The following information was submitted:
Transactions: INTERNATIONAL JOURNAL of MECHANICS
Transactions ID Number: 17-278
Full Name: Yaser Maddahi
Position: Ph.D. Candidate
Age: ON
Sex: Male
Address: E1-322, EITC Building, The University of Manitoba, Winnipeg. MB
Country: CANADA
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E-mail address: ummaddah@cc.umanitoba.ca
Other E-mails: maddahi.yaser@gmail.com
Title of the Paper: Service Robots Assisting Human: Designing, Prototyping and Experimental Validation
Authors as they appear in the Paper: Y. Maddahi, S. M. Hosseini Monsef, A. Maddahi, R. Kalvandi
Email addresses of all the authors:
Number of paper pages: 8
Abstract: This paper addresses the design, prototyping and experimental validation of two different types of wheeled mobile machine, employed as service robots to assist the human. The focus is on the explanation of modeling and design procedure as well as the optimization of robot positioning during the motion along some given and unseen trajectories. Using the coordination defined for mobile robots, the equations of motion are firstly derived and then the simulation study is carried out. Using the simulation results, the robots are prototyped. Next, to overcome the positioning errors, the mobile robots are tested and moved along some given paths. The position error consists of systematic and non-systematic errors. As pointed out, the systematic errors are modified and reduced using benchmark method where the absolute measurements of errors are compared with the desired posture of robots. Specifically, the results derived from experimental analyses concede that in the mean !
error improvement was at least 83% in both CW and CCW directions. The procedure explained in this paper should therefore be considered seriously as a new tool to design the wheeled mobile robots.
Keywords: Design process, Service robot, Differential drive mechanism, Experimental validation.
EXTENSION of the file: .pdf
Special (Invited) Session: Service Robots: Design and Construction
Organizer of the Session: 303-192
How Did you learn about congress: Dr. Amin Yazdanpanah Goharrizi (amin.yazdanpanah@sri.utoronto.ca) and Dr. Mohammad Reza Emami (mohammad-reza.emami@uqac.ca)
IP ADDRESS: 174.5.117.22
