potential and can practically be integrated into industrial objects of mobile robotics, provided types the sensors and executive mechanisms of the mobile robot match.

Adaptive Reflection Detection and Control Strategy of Pointer Meters Based on YOLOv5s

Reflective phenomena often occur in the detecting process of pointer meters by inspection robots in complex environments, which can cause the failure of pointer meter readings. In this paper, an improved k-means clustering method for adaptive detection of pointer meter reflective areas and a robot pose control strategy to remove reflective areas are proposed based on deep learning. It mainly includes three steps: (1) YOLOv5s (You Only Look Once v5-small) deep learning network is used for real-time detection of pointer meters. The detected reflective pointer meters are preprocessed by using a perspective transformation. Then, the detection results and deep learning algorithm are combined with the perspective transformation. (2) Based on YUV (luminance-bandwidth-chrominance) color spatial information of collected pointer meter images, the fitting curve of the brightness component histogram and its peak and valley information is obtained. Then, the k-means algorithm is improved based on this information to adaptively determine its optimal clustering number and its initial clustering center. In addition, the reflection detection of pointer meter images is carried out based on the improved k-means clustering algorithm. (3) The robot pose control strategy, including its moving direction and distance, can be determined to eliminate the reflective areas. Finally, an inspection robot detection platform is built for experimental study on the performance of the proposed detection method. Experimental results show that the proposed method not only has good detection accuracy that achieves 0.809 but also has the shortest detection time, which is only 0.6392 s compared with other methods available in the literature. The main contribution of this paper is to provide a theoretical and technical reference to avoid circumferential reflection for inspection robots. It can adaptively and accurately detect reflective areas of pointer meters and can quickly remove them by controlling the movement of inspection robots. The proposed detection method has the potential application to realize real-time reflection detection and recognition of pointer meters for inspection robots in complex environments.