Papers by Farzad Cheraghpour Samavati
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.
The 2nd International Conference on Control, Instrumentation and Automation, 2011
Abstract–In this paper, the Neural Network (NN) Approach is used to find the best point on the ob... more Abstract–In this paper, the Neural Network (NN) Approach is used to find the best point on the object, for executing object manipulation task by a manipulator. The MAG performance index is calculated for some sample points of objects heuristically by MSC. ADAMS and MATLAB co-simulation for the 6DOF Stäubli© TX40 arm. These samples then would be used to train a feed-forward back propagation neural networks. The result is the dynamics model of the robot and the grasped object in which the MAG performance index value is ...
This paper presents a solution to study on singularity of a 6DOF robot, Stäubli © TX40 in details... more This paper presents a solution to study on singularity of a 6DOF robot, Stäubli © TX40 in details and all the corresponding singular directions in task space are clearly identified. To an easy approach to derive singularities, the paper clarifies the total procedure. To do this, kinematic equations are provided. Then jacobian matrix is obtained from kinematic equations. When a manipulator is approaching a singular configuration, a certain degree of freedom will be lost such that there are no feasible solutions of the manipulator to move into this singular direction. It is of high importance to consider singularity conditions to avoid this.
Abstract In this article a robotic gripper with the ability of cylindrical object grasping is des... more Abstract In this article a robotic gripper with the ability of cylindrical object grasping is designed and fabricated. With the increasing use of robotic arms in industry, grasping and holding, as a part of industrial processes, are of great importance. Hence, proper design of ...
Abstract This Paper proposes a compound robotic hand that benefits the features of both underactu... more Abstract This Paper proposes a compound robotic hand that benefits the features of both underactuated and continuous systems. This hand consists of two underactuated tendon-driven fingers and a single section continuous finger. The continuous finger helps to increase the Manipulation capabilities of grasping. Each underactuated finger is composed of three phalanges that are actuated with one tendon with appropriate embedded tendon guide, and the continuous finger is driven by three cables. By pulling the wire using ...
2010 18th Iranian Conference on Electrical Engineering, 2010
Abstract In this paper, a new Multiple Aspect Grasp (MAG) performance index is presented for eval... more Abstract In this paper, a new Multiple Aspect Grasp (MAG) performance index is presented for evaluating grasp quality for object manipulation tasks. The position of contact points, the configuration of cooperative manipulators, and the kinetics aspects of manipulators and the manipulated object are taken into account by the proposed MAG index. The MAG index is used to evaluate the candidate grasp points, selecting the effective branch of inverse kinematics solution, and cooperation of two manipulators. Simulation results reveal ...
2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2009
Abstract In this paper, a new multiple aspect grasp (MAG) performance index is presented for eval... more Abstract In this paper, a new multiple aspect grasp (MAG) performance index is presented for evaluating grasp quality for object manipulation tasks. The position of contact points, the configuration of cooperative manipulators, and the kinetics aspects of manipulators and the manipulated object are taken into account by the proposed MAG index. The MAG index is used to evaluate the candidate grasp points, selecting the effective branch of inverse kinematics solution, and cooperation of two manipulators. Simulation results reveal ...
2011 IEEE International Conference on Mechatronics and Automation, 2011
Abstract Grasp planning is one of the interesting problems in robotic object manipulation. Beside... more Abstract Grasp planning is one of the interesting problems in robotic object manipulation. Besides, evaluation of grasp configuration has an important role in task execution. Therefore the Multi Aspect Grasp (MAG) performance index is defined for evaluating the grasp quality. In this paper, various methods including Particle Swarm Optimization, Genetic Algorithm, and MATLAB optimization toolbox are used to maximize the MAG index for a given task, in order to find the best grasping point. The results of using these methods are compared, in ...
Scientia Iranica, 2011
In this paper, a new Multi-Aspect Grasp (MAG) performance index is presented for evaluating grasp... more In this paper, a new Multi-Aspect Grasp (MAG) performance index is presented for evaluating grasp quality during an object manipulation task. The position of grasp points, the configuration of cooperative manipulators, and the kinetic aspects of manipulating arms and the grasped object are considered in the MAG index. The MAG index is used to evaluate the candidate points to choose the best grasp point and to select the most effective branch of the inverse kinematics solution, with respect to the given task. Simulation results, which are validated with analytical solutions, show the merits of the proposed index. According to these results, the MAG index indicates that in planar object manipulation tasks without rotation, the best grasp point is the object center of the mass, which is physically meaningful.
ABSTRACT: The object manipulation task is one of the important subjects in robotics which is so v... more ABSTRACT: The object manipulation task is one of the important subjects in robotics which is so vastly used in industrial applications. So it is important to find the best grasping point that the manipulator contact with the object. In this paper, the MAG performance index, which has been designed for object manipulation tasks, used for different symmetrical and nonsymmetrical objects. This index takes into account three major factors in object manipulation tasks such as, static condition of manipulator and object, manipulability of ...
Journal of Engineering Faculty, May 1, 2008
Iranian Journal of Mechanical Engineering The Iranian Society of Mechanical Engineers, 2022
In this paper, a gadget for controlling an electric wheelchair (EWC) is designed. The device is d... more In this paper, a gadget for controlling an electric wheelchair (EWC) is designed. The device is designed based on the combination of acceleration sensor data from head rotation, and image processing data from user’s face recognition, for commanding to the EWC. This gadget designed as a wearable device and is developed low cost, safe, and flexible for the patients with spinal cord injuries as well as the elderly with limited hand use. The mechanical design, sensor tuning, and 3Dprinted prototype of the gadget are presented. Finally the result of
experimental test is discussed. Acceleration sensor module and camera and Raspberry Pi board are the core of the gadget. For performance evaluation, several experiments have been performed. The commands sent by the user are divided into four control commands (right, stop, move, left). Forward movement command, is performed by showing a happy expression on the face. The experiments show that the head angle controller and the image processor react to the stop in the shortest time, which indicates that it has a high level of safety.
Background: People who have lost their ability to walk, shake hands or even talk due to brain str... more Background: People who have lost their ability to walk, shake hands or even talk due to brain stroke may revert their ability back to normal or near normal with the assistance of rehabilitation robots. Previous literature reviews of rehabilitation studies have shown that, in most cases, repeated movement of a patient’s member can help restore the function of the injured member in patients, in which, the use of robots can be very effective. Method: The method of this research is the experimental method. The paper aims to investigate the ability of a parallel robot for rehabilitation of injured fingers. The motions of human finger joints for physical therapy purposes has been investigated and been considered as the optimal route of the design process and as the set point of control procedure of robot movements. The proposed robot has been designed with the right choice of kinematic loops, where the robot pursues the optimal path to rehabilitation, and at the same time, does not come i...
2017 Artificial Intelligence and Robotics (IRANOPEN), 2017
Hyper redundant robots due to the highly degrees of freedom (DOFs) are very efficient to utilize ... more Hyper redundant robots due to the highly degrees of freedom (DOFs) are very efficient to utilize in inaccessible environments. In this paper, using ball screw mechanism for the sections of robot as a novel movement method is proposed. Based on the situation locating of the actuators, the robot can be assumed as a serial hyper redundant robot. The robot modeled as 3 sections that result 6 DOFs in SOLIDWORKS and its equations brought in MAPLE software based on the denavit-hartenberg (D-H) parameters. The equations worked in a general form that can be promoted for N DOFs.
In this paper we describe design and manufacturing process of mechanical robotic arm SAAM (seven ... more In this paper we describe design and manufacturing process of mechanical robotic arm SAAM (seven axis anthropomorphic manipulator). The main goal is designing a suitable arm for use as a service robot arm in the home environment. Design is described in the five step: Loading analysis, Stress Analysis), Material Selection, Failure Theory consideration, Safety Factor calculation. All steps calculation are done for each part of the arm. Finally, the process of manufacturing the arm is explained and the real sample of the arm is manufactured.
An optimal grasp planning procedure for cooperative object manipulation by multiple arms, based o... more An optimal grasp planning procedure for cooperative object manipulation by multiple arms, based on genetic algorithm and using Multiple Aspect Grasp (MAG) index is presented in this paper. The MAG index takes into account three main aspects of grasp planning such as, the position of contact points, the kinematic aspects of cooperative manipulators, and the kinetic aspects of manipulators and the manipulated object. This index is extended here for cooperative object manipulation tasks. Finally, the grasp quality for each grasp candidate point is specified for a predefined task. Simulation results reveal the merits of MAG index in grasp planning for cooperative object manipulation tasks.
In this paper, an optimal grasp planning for cooperative object manipulation, based on Genetic Al... more In this paper, an optimal grasp planning for cooperative object manipulation, based on Genetic Algorithm (GA) and MATLAB optimization toolbox and using the MAG performance index is presented. The MAG index, which has been designed for object manipulation tasks, takes into account three major aspects of grasp planning such as, the position of grasping points, the kinematic aspects of cooperative manipulators, and the kinetic aspects of manipulators and the manipulated object. These numerical methods would be used to find the best grasping point of the symmetrical and unsymmetrical objects which are manipulated in a predefined path. Also, these methods would be compared with each other in speed. The results show that in the tasks that speed is the key factor; MATLAB optimization toolbox is preferred to GA.
Journal of Algorithms and Computation, Apr 30, 2013
2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), 2015
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Papers by Farzad Cheraghpour Samavati
experimental test is discussed. Acceleration sensor module and camera and Raspberry Pi board are the core of the gadget. For performance evaluation, several experiments have been performed. The commands sent by the user are divided into four control commands (right, stop, move, left). Forward movement command, is performed by showing a happy expression on the face. The experiments show that the head angle controller and the image processor react to the stop in the shortest time, which indicates that it has a high level of safety.
experimental test is discussed. Acceleration sensor module and camera and Raspberry Pi board are the core of the gadget. For performance evaluation, several experiments have been performed. The commands sent by the user are divided into four control commands (right, stop, move, left). Forward movement command, is performed by showing a happy expression on the face. The experiments show that the head angle controller and the image processor react to the stop in the shortest time, which indicates that it has a high level of safety.