Polarity assignment method (PAM), ANN, Neural networks strategy for the data of PAM for the single degree of freedom flexible joint robot
Keywords:Flexible joint, stability, arm robot, poles, ANN
This paper “describes” the investigation of the stability of a single Degree of Freedom (DOF) flexible robotic arm by the diagrams shown below. The derived model is based on Euler- Lagrange approach. Exploration of a flexible robotic arm with using state-of-the-art controllers is essential for intelligent applications. These robot arms have joints that work independently of each other in order to create a smooth connection between joints. They still ensures the natural properties like a real human arm. The use of polarity assignment method “helps” the system to achieve desired output signals which has not been thoroughtly studied before for this system. The author can also compare the effectiveness of control methods for this system to find the most effective method for control strategies. In particular, ANN ( artificial neural network) is the most modern technique currently applied to this system to investigate the security and stability of the system through this program. This is new and it has never been used before for a system of this type. Neural networks strategy has been implemented in this paper as an application of artificial intelligence. It has successfully performed a mission in re-simulating functions of another control method: Polarity assignment method. Simulation results are done by Matlab.
S. A. Ajwad and J. Iqbal, "Emerging trends in robotics – A review from applications perspective," International Conference on Engineering and Emerging Technologies (ICEET), 2015.
J. Iqbal, U. Butt, Moeen, K. Hussain, and G. Raja, "ARM solutions for text, audio and image data processing for ultralow power applications," IEEE International Multitopic Conference, 2004, pp. 32-35.
M. F. Khan, R. U. Islam, and J. Iqbal, "Control strategies for robotic manipulators," IEEE International Conference on Robotics and Artificial Intelligence (ICRAI), 2012, pp. 26-33. DOI: https://doi.org/10.1109/ICRAI.2012.6413422
M. I. Ullah, S. A. Ajwad, R. U. Islam, U. Iqbal, and J. Iqbal, "Modeling and computed torque control of a 6 degree of freedom robotic arm", IEEE International Conference on Robotics and Emerging Allied Technologies in Engineering, 2014, pp. 133-138. DOI: https://doi.org/10.1109/iCREATE.2014.6828353
A. Meddahi, K. Baizid, A. Yousnadj, and J. Iqbal, "API based graphical simulation of robotized sites," 14th IASTED International Conference on Robotics and Applications, 2009, pp. 485-492.
K. Naveed and J. Iqbal, "Brain controlled human robot interface," IEEE International Conference on Robotics and Artificial Intelligence, 2012, pp. 55-60. DOI: https://doi.org/10.1109/ICRAI.2012.6413410
M. M. Azeem, J. Iqbal, P. Toivanen, and A. Samad, "Emotions in robots," Emerging Trends and Applications in Information Communication Technologies, Communications in Computer and Information Science, Springer-Verlag Berlin Heidelberg ed, 2012, pp. 144-153. DOI: https://doi.org/10.1007/978-3-642-28962-0_15
J. Iqbal, S. A. Ajwad, Z. A. Syed, A. K. Abdul, and R. U. Islam, "Automating industrial tasks through mechatronic systems – A review of robotics in industrial perspective," Tehniþki vjesnik - Technical Gazette, vol. 23, pp. 917-924, 2016. DOI: https://doi.org/10.17559/TV-20140724220401
J. Iqbal and K. Baizid, "Stroke rehabilitation using exoskeletonbased robotic exercisers: Mini review," Biomedical Research, vol. 26, pp. 197-201, 2015.
J. Iqbal, N. Tsagarakis, and D. Caldwell, "Four-fingered lightweight exoskeleton robotic device accommodating different hand sizes," Electronics Letters, vol. 51, pp. 888-890, 2015. DOI: https://doi.org/10.1049/el.2015.0850
J. Iqbal, O. Ahmad, and A. Malik, "HEXOSYS II - Towards realization of light mass robotics for the hand," 14th IEEE International Multitopic Conference, 2011, pp. 115-119. DOI: https://doi.org/10.1109/INMIC.2011.6151454
J. Iqbal and A. M. Tahir, "Robotics for nuclear power plants — Challenges and future perspectives," 2nd IEEE International Conference on Applied Robotics for the Power Industry, 2012, pp. 151-156. DOI: https://doi.org/10.1109/CARPI.2012.6473373
J. Iqbal, M. Rehman-Saad, A. Malik, and A. Mahmood-Tahir, "State estimation technique for a planetary robotic rover," Revista Facultad de Ingeniería Universidad de Antioquia, pp. 58-68, 2014.
J. Iqbal, S. Heikkilä, and A. Halme, "Tether tracking and control of ROSA robotic rover," 10th IEEE International Conference on Control, Automation, Robotics and Vision, 2008, pp. 689-693. DOI: https://doi.org/10.1109/ICARCV.2008.4795601
J. Iqbal, R. U. Nabi, A. A. Khan, and H. Khan, "A novel trackdrive mobile robotic framework for conducting projects on robotics and control systems," Life Science Journal, vol. 10, pp. 130-137, 2013.
K. Baizid, R. Chellali, R. Yousnadj, A. Meddahi, J. Iqbal, and T. Bentaleb, "Modelling of robotized site and simulation of robots optimum placement and orientation zone," 21st IASTED International Conference on Modelling and Simulation, 2010, pp. 9-16.
K. Baizid, A. Yousnadj, A. Meddahi, R. Chellali, and J. Iqbal, "Time scheduling and optimization of industrial robotized tasks based on genetic algorithms," Robotics and Computer-Integrated Manufacturing, vol. 34, pp. 140-150, 2015. DOI: https://doi.org/10.1016/j.rcim.2014.12.003
K. Baizid, A. Meddahi, A. Yousnadj, R. Chellali, H. Khan, and J. Iqbal, "Robotized task time scheduling and optimization based on Genetic Algorithms for non redundant industrial manipulators," IEEE International Symposium on Robotic and Sensors Environments, 2014, pp. 112-117. DOI: https://doi.org/10.1109/ROSE.2014.6953033
A. M. Tahir and J. Iqbal, "Underwater robotic vehicles: Latest development trends and potential challenges," Science International, vol. 26, 2014.
J. Iqbal, M. Pasha, Riaz-un-Nabi, H. Khan, and J. Iqbal, "Real-time target detection and tracking: A comparative in-depth review of strategies," Life Science Journal, vol. 10, pp. 804-813, 2013.
J. Iqbal, S. M. Pasha, K. Baizid, A. A. Khan, and J. Iqbal, "Computer vision inspired real-time autonomous moving target detection, tracking and locking," Life Science Journal, vol. 10, pp. 3338-3345, 2013.
S. A. Ajwad and J. Iqbal, "Recent advances and applications of tethered robotic systems," Science International, vol. 26, pp. 2045- 2051, 2014.
J. Iqbal, N. Tsagarakis, and D. Caldwell, "Design optimization of a hand exoskeleton rehabilitation device," Proceedings of RSS workshop on understanding the human hand for advancing robotic manipulation, 2009, pp. 44-45.
J. Iqbal, N. Tsagarakis, and D. Caldwell, "Human hand compatible underactuated exoskeleton robotic system," Electronics Letters, vol. 50, pp. 494-496, 2014. DOI: https://doi.org/10.1049/el.2014.0508
J. Iqbal, N. Tsagarakis, A. E. Fiorilla, and D. Caldwell, "Design requirements of a hand exoskeleton robotic device," 14th IASTED International Conference on Robotics and Applications, 2009, pp. 44-51.
I. Muhammad, K. Ali, J. Iqbal, and A. R. Raja, "Regulation of hypnosis in Propofol anesthesia administration based on non-linear control strategy," Brazilian Journal of Anesthesiology, vol. 67, pp. 122-130, 2017. DOI: https://doi.org/10.1016/j.bjane.2015.08.011
A. A. Khan, R. U. Nabi, and J. Iqbal, "Surface estimation of a pedestrian walk for outdoor use of power wheelchair based robot,"Life Science Journal, vol. 10, pp. 1697-1704, 2013.
M. I. Ullah, S. A. Ajwad, M. Irfan, and J. Iqbal, "Non-linear control law for articulated serial manipulators: Simulation augmented with hardware implementation," Elektronika ir Elektrotechnika, vol. 22, pp. 3-7, 2016. DOI: https://doi.org/10.5755/j01.eee.22.1.14094
O. Ahmad, I. Ullah, and J. Iqbal, "A multi-robot educational and research framework," International Journal of Academic Research, vol. 6, pp. 217-222, 2014. DOI: https://doi.org/10.7813/2075-4124.2014/6-2/A.32
M. Zohaib, S. M. Pasha, N. Javaid, A. Salaam, and J. Iqbal, "An improved algorithm for collision avoidance in environments having U and H shaped obstacles," Studies in Informatics and Control, vol. 23, pp. 97-106, 2014. DOI: https://doi.org/10.24846/v23i1y201410
M. Zohaib, S. M. Pasha, H. Bushra, K. Hassan, and J. Iqbal, "Addressing collision avoidance and nonholonomic constraints of a wheeled robot: Modeling and simulation," International Conference on Robotics and Emerging Allied Technologies in Engineering, 2014, pp. 306-311. DOI: https://doi.org/10.1109/iCREATE.2014.6828385
R. U. Nabi, J. Iqbal, H. Khan, and R. Chellali, "A unified SLAM solution using partial 3D structure," Elektronika ir Elektrotechnika, vol. 20, pp. 3-8, 2014. DOI: https://doi.org/10.5755/j01.eee.20.9.8707
M. Zohaib, S. M. Pasha, N. Javaid, and J. Iqbal, "IBA: Intelligent Bug Algorithm – A novel strategy to navigate mobile robots autonomously," Emerging Trends and Applications in Information Communication Technologies, Communications in Computer and Information Science, Springer-Verlag Berlin Heidelberg ed, 2013, pp. 291-299. DOI: https://doi.org/10.1007/978-3-319-10987-9_27
A. H. Arif, M. Waqas, U. ur Rahman, S. Anwar, A. Malik, and J. Iqbal, "A hybrid humanoid-wheeled mobile robotic educational platform – Design and prototyping," Indian Journal of Science and Technology, vol. 7, pp. 2140-2148, 2015. DOI: https://doi.org/10.17485/ijst/2014/v7i12.24
H. Khan, J. Iqbal, K. Baizid, and T. Zielinska, "Longitudinal and lateral slip control of autonomous wheeled mobile robot for trajectory tracking," Frontiers of Information Technology and Electronic Engineering, vol. 16, pp. 166-172, 2015. DOI: https://doi.org/10.1631/FITEE.1400183
S. A. Ajwad, U. Iqbal, and J. Iqbal, "Hardware realization and PID control of multi-degree of freedom articulated robotic arm," Mehran University Research Journal of Engineering and Technology, vol. 34, pp. 1-12, 2015.
U. Iqbal, A. Samad, Z. Nissa, and J. Iqbal, "Embedded control system for AUTAREP – A novel AUTonomous Articulated Robotic Educational Platform," Tehniþki vjesnik - Technical Gazette, vol. 21, pp. 1255-1261, 2014.
J. Iqbal, M. I. Ullah, A. A. Khan, and M. Irfan, "Towards sophisticated control of robotic manipulators: An experimental study on a pseudo-industrial arm," Strojniški vestnik-Journal of Mechanical Engineering, vol. 61, pp. 465-470, 2015. DOI: https://doi.org/10.5545/sv-jme.2015.2511
S. A. Ajwad, J. Iqbal, A. A. Khan, and A. Medmood, Disturbance observer based robust control of a serial link robotic manipulator using SMC and PBC techniques”, Studies in Informatics and Control vol. 24, pp. 401-408, 2015. DOI: https://doi.org/10.24846/v24i4y201504
S. A. Ajwad, M. I. Ullah, R. U. Islam, and J. Iqbal, Modeling robotic arms-A review and derivation of screw theory based kinematics”,International Conference on Engineering & Emerging Technologies 2014, pp. 66-69.
Quanser. (10-3-2016). Quanser rotary Flexible joint. Available: http: // www. quanser.com / products /rotary_flexible_joint.
M. H. Korayem, and H. Gariblu, “Maximum Allowable Load on Wheeled Mobile Manipulators Imposing Redundancy Constrains”, Robotics and Autonomous Systems, No. 44, pp. 151-159, 2003. DOI: https://doi.org/10.1016/S0921-8890(03)00043-5
M. H. Korayem, A. M. Shafei, and S. F. Dehkordi, “Systematic Modeling of a Chain of NFlexible Link Manipulators Connected by Revolute-Prismatic Joints Using Recursive GibbsAppell Formulation”, Archive of Applied Mechanics, Vol. 84, No. 2, pp. 187-206, 2014. DOI: https://doi.org/10.1007/s00419-013-0793-y
M. H. Korayem, Shafei, B. Kadkhodaei, F. Absalan, A. Azimi, and M. Doosthoseini, “Theoretical and Experimental Investigation of N-Viscoelastic Robotic Manipulators with Motors at the Joints using Timoshenko Beam Theory and Gibbs-Appell Formulation”, Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics, Vol. 230, No. 1, pp.37-51, 2016. DOI: https://doi.org/10.1177/1464419315574406
A. H. Korayem, S. Rafee, and M. H. Korayem, “Sliding mode control design based on the state-dependent Riccati equation: theoretical and experimental robotic implementation”, International Journal of Control, pp. 2136-2149, Vol. 92 - Issue 9, 2019. DOI: https://doi.org/10.1080/00207179.2018.1428769
Hafiz Muhammad Wahaj Aziz, Jamshed Iqbal, “Flexible joint robotic manipulator: Modeling and design of robust control law”, Published in: 2016 2nd International Conference on Robotics and Artificial Intelligence (ICRAI), DOI: 10.1109 / ICRAI. 2016. 7791230, Publisher: IEEE DOI: https://doi.org/10.1109/ICRAI.2016.7791230
How to Cite
Copyright (c) 2023 EAI Endorsed Transactions on Context-aware Systems and Applications
This work is licensed under a Creative Commons Attribution 3.0 Unported License.
This is an open-access article distributed under the terms of the Creative Commons Attribution CC BY 3.0 license, which permits unlimited use, distribution, and reproduction in any medium so long as the original work is properly cited.