Reza Yazdanpanah Abdolmalaki

Reza Yazdanpanah Abdolmalaki

In this paper, a Fuzzy Inference System (FIS) is fabricated on a riderless bicycle. The Fuzzy Inference System is based on a rule base inherited from human experience of bicycle riding. The steady turning motion and roll-angle tracking controls for the riderless bicycle were achieved by using fuzzy concept. Collection of sensors, actuator, micro-controller and electrical circuits were employed to introduce new prototype autonomous bicycle. Effectiveness of the control scheme was proved by experimental tests and stabilization and roll-angle tracking of the real bicycle was illustrated by results.

Reza Yazdanpanah Abdolmalaki

This paper discusses deriving geometric jacobians and identifying and analyzing the kinematic singularities for two 6 DOF arm robots. First we show the direct kinematics and D-H parameters derived for these two arms. The Geometric jacobian is computed for Barrett WAM and Smokie OUR. By analyzing the jacobian matrices we find the configurations at which J is rank deficient and derive the kinematic singularities through jacobian's determinent. Schematic are provided to show the singular configurations of both robots. Finally a survey is done on redundant kinematic allocation schemesfor 7 DoF Barrett WAM.

Reza Yazdanpanah Abdolmalaki

This paper discusses modelling two 6 DOF arm robots. The first step of modelling a robot is establishing its Denavit-Hartenberg parameters. It requires assigning proper coordinates for each link and finding their exact dimensions. In this project we will develop the direct kinematics and workspace representations for two manipulators: the Smokie Robot and the Barrett WAM. After finding the D-H parameters and creating Transformation Matrices,MATLAB programming is used to represent their workspaces.