Robotic Arm Movement Optimization Using Soft Computing

2017 ◽  
Vol 6 (1) ◽  
pp. 1
Author(s):  
Surender Kumar ◽  
Kavita Rani ◽  
V. K. Banga
Keyword(s):  
Optimal Control ◽  
Genetic Algorithms ◽  
Soft Computing ◽  
Target Position ◽  
Arm Movement ◽  
Degree Of Freedom ◽  
Robotic Arm ◽  
Robot Arm ◽  
Soft Computing Techniques ◽  
Simulation Time

<p class="Text">Robots are commonly used in industries due to their versatility and efficiency. Most of them operating in that stage of the manufacturing process where the maximum of robot arm movement is utilized. Therefore, the robots arm movement optimization by using several techniques is a main focus for many researchers as well as manufacturer. The robot arm optimization is This paper proposes an approach to optimal control for movement and trajectory planning of a various degree of freedom in robot using soft computing techniques. Also evaluated and show comparative analysis of various degree of freedom in robotic arm to compensate the uncertainties like movement, friction and settling time in robotic arm movement. Before optimization, requires to understand the robot's arm movement i.e. its kinematics behavior. With the help of genetic algorithms and the model joints, the robotic arm movement is optimized. The results of robotic arm movement is optimal at all possible input values, reaches the target position within the simulation time.</p>

scholarly journals Applicability of Cellular Automata in Cryptanalysis

Cryptography ◽  
2020 ◽  
pp. 180-191
Author(s):  
Harsh Bhasin ◽  
Naved Alam
Keyword(s):  
Genetic Algorithm ◽  
Genetic Algorithms ◽  
Cellular Automata ◽  
Literature Review ◽  
Soft Computing ◽  
Search Problem ◽  
Extensive Literature ◽  
Soft Computing Techniques ◽  
A New Technique ◽  
The Given

Cryptanalysis refers to finding the plaintext from the given cipher text. The problem reduces to finding the correct key from a set of possible keys, which is basically a search problem. Many researchers have put in a lot of effort to accomplish this task. Most of the efforts used conventional techniques. However, soft computing techniques like Genetic Algorithms are generally good in optimized search, though the applicability of such techniques to cryptanalysis is still a contentious point. This work carries out an extensive literature review of the cryptanalysis techniques, finds the gaps there in, in order to put the proposed technique in the perspective. The work also finds the applicability of Cellular Automata in cryptanalysis. A new technique has been proposed and verified for texts of around 1000 words. Each text is encrypted 10 times and then decrypted using the proposed technique. The work has also been compared with that employing Genetic Algorithm. The experiments carried out prove the veracity of the technique and paves way of Cellular automata in cryptanalysis. The paper also discusses the future scope of the work.

Motion-Assist Arm with a Passive Joint for an Upper Limb

2020 ◽  
Vol 32 (1) ◽  
pp. 183-198
Author(s):  
Hiroaki Kozuka ◽  
Daisaku Uchijima ◽  
Hiroshi Tachiya ◽  
◽  
Keyword(s):  
Upper Limb ◽  
Control Method ◽  
Degree Of Freedom ◽  
Robotic Arm ◽  
Robot Arm ◽  
Passive Joint ◽  
Target Path ◽  
Three Degree Of Freedom ◽  
Actuated Joints ◽  
Human Upper Limb

This study proposes a motion-assist arm that can accurately support the positioning of a human upper limb. The motion-assist arm is a three-degree-of-freedom (DOF) planer under-actuated robotic arm with a 1-DOF passive joint that can be driven by an human. A control method for the robot arm is as follows. First, when the human moves an output point of the arm manually, the passive joint is rotated with the movement of the output point. Then, for accurate positioning of the output point on a target path, the actuated joints are controlled according to the displacement of the passive joint. Based on the above method, the human can adjust the velocity of the output point deliberately while its position is accurately corrected by the actuated joints. To confirm its effectiveness, the authors conducted tests to assist the human’s upper limb movement along straight target paths, a square path, and free curves paths such as italic letters with the proposed robot arm prototype. From the results of the tests, the authors confirmed that the proposed robot arm can accurately position the upper limb of the human on the target paths while the human intentionally moves the upper limb. It is expected that the proposed arm will be used for rehabilitation because it can aid patients to move their arms correctly. In addition, the proposed arm will enable any human to achieve complex work easily.

Pneumatic Artificial Muscle Development and Manufacturing Process and Verification Testing for Space Flight Application

2019 ◽  
Author(s):  
Christopher J. Netwall ◽  
James P. Thomas ◽  
Michael S. Kubista ◽  
Kerry A. Griffith ◽  
Christopher Kindle ◽  
...  
Keyword(s):  
Space Flight ◽  
Muscle Development ◽  
Performance Metrics ◽  
Artificial Muscle ◽  
Degree Of Freedom ◽  
Robotic Arm ◽  
Naval Research ◽  
Pneumatic Artificial Muscle ◽  
Robot Arm ◽  
Space Applications

Abstract The U.S. Naval Research Laboratory (NRL) has been developing a space-rated 7 degree of freedom (DOF) robot arm with a high payload-to-mass ratio as an alternative design to motor-gear driven robotic manipulators. The robot arm employs antagonistic pairs of pneumatic artificial muscle (PAM) actuators to control each degree-of-freedom (DOF) to achieve large force outputs relative to the PAM component masses. A novel feature of the NRL PAM actuator was the integration of the pneumatic control components inside the pressure-bladder, which not only reduces the volume of the robotic arm hardware but also reduces the pressurized-gas actuation volume in the PAM enabling significant reductions in gas consumption during actuation. This multifunctional design enables reductions in launch-weight costs and increases in operational endurance for space applications. The integration of these PAMs into a well-designed robotic-arm structure, in tandem with a newly developed control algorithm, has the potential to exceed the performance metrics of traditional motor-driven robot arms. This paper describes the development of the improved efficiency PAM design that is advancing this technology towards space flight readiness.

Pneumatic Artificial Muscle Actuators With Integrated Controls for Space Flight Applications

2019 ◽  
Author(s):  
Christopher J. Netwall ◽  
James P. Thomas ◽  
Michael S. Kubista ◽  
Kerry A. Griffith ◽  
Christopher Kindle ◽  
...  
Keyword(s):  
Space Flight ◽  
Performance Metrics ◽  
Artificial Muscle ◽  
Degree Of Freedom ◽  
Robotic Arm ◽  
Naval Research ◽  
Pneumatic Artificial Muscle ◽  
Robot Arm ◽  
Space Applications ◽  
Muscle Actuators

Abstract The U.S. Naval Research Laboratory (NRL) has been developing a space-rated 7 degree of freedom (DOF) robot arm with a high payload-to-mass ratio as an alternative design to motor-gear driven robotic manipulators. The robot arm employs antagonistic pairs of pneumatic artificial muscle (PAM) actuators to control each degree-of-freedom (DOF) to achieve large force outputs relative to the PAM component masses. A novel feature of the NRL PAM actuator was the integration of the pneumatic control components inside the pressure-bladder, which not only reduces the volume of the robotic arm hardware but also reduces the pressurized-gas actuation volume in the PAM enabling significant reductions in gas consumption during actuation. This multifunctional design enables reductions in launch-weight costs and increases in operational endurance for space applications. The integration of these PAMs into a well-designed robotic-arm structure, in tandem with a newly developed control algorithm, has the potential to exceed the performance metrics of traditional motor-driven robot arms. This paper describes the development of the improved efficiency PAM design that is advancing this technology towards space flight readiness.

A Method of Robotic Remote Operation Based on an Electromagnetic Tracking System

2015 ◽  
Vol 734 ◽  
pp. 138-146
Author(s):  
Yuan Yuan Luo ◽  
Si Kan Li ◽  
Dong Xu Li ◽  
Cai Zhi Fan
Keyword(s):  
Tracking System ◽  
Medical Science ◽  
Arm Movement ◽  
Robotic Arm ◽  
Experimental Program ◽  
Signal Acquisition ◽  
Robot Arm ◽  
Electromagnetic Tracking ◽  
Remote Operation ◽  
Electromagnetic Tracking System

Robotic remote operation has become a new research hotspot in many fields, experiments on remote operated manipulator doing surgeries for the patients have been carried out in medical science. This paper takes the manipulator of four degrees of freedom capturing the target object as the study background and comes up with a new method of remote control for a robotic arm based on an electromagnetic tracking system which serves as the signal acquisition device. Thus the arm movement can be the input of the robot arm control loop and guides the motion of the robot arm. Firstly, the paper builds the kinematics model of the experimental robotic arm. Secondly, based on the analysis of human arm structure, the paper proposes an appropriate experimental program. Finally, experiments on remote operation have been carried out, the results of which prove the effectiveness of the method above.

scholarly journals PENGAMBILAN KEPUTUSAN DENGAN TEKNIK SOFT COMPUTING

2016 ◽  
Vol 2 (3) ◽  
Author(s):  
Nopi Ramsari ◽  
Zen Munawar
Keyword(s):  
Genetic Algorithms ◽  
Fuzzy Logic ◽  
Process Control ◽  
Soft Computing ◽  
Control Process ◽  
Good Method ◽  
Case Control ◽  
Added Value ◽  
Control Parameters ◽  
Soft Computing Techniques

[Id]Soft Computing adalah sebuah metode yang baik untuk melakukan pengolahan data. Teknik soft computing telah membawa kemampuan otomatisasi ke aplikasi tingkat baru. pengendalian proses adalah sebuah aplikasi penting dari industri apapun untuk mengendalikan parameter sistem yang kompleks, dengan pengendalian paramater dapat memberikan added value dari kemajuan tersebut. Pada pengendalian konvensional umumnya berdasarkan pada model matematika yang menggambarkan perilaku dinamis dari sistem pengendalian proses. Pada pengendalian konvensional terdapat kekurangan yang dapat dipahami, pengendali konvensional sering kalah dengan pengendali (controllers) cerdas. Teknik soft computing memberikan kemampuan untuk membuat keputusan dan belajar dari data yang dapat diandalkan. Selain itu, teknik soft computing dapat mengatasi dengan berbagai lingkungan dan stabilitas ketidakpastian. Makalah ini membahas berbagai bagian teknik soft computing yaitu. fuzzy logic, algoritma genetika dan hibridisasi dan meringkas hasil kasus pengendalian proses. Hasil kesimpulan diperoleh pengendali soft computing memberikan kontrol yang lebih baik pada kesalahan dibandingkan pengendali konvensional. Selanjutnya, pengendali algoritma genetika hibrida berhasil dioptimalkan.Kata kunci :Fuzzy logic, Algoritma Evolusioner, Algoritma Genetika, Turbin Compressor System[En]Soft Computing is a good method to perform data processing. Soft computing techniques have brought automation capabilities to a new level applications. process control is an important application of any industry to control the parameters of complex systems, the control parameters can provide the added value of such advances. In the conventional control is generally based on a mathematical model that describes the dynamic behavior of the process control system. In the conventional control there are deficiencies that can be understood, conventional controllers are often inferior to the controller intelligent. Soft computing techniques provide the ability to make decisions and learn from reliable data. In addition, soft computing techniques can cope with different environments and stability of uncertainty. This paper discusses the various parts of soft computing techniques viz. fuzzy logic, genetic algorithms and hybridization and summarizes the results of a case control process. The conclusion obtained by controlling soft computing provides better control on the error compared to conventional controllers. Furthermore, genetic algorithms hybrid controllers successfully optimized.Keywords: Fuzzy Logic, Evolutionary Algorithms, Genetic Algorithms, Turbine Compressor System.

Fuzzy Rule Formulation Algorithm for Fuzzy Logic-Based 6-DOF Robot Arm Controller

2018 ◽  
Vol 22 (5) ◽  
pp. 718-724
Author(s):  
Alexander C. Abad ◽  
Dino Dominic F. Ligutan ◽  
Argel A. Bandala ◽  
Elmer P. Dadios ◽  
◽  
...  
Keyword(s):  
Fuzzy Logic ◽  
Fuzzy Logic Controller ◽  
Fuzzy Rule ◽  
Arm Movement ◽  
Robotic Arm ◽  
Robot Arm ◽  
Dynamic Movement ◽  
Actual Response ◽  
Actual Control ◽  
Frictional Effects

A fuzzy logic-based controller with fuzzy rule formulation algorithm on software and actual control for a 6-DOF robotic arm was implemented. A robotic arm with 4-DOF attached a 2-DOF gripper serves as the testing platform. The actual robotic arm was characterized and the parameters are used for the simulator to mimic actual response. The fuzzy logic controller is then implemented to the simulated robotic arm and was then implemented to the actual robotic arm to control its movement. The new features are as follows: (1) Implementation of simulated weight and frictional effects of dynamic robot arm movement, (2) formulation and justification of reduced fuzzy rules for control and (3) addition of a path-partitioning algorithm to further enhance the dynamic movement of the robotic arm.

Two Degree of Freedom Plotter Using Robotic Arm

2015 ◽  
Vol 1115 ◽  
pp. 499-502 ◽  
Author(s):  
Moinul Bhuiyan ◽  
Muhammad Muaz bin Hanafi
Keyword(s):  
User Interface ◽  
Control Mechanism ◽  
Serial Communication ◽  
Degree Of Freedom ◽  
Robotic Arm ◽  
Future Research ◽  
Robot Arm ◽  
End Effector ◽  
System A ◽  
Two Degree Of Freedom

This paper represents a two degree of freedom (DoF) robot arm as a plotter system. A pencil tool is used as the end effector of the robotic arm and experimented in drawing alphabets, for example ‘IIUM’. The control mechanism of the prototype is designed using Arduino controller. A user interface is also designed to send necessary commands to the hardware application board using serial communication cable. Through the experimentation, the movement of each joint of the robotic arm is presented in this paper. The result proves the feasibility of the system which could be improved in future research in drawing complex images.

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