ali moosavian | K. N. Toosi University of Technology (original) (raw)
Papers by ali moosavian
International Symposium on Algorithms and Computation, Apr 30, 2013
Dynamics and control of a space robotic system with flexible members during an object manipulatio... more Dynamics and control of a space robotic system with flexible members during an object manipulation task is studied here. Flexible members such as solar panels of space free flying robotic systems and their flexible joints during a manoeuvre may get stimulated and vibrate. Therefore, such vibrations will cause some oscillatory disturbance forces on the moving base and manipulated object, which in turn produces error in the position and speed of the manipulating end-effectors. In this paper, considering a multiple arm space robotic system with flexible joints and flexible solar panels, the system dynamics is partitioned into two rigid and flexible bodies' motion, and a concise model for control implementations of compounded rigid-flexible multi-body systems is developed. Then, based on a designated path/trajectory for a space robotic system, the multiple impedance control is extended to perform an object manipulation task by such complicated rigid-flexible multi-body systems. Fina...
2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM), 2017
This paper addresses the challenge of redundancy resolution in parallel cable robots. Redundancy ... more This paper addresses the challenge of redundancy resolution in parallel cable robots. Redundancy resolution leads in infinite solutions for tension distribution in cables and hence, force distribution has so far turned into an optimization problem in this class of robots. Therefore, the purpose of this work is to propose a method to optimize the force distribution in cables. In the proposed method, the null space of structure matrix is mapped into the joint space in such a way that all actuators remain in an optimal compromission of actuator forces. Investigation of tension distribution along the cables requires an effective modeling of cables. The proposed algorithm is evaluated within an experimental study on the RoboCab, a cable-driven parallel robot. Results demonstrate the ability of the algorithm to keep the tensions within the desired interval while maintaining the optimality. It is derived that this algorithm can be applied as a force estimator in similar applications.
2016 4th International Conference on Robotics and Mechatronics (ICROM), 2016
This paper introduces a method to improve the feedback accuracy using multisensor data fusion. Fl... more This paper introduces a method to improve the feedback accuracy using multisensor data fusion. Flexibility in cables and unmodeled rotation of feeder pulley in the spatial workspace cause unreliability in the encoder data as well as sagging in cables. The purpose of this work is to provide an effective scheme to combine other sensors' information from multiple sources to increase the precision and reliability of feedback data. In this study, sensor level fusion algorithm is used to integrate and fuse together the camera and Inertial Measurement Unit (IMU) data. The main application of this method is in the implementation of various control methodologies where more accurate feedback data leads to an improved control performance. It is assumed that the cable mass is negligible and hence it insignificantly contributes to the robot dynamics. Experimental results show the merits of the proposed approach which will be discussed.
Industrial Robot: An International Journal, 2017
Purpose The purpose of this paper is to present a comparison study of cooperative object manipula... more Purpose The purpose of this paper is to present a comparison study of cooperative object manipulation control algorithms. To this end, a full comprehensive survey of the existing control algorithms in this field is presented. Design/methodology/approach Cooperative manipulation occurs when manipulators are mechanically coupled to the object being manipulated, and the manipulators may not be treated as an isolated system. The most important and basic impedance control (IC) strategies for an assumed cooperative object manipulation task are the Augmented Object Model (AOM) control and the multiple impedance control (MIC) which are found based on the IC, where the former is designed based on the object movement, and the latter is designed based on the whole robot movement. Thus, the basis of these two algorithms are fully studied. Findings The results are fully analyzed, and it is practically verified that the MIC algorithm has the better performance. In fact, the results reveal that th...
Multibody System Dynamics, 2017
Mobile platforms with one or more manipulators are of great interest for their wide area of appli... more Mobile platforms with one or more manipulators are of great interest for their wide area of applications and dexterity. Including a suspension system in such mobile platforms will certainly add to their maneuverability, though causes more complexity. In this paper, a suspended mobile platform with two 6-DOF manipulators is used to manipulate an object in a mixed circular-straight path. The Multiple Impedance control (MIC) as a Model-Based algorithm, enforces the same impedance law both on the robotic system, and the manipulated object level. To apply model-based control laws, however, it is needed to extract system dynamics equations. For such highly nonlinear dynamical systems, it is necessary to have a concise set of dynamic equations with as few as possible mathematical calculations. Therefore, the concept of Direct Path Method, is extended to derive explicit dynamics modeling for such challenging systems. Then non-holonomic constraint of the wheeled platform is discussed, and ob...
Grasp planning is one of the most interesting subjects of object manipulation tasks in robotics a... more Grasp planning is one of the most interesting subjects of object manipulation tasks in robotics and the development of grasp methods would be affected the robot performance. One of the most important subjects which is discussed in grasp planning, especially in industrial applications, is optimal grasp planning and finding the best grasping point. So it is important to find the best grasping point that the manipulator contact with object. In this paper, the MAG performance index, which is designed for object manipulation tasks, would be used for two different types of objects which are manipulated in the predefined path. Particle Swarm Optimization (PSO) and Genetic Algorithm (GA) methods would be used to maximize this index and find the best grasping point and finally compared with each other. The results show that in faster object manipulation tasks, the GA method is more suitable than PSO method. Since in accurate object manipulation tasks, the PSO method is preferred to GA method.
Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, 2015
Combination of a mobile platform and a manipulator which is known as a mobile manipulator can be ... more Combination of a mobile platform and a manipulator which is known as a mobile manipulator can be used in lots of applications. Motion control with respect to stability of dynamically stable mobile manipulators is one of the interesting challenges in robotics. In addition, servant robots are becoming widespread, from local uses as robotic cleaner to field applications as flexible robots, also for farming, martial, and space exploration. One of the servant robots that are designed to operate specially in indoor places is the Ballbot. A Ballbot is an under-actuated system with non-holonomic dynamic constraints. It is as tall as human height until it could interact by people. Moreover, it can be equipped with a manipulator for grasping and manipulating objects. So, manipulation control of such system is highly complicated due to severe under-actuated condition and non-linear dynamics which is considered in this article. Therefore, developing a compact dynamic model is highly practical f...
2013 First RSI/ISM International Conference on Robotics and Mechatronics (ICRoM), 2013
2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM), 2014
In this paper, the effect of using a stabilizing mechanism in trajectory tracking of a quad-rotor... more In this paper, the effect of using a stabilizing mechanism in trajectory tracking of a quad-rotor unmanned aerial vehicle has been investigated. Two different stabilizer mechanisms are designed. The first one is a spherical pendulum stabilizer and the second one is a cross stabilizer. Then, appropriate controller is designed for each stabilizer mechanism. The performance of the system is investigated in the presence of disturbing forces. Obtained results show that instead of using complicated nonlinear control methods, the proposed stabilizer mechanism yields a desired performance. Acceptable trajectory tracking shows the effectiveness of the proposed stabilizers.
2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM), 2014
This paper presents the designing and simulation of a swing reducing controller for a quadrotor w... more This paper presents the designing and simulation of a swing reducing controller for a quadrotor with a swing load system using an input shaping theory. The input shaping controller is a feed-forward controller that is added to reduce oscillations of the swinging load by improving the damping characteristics of pendulum modes. Simulations are presented and it is shown that a significant improvement of the oscillation behavior can be achieved.
Journal of Robotics, 2014
Nowadays, aerial robots or Unmanned Aerial Vehicles (UAV) have many applications in civilian and ... more Nowadays, aerial robots or Unmanned Aerial Vehicles (UAV) have many applications in civilian and military fields. For example, of these applications is aerial monitoring, picking loads and moving them by different grippers. In this research, a quadrotor with a cable-suspended load with eight degrees of freedom is considered. The purpose is to control the position and attitude of the quadrotor on a desired trajectory in order to move the considered load with constant length of cable. So, the purpose of this research is proposing and designing an antiswing control algorithm for the suspended load. To this end, control and stabilization of the quadrotor are necessary for designing the antiswing controller. Furthermore, this paper is divided into two parts. In the first part, dynamics model is developed using Newton-Euler formulation, and obtained equations are verified in comparison with Lagrange approach. Consequently, a nonlinear control strategy based on dynamic model is used in ord...
The 2nd International Conference on Control, Instrumentation and Automation, 2011
2013 First RSI/ISM International Conference on Robotics and Mechatronics (ICRoM), 2013
2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008
Abstract This paper presents dynamic modeling and simulation of the industrial robot, Stäubli TX... more Abstract This paper presents dynamic modeling and simulation of the industrial robot, Stäubli TX40, and proposes a precise simulator to develop approaches for experimental simulation in kinematics, dynamics and control analysis. The robot model has been developed as accurate as the real one by implementing dynamic model of robot in ADAMS, dynamic modeling software, and also linking with MATLAB for motion studies. Finally the simulator is verified by tracking a predefined pose with minimum error.
International Symposium on Algorithms and Computation, Apr 30, 2013
Dynamics and control of a space robotic system with flexible members during an object manipulatio... more Dynamics and control of a space robotic system with flexible members during an object manipulation task is studied here. Flexible members such as solar panels of space free flying robotic systems and their flexible joints during a manoeuvre may get stimulated and vibrate. Therefore, such vibrations will cause some oscillatory disturbance forces on the moving base and manipulated object, which in turn produces error in the position and speed of the manipulating end-effectors. In this paper, considering a multiple arm space robotic system with flexible joints and flexible solar panels, the system dynamics is partitioned into two rigid and flexible bodies' motion, and a concise model for control implementations of compounded rigid-flexible multi-body systems is developed. Then, based on a designated path/trajectory for a space robotic system, the multiple impedance control is extended to perform an object manipulation task by such complicated rigid-flexible multi-body systems. Fina...
2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM), 2017
This paper addresses the challenge of redundancy resolution in parallel cable robots. Redundancy ... more This paper addresses the challenge of redundancy resolution in parallel cable robots. Redundancy resolution leads in infinite solutions for tension distribution in cables and hence, force distribution has so far turned into an optimization problem in this class of robots. Therefore, the purpose of this work is to propose a method to optimize the force distribution in cables. In the proposed method, the null space of structure matrix is mapped into the joint space in such a way that all actuators remain in an optimal compromission of actuator forces. Investigation of tension distribution along the cables requires an effective modeling of cables. The proposed algorithm is evaluated within an experimental study on the RoboCab, a cable-driven parallel robot. Results demonstrate the ability of the algorithm to keep the tensions within the desired interval while maintaining the optimality. It is derived that this algorithm can be applied as a force estimator in similar applications.
2016 4th International Conference on Robotics and Mechatronics (ICROM), 2016
This paper introduces a method to improve the feedback accuracy using multisensor data fusion. Fl... more This paper introduces a method to improve the feedback accuracy using multisensor data fusion. Flexibility in cables and unmodeled rotation of feeder pulley in the spatial workspace cause unreliability in the encoder data as well as sagging in cables. The purpose of this work is to provide an effective scheme to combine other sensors' information from multiple sources to increase the precision and reliability of feedback data. In this study, sensor level fusion algorithm is used to integrate and fuse together the camera and Inertial Measurement Unit (IMU) data. The main application of this method is in the implementation of various control methodologies where more accurate feedback data leads to an improved control performance. It is assumed that the cable mass is negligible and hence it insignificantly contributes to the robot dynamics. Experimental results show the merits of the proposed approach which will be discussed.
Industrial Robot: An International Journal, 2017
Purpose The purpose of this paper is to present a comparison study of cooperative object manipula... more Purpose The purpose of this paper is to present a comparison study of cooperative object manipulation control algorithms. To this end, a full comprehensive survey of the existing control algorithms in this field is presented. Design/methodology/approach Cooperative manipulation occurs when manipulators are mechanically coupled to the object being manipulated, and the manipulators may not be treated as an isolated system. The most important and basic impedance control (IC) strategies for an assumed cooperative object manipulation task are the Augmented Object Model (AOM) control and the multiple impedance control (MIC) which are found based on the IC, where the former is designed based on the object movement, and the latter is designed based on the whole robot movement. Thus, the basis of these two algorithms are fully studied. Findings The results are fully analyzed, and it is practically verified that the MIC algorithm has the better performance. In fact, the results reveal that th...
Multibody System Dynamics, 2017
Mobile platforms with one or more manipulators are of great interest for their wide area of appli... more Mobile platforms with one or more manipulators are of great interest for their wide area of applications and dexterity. Including a suspension system in such mobile platforms will certainly add to their maneuverability, though causes more complexity. In this paper, a suspended mobile platform with two 6-DOF manipulators is used to manipulate an object in a mixed circular-straight path. The Multiple Impedance control (MIC) as a Model-Based algorithm, enforces the same impedance law both on the robotic system, and the manipulated object level. To apply model-based control laws, however, it is needed to extract system dynamics equations. For such highly nonlinear dynamical systems, it is necessary to have a concise set of dynamic equations with as few as possible mathematical calculations. Therefore, the concept of Direct Path Method, is extended to derive explicit dynamics modeling for such challenging systems. Then non-holonomic constraint of the wheeled platform is discussed, and ob...
Grasp planning is one of the most interesting subjects of object manipulation tasks in robotics a... more Grasp planning is one of the most interesting subjects of object manipulation tasks in robotics and the development of grasp methods would be affected the robot performance. One of the most important subjects which is discussed in grasp planning, especially in industrial applications, is optimal grasp planning and finding the best grasping point. So it is important to find the best grasping point that the manipulator contact with object. In this paper, the MAG performance index, which is designed for object manipulation tasks, would be used for two different types of objects which are manipulated in the predefined path. Particle Swarm Optimization (PSO) and Genetic Algorithm (GA) methods would be used to maximize this index and find the best grasping point and finally compared with each other. The results show that in faster object manipulation tasks, the GA method is more suitable than PSO method. Since in accurate object manipulation tasks, the PSO method is preferred to GA method.
Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, 2015
Combination of a mobile platform and a manipulator which is known as a mobile manipulator can be ... more Combination of a mobile platform and a manipulator which is known as a mobile manipulator can be used in lots of applications. Motion control with respect to stability of dynamically stable mobile manipulators is one of the interesting challenges in robotics. In addition, servant robots are becoming widespread, from local uses as robotic cleaner to field applications as flexible robots, also for farming, martial, and space exploration. One of the servant robots that are designed to operate specially in indoor places is the Ballbot. A Ballbot is an under-actuated system with non-holonomic dynamic constraints. It is as tall as human height until it could interact by people. Moreover, it can be equipped with a manipulator for grasping and manipulating objects. So, manipulation control of such system is highly complicated due to severe under-actuated condition and non-linear dynamics which is considered in this article. Therefore, developing a compact dynamic model is highly practical f...
2013 First RSI/ISM International Conference on Robotics and Mechatronics (ICRoM), 2013
2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM), 2014
In this paper, the effect of using a stabilizing mechanism in trajectory tracking of a quad-rotor... more In this paper, the effect of using a stabilizing mechanism in trajectory tracking of a quad-rotor unmanned aerial vehicle has been investigated. Two different stabilizer mechanisms are designed. The first one is a spherical pendulum stabilizer and the second one is a cross stabilizer. Then, appropriate controller is designed for each stabilizer mechanism. The performance of the system is investigated in the presence of disturbing forces. Obtained results show that instead of using complicated nonlinear control methods, the proposed stabilizer mechanism yields a desired performance. Acceptable trajectory tracking shows the effectiveness of the proposed stabilizers.
2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM), 2014
This paper presents the designing and simulation of a swing reducing controller for a quadrotor w... more This paper presents the designing and simulation of a swing reducing controller for a quadrotor with a swing load system using an input shaping theory. The input shaping controller is a feed-forward controller that is added to reduce oscillations of the swinging load by improving the damping characteristics of pendulum modes. Simulations are presented and it is shown that a significant improvement of the oscillation behavior can be achieved.
Journal of Robotics, 2014
Nowadays, aerial robots or Unmanned Aerial Vehicles (UAV) have many applications in civilian and ... more Nowadays, aerial robots or Unmanned Aerial Vehicles (UAV) have many applications in civilian and military fields. For example, of these applications is aerial monitoring, picking loads and moving them by different grippers. In this research, a quadrotor with a cable-suspended load with eight degrees of freedom is considered. The purpose is to control the position and attitude of the quadrotor on a desired trajectory in order to move the considered load with constant length of cable. So, the purpose of this research is proposing and designing an antiswing control algorithm for the suspended load. To this end, control and stabilization of the quadrotor are necessary for designing the antiswing controller. Furthermore, this paper is divided into two parts. In the first part, dynamics model is developed using Newton-Euler formulation, and obtained equations are verified in comparison with Lagrange approach. Consequently, a nonlinear control strategy based on dynamic model is used in ord...
The 2nd International Conference on Control, Instrumentation and Automation, 2011
2013 First RSI/ISM International Conference on Robotics and Mechatronics (ICRoM), 2013
2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008
Abstract This paper presents dynamic modeling and simulation of the industrial robot, Stäubli TX... more Abstract This paper presents dynamic modeling and simulation of the industrial robot, Stäubli TX40, and proposes a precise simulator to develop approaches for experimental simulation in kinematics, dynamics and control analysis. The robot model has been developed as accurate as the real one by implementing dynamic model of robot in ADAMS, dynamic modeling software, and also linking with MATLAB for motion studies. Finally the simulator is verified by tracking a predefined pose with minimum error.