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Proceedings Papers

Inverse Kinematic Analysis of Muscular Hydrostat Inspired Soft Robot With Chain-Like Optimization With an Embedded Controller

Amir Hosein Zamanian, Edmond Richer
Proc. ASME. DSCC2020, Volume 1: Adaptive/Intelligent Sys. Control; Driver Assistance/Autonomous Tech.; Control Design Methods; Nonlinear Control; Robotics; Assistive/Rehabilitation Devices; Biomedical/Neural Systems; Building Energy Systems; Connected Vehicle Systems; Control/Estimation of Energy Systems; Control Apps.; Smart Buildings/Microgrids; Education; Human-Robot Systems; Soft Mechatronics/Robotic Components/Systems; Energy/Power Systems; Energy Storage; Estimation/Identification; Vehicle Efficiency/Emissions, V001T06A002, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3247
https://doi.org/10.1115/DSCC2020-3247
View Paper titled, Inverse Kinematic Analysis of Muscular Hydrostat Inspired Soft Robot With Chain-Like Optimization With an Embedded Controller
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Topics: Chain, Control equipment, Kinematic analysis, Optimization, Robots, Algorithms, Kinematics, End effectors, Errors, Simulation results
Proceedings Papers

Effect of Manipulator’s Joints Flexibility on the Positioning Precision of the End-Effector of the UVMS

Umer Hameed Shah, Mansour Karkoub, Hong-Du Wang, Deniz Kerimoglu
Proc. ASME. DSCC2019, Volume 1: Advanced Driver Assistance and Autonomous Technologies; Advances in Control Design Methods; Advances in Robotics; Automotive Systems; Design, Modeling, Analysis, and Control of Assistive and Rehabilitation Devices; Diagnostics and Detection; Dynamics and Control of Human-Robot Systems; Energy Optimization for Intelligent Vehicle Systems; Estimation and Identification; Manufacturing, V001T03A008, October 8–11, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-9077
https://doi.org/10.1115/DSCC2019-9077
View Paper titled, Effect of Manipulator’s Joints Flexibility on the Positioning Precision of the End-Effector of the UVMS
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Topics: End effectors, Manipulators, Vortex-induced vibration, Drilling, Dynamics (Mechanics), Engineering simulation, Equations of motion, Fluid-dynamic forces, Grasping, Simulation
Proceedings Papers

Adaptive Control of Large-Scale Soft Robot Manipulators With Unknown Payloads

Jonathan S. Terry, Justin Whitaker, Randal W. Beard, Marc D. Killpack
Proc. ASME. DSCC2019, Volume 3, Rapid Fire Interactive Presentations: Advances in Control Systems; Advances in Robotics and Mechatronics; Automotive and Transportation Systems; Motion Planning and Trajectory Tracking; Soft Mechatronic Actuators and Sensors; Unmanned Ground and Aerial Vehicles, V003T20A003, October 8–11, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-9037
https://doi.org/10.1115/DSCC2019-9037
View Paper titled, Adaptive Control of Large-Scale Soft Robot Manipulators With Unknown Payloads
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Topics: Adaptive control, Manipulators, Control equipment, Robots, Degrees of freedom, End effectors, Nonlinear dynamics, Pneumatic actuators, Predictive control, System dynamics
Proceedings Papers

Geometric Trajectory Planning for Robot Motion Over a 3D Surface

Bashir Hosseini Jafari, Nolan Walker, Ronald Smaldone, Nicholas Gans
Proc. ASME. DSCC2019, Volume 3, Rapid Fire Interactive Presentations: Advances in Control Systems; Advances in Robotics and Mechatronics; Automotive and Transportation Systems; Motion Planning and Trajectory Tracking; Soft Mechatronic Actuators and Sensors; Unmanned Ground and Aerial Vehicles, V003T19A006, October 8–11, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-9063
https://doi.org/10.1115/DSCC2019-9063
View Paper titled, Geometric Trajectory Planning for Robot Motion Over a 3D Surface
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Topics: Robot motion, Trajectories (Physics), Printing, Design, End effectors, Engineering simulation, Mobile robots, Optimization, Path planning, Simulation
Proceedings Papers

End-Effector Stabilization of a Wearable Robotic Arm Using Time Series Modeling of Human Disturbances

Vighnesh Vatsal, Guy Hoffman
Proc. ASME. DSCC2019, Volume 1: Advanced Driver Assistance and Autonomous Technologies; Advances in Control Design Methods; Advances in Robotics; Automotive Systems; Design, Modeling, Analysis, and Control of Assistive and Rehabilitation Devices; Diagnostics and Detection; Dynamics and Control of Human-Robot Systems; Energy Optimization for Intelligent Vehicle Systems; Estimation and Identification; Manufacturing, V001T05A001, October 8–11, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-8985
https://doi.org/10.1115/DSCC2019-8985
View Paper titled, End-Effector Stabilization of a Wearable Robotic Arm Using Time Series Modeling of Human Disturbances
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Topics: End effectors, Modeling, Robotics, Time series, Delays, Feedback, Actuators, Errors, Manufacturing, Robots
Proceedings Papers

Sliding Mode Control of Low Cost Pressure Sensor Calibration Device

Chang-Hwan Lee, Deukhwan Ahn, Sunghoon Kim, Kwan-Woong Gwak
Proc. ASME. DSCC2018, Volume 2: Control and Optimization of Connected and Automated Ground Vehicles; Dynamic Systems and Control Education; Dynamics and Control of Renewable Energy Systems; Energy Harvesting; Energy Systems; Estimation and Identification; Intelligent Transportation and Vehicles; Manufacturing; Mechatronics; Modeling and Control of IC Engines and Aftertreatment Systems; Modeling and Control of IC Engines and Powertrain Systems; Modeling and Management of Power Systems, V002T24A002, September 30–October 3, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2018-9033
https://doi.org/10.1115/DSCC2018-9033
View Paper titled, Sliding Mode Control of Low Cost Pressure Sensor Calibration Device
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Topics: Calibration, Pressure sensors, Sliding mode control, Control equipment, Force control, Stress, Creep, Design, Dynamic models, End effectors
Proceedings Papers

Stiffness Control of Parallel Continuum Robots

Vincent Aloi, Caroline Black, Caleb Rucker
Proc. ASME. DSCC2018, Volume 1: Advances in Control Design Methods; Advances in Nonlinear Control; Advances in Robotics; Assistive and Rehabilitation Robotics; Automotive Dynamics and Emerging Powertrain Technologies; Automotive Systems; Bio Engineering Applications; Bio-Mechatronics and Physical Human Robot Interaction; Biomedical and Neural Systems; Biomedical and Neural Systems Modeling, Diagnostics, and Healthcare, V001T04A012, September 30–October 3, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2018-9112
https://doi.org/10.1115/DSCC2018-9112
View Paper titled, Stiffness Control of Parallel Continuum Robots
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Topics: Robots, Stiffness, Actuators, Calibration, End effectors, Force measurement, Human-robot interaction, Modeling, Position control, Robotics
Proceedings Papers

Virtual Motion Camouflage Based Visual Servo Control of a Leaf Picking Mechanism

Sinem Gozde Defterli, Yunjun Xu
Proc. ASME. DSCC2018, Volume 3: Modeling and Validation; Multi-Agent and Networked Systems; Path Planning and Motion Control; Tracking Control Systems; Unmanned Aerial Vehicles (UAVs) and Application; Unmanned Ground and Aerial Vehicles; Vibration in Mechanical Systems; Vibrations and Control of Systems; Vibrations: Modeling, Analysis, and Control, V003T32A007, September 30–October 3, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2018-9042
https://doi.org/10.1115/DSCC2018-9042
View Paper titled, Virtual Motion Camouflage Based Visual Servo Control of a Leaf Picking Mechanism
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Topics: Algorithms, Biomimetics, Diseases, End effectors, Engineering simulation, Hardware, Kinematics, Optimization, Risk, Robots
Proceedings Papers

Experimental and Novel Analytical Trajectory Optimization of a 7-DOF Baxter Robot: Global Design Sensitivity and Step Size Analyses

Mostafa Bagheri, Peiman Naseradinmousavi, Rasha Morsi
Proc. ASME. DSCC2017, Volume 1: Aerospace Applications; Advances in Control Design Methods; Bio Engineering Applications; Advances in Non-Linear Control; Adaptive and Intelligent Systems Control; Advances in Wind Energy Systems; Advances in Robotics; Assistive and Rehabilitation Robotics; Biomedical and Neural Systems Modeling, Diagnostics, and Control; Bio-Mechatronics and Physical Human Robot; Advanced Driver Assistance Systems and Autonomous Vehicles; Automotive Systems, V001T30A001, October 11–13, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2017-5004
https://doi.org/10.1115/DSCC2017-5004
View Paper titled, Experimental and Novel Analytical Trajectory Optimization of a 7-DOF Baxter Robot: Global Design Sensitivity and Step Size Analyses
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Topics: Design, Optimization, Robots, Trajectories (Physics), Manipulators, Algorithms, Collisions (Physics), Cycles, Design sensitivity analysis, End effectors
Proceedings Papers

Trajectory Tracking Control for a Robotic Manipulator Using Nonlinear Active Disturbance Rejection Control

Mohammed Ali, Charles K. Alexander
Proc. ASME. DSCC2017, Volume 2: Mechatronics; Estimation and Identification; Uncertain Systems and Robustness; Path Planning and Motion Control; Tracking Control Systems; Multi-Agent and Networked Systems; Manufacturing; Intelligent Transportation and Vehicles; Sensors and Actuators; Diagnostics and Detection; Unmanned, Ground and Surface Robotics; Motion and Vibration Control Applications, V002T12A002, October 11–13, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2017-5088
https://doi.org/10.1115/DSCC2017-5088
View Paper titled, Trajectory Tracking Control for a Robotic Manipulator Using Nonlinear Active Disturbance Rejection Control
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Topics: Manipulators, Tracking control, Trajectories (Physics), Dynamics (Mechanics), End effectors, Energy consumption, Engineering simulation, Robustness, Signals, Simulation
Proceedings Papers

Modeling and Control of a Cable-Driven Robot for Inspection of Wide-Area Horizontal Workspaces

Forrest Montgomery, Joshua Vaughan
Proc. ASME. DSCC2016, Volume 2: Mechatronics; Mechatronics and Controls in Advanced Manufacturing; Modeling and Control of Automotive Systems and Combustion Engines; Modeling and Validation; Motion and Vibration Control Applications; Multi-Agent and Networked Systems; Path Planning and Motion Control; Robot Manipulators; Sensors and Actuators; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamic Controls; Vehicle Dynamics and Traffic Control, V002T22A002, October 12–14, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2016-9678
https://doi.org/10.1115/DSCC2016-9678
View Paper titled, Modeling and Control of a Cable-Driven Robot for Inspection of Wide-Area Horizontal Workspaces
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Topics: Cables, Control modeling, Inspection, Robots, End effectors, Dynamics (Mechanics), Manipulators, Control systems, Damping, Design
Proceedings Papers

A Modular 2-DOF Serial Robot Manipulator for Education in Robot Control

Stephen Mascaro
Proc. ASME. DSCC2016, Volume 2: Mechatronics; Mechatronics and Controls in Advanced Manufacturing; Modeling and Control of Automotive Systems and Combustion Engines; Modeling and Validation; Motion and Vibration Control Applications; Multi-Agent and Networked Systems; Path Planning and Motion Control; Robot Manipulators; Sensors and Actuators; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamic Controls; Vehicle Dynamics and Traffic Control, V002T25A002, October 12–14, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2016-9878
https://doi.org/10.1115/DSCC2016-9878
View Paper titled, A Modular 2-DOF Serial Robot Manipulator for Education in Robot Control
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Topics: Education, Manipulators, Robots, Adaptive control, Architecture, Computer software, Dynamics (Mechanics), End effectors, Feedforward control, Force control
Proceedings Papers

A Task-Level Iterative Learning Control Algorithm for Accurate Tracking in Manipulators With Modeling Errors and Stringent Joint Position Limits

Pranav A. Bhounsule, Abhishek A. Bapat, Katsu Yamane
Proc. ASME. DSCC2016, Volume 2: Mechatronics; Mechatronics and Controls in Advanced Manufacturing; Modeling and Control of Automotive Systems and Combustion Engines; Modeling and Validation; Motion and Vibration Control Applications; Multi-Agent and Networked Systems; Path Planning and Motion Control; Robot Manipulators; Sensors and Actuators; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamic Controls; Vehicle Dynamics and Traffic Control, V002T27A002, October 12–14, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2016-9759
https://doi.org/10.1115/DSCC2016-9759
View Paper titled, A Task-Level Iterative Learning Control Algorithm for Accurate Tracking in Manipulators With Modeling Errors and Stringent Joint Position Limits
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Topics: Algorithms, Errors, Iterative learning control, Manipulators, Modeling, End effectors, Kinematics, Robots, Redundancy (Engineering), Stability
Proceedings Papers

Force Analysis and Modelling of Soft Actuators for Catheter Robots

Mark Gilbertson, Darrin Beekman, Biswaranjan Mohanty, Saeed Hashemi, Sangyoon Lee, James D. Van de Ven, Timothy M. Kowalewski
Proc. ASME. DSCC2016, Volume 2: Mechatronics; Mechatronics and Controls in Advanced Manufacturing; Modeling and Control of Automotive Systems and Combustion Engines; Modeling and Validation; Motion and Vibration Control Applications; Multi-Agent and Networked Systems; Path Planning and Motion Control; Robot Manipulators; Sensors and Actuators; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamic Controls; Vehicle Dynamics and Traffic Control, V002T25A005, October 12–14, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2016-9914
https://doi.org/10.1115/DSCC2016-9914
View Paper titled, Force Analysis and Modelling of Soft Actuators for Catheter Robots
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Topics: Actuators, Catheters, Modeling, Robots, Robotics, End effectors, Force control, Blood vessels, Dynamic systems, Errors
Proceedings Papers

Wireless Temperature Sensing Using Permanent Magnets for Multiple Points Undergoing Repeatable Motions

Yi Chen, Oksana Guba, Carlton F. Brooks, Christine C. Roberts, Bart G. van Bloemen Waanders, Martin B. Nemer
Proc. ASME. DSCC2016, Volume 2: Mechatronics; Mechatronics and Controls in Advanced Manufacturing; Modeling and Control of Automotive Systems and Combustion Engines; Modeling and Validation; Motion and Vibration Control Applications; Multi-Agent and Networked Systems; Path Planning and Motion Control; Robot Manipulators; Sensors and Actuators; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamic Controls; Vehicle Dynamics and Traffic Control, V002T26A001, October 12–14, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2016-9663
https://doi.org/10.1115/DSCC2016-9663
View Paper titled, Wireless Temperature Sensing Using Permanent Magnets for Multiple Points Undergoing Repeatable Motions
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Topics: Permanent magnets, Temperature, Magnets, Bearings, Boron, Cables, Calibration, Dynamic systems, End effectors, Iron
Proceedings Papers

Coordinated Rate Control of a Hydraulic Excavator Using Traditional Joystick Hardware

Samuel F. Seifert, Wayne J. Book
Proc. ASME. DSCC2015, Volume 3: Multiagent Network Systems; Natural Gas and Heat Exchangers; Path Planning and Motion Control; Powertrain Systems; Rehab Robotics; Robot Manipulators; Rollover Prevention (AVS); Sensors and Actuators; Time Delay Systems; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamics Control; Vibration and Control of Smart Structures/Mech Systems; Vibration Issues in Mechanical Systems, V003T45A004, October 28–30, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2015-9923
https://doi.org/10.1115/DSCC2015-9923
View Paper titled, Coordinated Rate Control of a Hydraulic Excavator Using Traditional Joystick Hardware
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Topics: Hardware, Trenching machinery, User interfaces, End effectors, Preferences, Dynamics (Mechanics), Errors, Stress
Proceedings Papers

Algorithmic Optimization of Inverse Kinematics Tables for High Degree-of-Freedom Limbs

Katie Byl, Marten Byl, Brian Satzinger
Proc. ASME. DSCC2014, Volume 1: Active Control of Aerospace Structure; Motion Control; Aerospace Control; Assistive Robotic Systems; Bio-Inspired Systems; Biomedical/Bioengineering Applications; Building Energy Systems; Condition Based Monitoring; Control Design for Drilling Automation; Control of Ground Vehicles, Manipulators, Mechatronic Systems; Controls for Manufacturing; Distributed Control; Dynamic Modeling for Vehicle Systems; Dynamics and Control of Mobile and Locomotion Robots; Electrochemical Energy Systems, V001T04A005, October 22–24, 2014
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2014-6201
https://doi.org/10.1115/DSCC2014-6201
View Paper titled, Algorithmic Optimization of Inverse Kinematics Tables for High Degree-of-Freedom Limbs
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Topics: Degrees of freedom, Kinematics, Optimization, Robots, End effectors, Algorithms, Jet propulsion, Redundancy (Engineering), Robotics, Yaw
Proceedings Papers

Towards a Robotic Hand Rehabilitation Exoskeleton for Stroke Therapy

Yeongjin Kim, Shing Shin Cheng, Aleksandrs Ecins, Cornelia Fermüller, Kelly P. Westlake, Jaydev P. Desai
Proc. ASME. DSCC2014, Volume 1: Active Control of Aerospace Structure; Motion Control; Aerospace Control; Assistive Robotic Systems; Bio-Inspired Systems; Biomedical/Bioengineering Applications; Building Energy Systems; Condition Based Monitoring; Control Design for Drilling Automation; Control of Ground Vehicles, Manipulators, Mechatronic Systems; Controls for Manufacturing; Distributed Control; Dynamic Modeling for Vehicle Systems; Dynamics and Control of Mobile and Locomotion Robots; Electrochemical Energy Systems, V001T04A006, October 22–24, 2014
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2014-6215
https://doi.org/10.1115/DSCC2014-6215
View Paper titled, Towards a Robotic Hand Rehabilitation Exoskeleton for Stroke Therapy
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Topics: End effectors, Exoskeleton devices, Patient treatment, Springs, Actuators, Cooling, Grasping, Design, Engines, Motors
Proceedings Papers

An Extended Kalman Filter for Collision Detection During Manipulator Contact Tasks

Andy Zelenak, Mitch Pryor, Kyle Schroeder
Proc. ASME. DSCC2014, Volume 1: Active Control of Aerospace Structure; Motion Control; Aerospace Control; Assistive Robotic Systems; Bio-Inspired Systems; Biomedical/Bioengineering Applications; Building Energy Systems; Condition Based Monitoring; Control Design for Drilling Automation; Control of Ground Vehicles, Manipulators, Mechatronic Systems; Controls for Manufacturing; Distributed Control; Dynamic Modeling for Vehicle Systems; Dynamics and Control of Mobile and Locomotion Robots; Electrochemical Energy Systems, V001T11A005, October 22–24, 2014
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2014-6330
https://doi.org/10.1115/DSCC2014-6330
View Paper titled, An Extended Kalman Filter for Collision Detection During Manipulator Contact Tasks
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Topics: Collisions (Physics), Kalman filters, Manipulators, Robots, Torque, Dynamic models, Algorithms, Computer software, End effectors, Force feedback
Proceedings Papers

An Education-Oriented Robotic Anthropomorphic Hand System

Molei Wu, Alexander Kandra, Xiangrong Shen
Proc. ASME. DSCC2014, Volume 1: Active Control of Aerospace Structure; Motion Control; Aerospace Control; Assistive Robotic Systems; Bio-Inspired Systems; Biomedical/Bioengineering Applications; Building Energy Systems; Condition Based Monitoring; Control Design for Drilling Automation; Control of Ground Vehicles, Manipulators, Mechatronic Systems; Controls for Manufacturing; Distributed Control; Dynamic Modeling for Vehicle Systems; Dynamics and Control of Mobile and Locomotion Robots; Electrochemical Energy Systems, V001T02A002, October 22–24, 2014
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2014-5962
https://doi.org/10.1115/DSCC2014-5962
View Paper titled, An Education-Oriented Robotic Anthropomorphic Hand System
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Topics: Education, Robotics, End effectors, Actuators, Degrees of freedom, Engineering education, Mechanical admittance, Muscle, Tendons