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Ahmed, Rehan M.
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Publications (8 of 8) Show all publications
Ahmed, M. R. & Kalaykov, I. (2012). Two link compliant robot manipulator for physical human robot collision safety. In: Ana Fred, Joaquim Filipe, Hugo Gamboa (Ed.), Biomedical Engineering Systems and Technologies: . Paper presented at 4th International Joint Conference, BIOSTEC 2011, Rome, Italy, January 26-29, 2011. Springer
Open this publication in new window or tab >>Two link compliant robot manipulator for physical human robot collision safety
2012 (English)In: Biomedical Engineering Systems and Technologies / [ed] Ana Fred, Joaquim Filipe, Hugo Gamboa, Springer, 2012Conference paper, Published paper (Refereed)
Place, publisher, year, edition, pages
Springer, 2012
Series
Communications in Computer and Information Science ; 273
National Category
Control Engineering
Research subject
Automatic Control
Identifiers
urn:nbn:se:oru:diva-14548 (URN)978-3-642-29751-9 (ISBN)
Conference
4th International Joint Conference, BIOSTEC 2011, Rome, Italy, January 26-29, 2011
Available from: 2011-02-10 Created: 2011-02-10 Last updated: 2018-03-06Bibliographically approved
Ahmed, M. R. (2011). Compliance Control of Robot Manipulator for Safe Physical Human Robot Interaction. (Doctoral dissertation). Örebro: Örebro university
Open this publication in new window or tab >>Compliance Control of Robot Manipulator for Safe Physical Human Robot Interaction
2011 (English)Doctoral thesis, monograph (Other academic)
Abstract [en]

Inspiration from biological systems suggests that robots should demonstrate same level of capabilities that are embedded in biological systems in performing safe and successful interaction with the humans. The major challenge in physical human robot interaction tasks in anthropic environment is the safe sharing of robot work space such that robot will not cause harm or injury to the human under any operating condition.

Embedding human like adaptable compliance characteristics into robot manipulators can provide safe physical human robot interaction in constrained motion tasks. In robotics, this property can be achieved by using active, passive and semi active compliant actuation devices. Traditional methods of active and passive compliance lead to complex control systems and complex mechanical design.

In this thesis we present compliant robot manipulator system with semi active compliant device having magneto rheological fluid based actuation mechanism. Human like adaptable compliance is achieved by controlling the properties of the magneto rheological fluid inside joint actuator. This method offers high operational accuracy, intrinsic safety and high absorption to impacts. Safety is assured by mechanism design rather than by conventional approach based on advance control. Control schemes for implementing adaptable compliance are implemented in parallel with the robot motion control that brings much simple interaction control strategy compared to other methods.

Here we address two main issues: human robot collision safety and robot motion performance.We present existing human robot collision safety standards and evaluate the proposed actuation mechanism on the basis of static and dynamic collision tests. Static collision safety analysis is based on Yamada’s safety criterion and the adaptable compliance control scheme keeps the robot in the safe region of operation. For the dynamic collision safety analysis, Yamada’s impact force criterion and head injury criterion are employed. Experimental results validate the effectiveness of our solution. In addition, the results with head injury criterion showed the need to investigate human bio-mechanics in more details in order to acquire adequate knowledge for estimating the injury severity index for robots interacting with humans.

We analyzed the robot motion performance in several physical human robot interaction tasks. Three interaction scenarios are studied to simulate human robot physical contact in direct and inadvertent contact situations. Respective control disciplines for the joint actuators are designed and implemented with much simplified adaptable compliance control scheme.

The series of experimental tests in direct and inadvertent contact situations validate our solution of implementing human like adaptable compliance during robot motion and prove the safe interaction with humans in anthropic domains.

Place, publisher, year, edition, pages
Örebro: Örebro university, 2011. p. 122
Series
Örebro Studies in Technology, ISSN 1650-8580 ; 45
Keywords
Physical human robot interaction, collision safety, variable stiffness actuators, compliance control
National Category
Engineering and Technology Control Engineering
Research subject
Automatic Control
Identifiers
urn:nbn:se:oru:diva-13986 (URN)978-91-7668-776-5 (ISBN)
Public defence
2011-02-25, Hörsal L2 Örebro universitet, Fakultetsgatan 1, Örebro, 13:00 (English)
Opponent
Supervisors
Available from: 2011-01-17 Created: 2011-01-17 Last updated: 2018-05-02Bibliographically approved
Ahmed, M. R. & Kalaykov, I. (2010). Semi-active compliant robot enabling collision safety for human robot interaction. In: 2010 International Conference on Mechatronics and Automation (ICMA): . Paper presented at 2010 International Conference on Mechatronics and Automation (ICMA) (pp. 1932-1937). IEEE
Open this publication in new window or tab >>Semi-active compliant robot enabling collision safety for human robot interaction
2010 (English)In: 2010 International Conference on Mechatronics and Automation (ICMA), IEEE, 2010, p. 1932-1937Conference paper, Published paper (Refereed)
Abstract [en]

Human robot interaction (HRI) tasks requires robots to have safe sharing of work space and to demonstrate adaptable compliant behavior enabling eminent collision safety as well as maintaining high position accuracy. Robot compliance control normally can be achieved by using active compliance control of actuators based on various sensor data. Alternatively, passive devices allow controllable compliance motion but usually are mechanically complex. We proposed a unique method using semi-active compliant actuation mechanism having magneto-rheological (MR) fluid based actuator that introduces reconfigurable compliance characteristics into the robot joints. This enables high intrinsic safety coming from fluid mechanics as well as, it offers simpler interaction control strategy compared to other concurrent approaches. In this studies, we have described three essential modes of motions required for physical human system interaction. Furthermore, we have demonstrated robot collision safety in terms of static collision and experimentally validates the performance of robot manipulator enabling safe human robot interaction.

Place, publisher, year, edition, pages
IEEE, 2010
National Category
Control Engineering
Research subject
Automatic Control
Identifiers
urn:nbn:se:oru:diva-14550 (URN)10.1109/ICMA.2010.5589111 (DOI)978-1-4244-5140-1 (ISBN)
Conference
2010 International Conference on Mechatronics and Automation (ICMA)
Available from: 2011-02-10 Created: 2011-02-10 Last updated: 2017-10-18Bibliographically approved
Ahmed, M. R. & Kalaykov, I. (2010). Static and dynamic collisionsafety for human robot interaction using magneto-rheological fluid based compliant robot manipulator. In: IEEE international conference on robotics and biomimetics (ROBIO), 2010: . Paper presented at IEEE international conference on robotics and biomimetics (ROBIO), 14-18 Dec. 2010, Tianjin, China (pp. 370-375). IEEE conference proceedings
Open this publication in new window or tab >>Static and dynamic collisionsafety for human robot interaction using magneto-rheological fluid based compliant robot manipulator
2010 (English)In: IEEE international conference on robotics and biomimetics (ROBIO), 2010, IEEE conference proceedings, 2010, p. 370-375Conference paper, Published paper (Refereed)
Abstract [en]

The success of human robot interaction (HRI) tasks is characterized by evaluating robot performance in terms of collision safety and position accuracy. Hence, both position accuracy and collision safety are equally indispensable. HRI refers to cognitive as well as physical interaction. Cognitive human robot interaction based on perception and awareness where as physical human robot interaction demands direct contact with the humans exhibiting adaptable compliant behavior. Therefore, development of ideal safe robot manipulator having adaptable compliant actuation is inevitable. Adaptable compliance can be achieved by using active compliant actuation requiring various sensor data or by using passive compliant devices with high mechanical complexity. We present magneto rheological fluid based compliant actuation mechanism introducing adaptable compliance directly into robotic joint with much simpler interaction control and higher intrinsic safety originating from fluid mechanics. In this study, we have discussed adaptable compliance in terms of essential modes of motion for safe physical HRI and evaluated the safety performance of our robot for static collision testing and dynamic collision testing based on impact force and head injury criterion. Finally, the experimental results validate the significance of our proposed method for both human robot collision safety and high position accuracy.

Place, publisher, year, edition, pages
IEEE conference proceedings, 2010
National Category
Control Engineering
Research subject
Automatic Control
Identifiers
urn:nbn:se:oru:diva-14549 (URN)10.1109/ROBIO.2010.5723355 (DOI)978-1-4244-9319-7 (ISBN)
Conference
IEEE international conference on robotics and biomimetics (ROBIO), 14-18 Dec. 2010, Tianjin, China
Available from: 2011-02-10 Created: 2011-02-10 Last updated: 2017-10-18Bibliographically approved
Ahmed, M. R. & Kalaykov, I. (2010). Static collision analysis of semi active compliant robot for safe human robot interaction. In: Proceedings of the 12th Mechatronics Forum Biennial International Conference: . Paper presented at 12th Mechatronics Forum Biennial and Int. Conference, Zurich, Switzerland, June 28-30 (pp. 220-227). IWF Institute of Machine tools and manufacturing
Open this publication in new window or tab >>Static collision analysis of semi active compliant robot for safe human robot interaction
2010 (English)In: Proceedings of the 12th Mechatronics Forum Biennial International Conference, IWF Institute of Machine tools and manufacturing , 2010, p. 220-227Conference paper, Published paper (Refereed)
Place, publisher, year, edition, pages
IWF Institute of Machine tools and manufacturing, 2010
National Category
Control Engineering
Research subject
Automatic Control
Identifiers
urn:nbn:se:oru:diva-14551 (URN)9783033025073 (ISBN)3033025072 (ISBN)
Conference
12th Mechatronics Forum Biennial and Int. Conference, Zurich, Switzerland, June 28-30
Available from: 2011-02-10 Created: 2011-02-10 Last updated: 2018-03-06Bibliographically approved
Ahmed, R. M., Ananiev, A. V. & Kalaykov, I. (2009). Compliant motion control for safe human robot interaction. In: Krzysztof R. Kozłowski (Ed.), Robot motion and control 2009: . Paper presented at 7th IEEE Int. Workshop on Robot Motion Control, RoMoCo'2009, Czerniejewo, Poland (pp. 265-274). Berlin: Springer
Open this publication in new window or tab >>Compliant motion control for safe human robot interaction
2009 (English)In: Robot motion and control 2009 / [ed] Krzysztof R. Kozłowski, Berlin: Springer , 2009, p. 265-274Conference paper, Published paper (Refereed)
Abstract [en]

Robots have recently been foreseen to work side by side and share workspace with humans in assisting them in tasks that include physical human-robot (HR) interaction. The physical contact with human tasks under uncertainty has to be performed in a stable and safe manner [6]. However, current industrial robot manipulators are still very far from HR coexisting environments, because of their unreliable safety, rigidity and heavy structure. Besides this, the industrial norms separate the two spaces occupied by a human and a robot by means of physical fence or wall [9]. Therefore, the success of such physical HR interaction is possible if the robot is enabled to handle this interaction in a smart way to prevent injuries and damages.

Place, publisher, year, edition, pages
Berlin: Springer, 2009
Series
Lecture notes in control and information sciences, ISSN 0170-8643 ; 396
National Category
Engineering and Technology Control Engineering Computer Sciences
Research subject
Automatic Control; Computer Science
Identifiers
urn:nbn:se:oru:diva-7862 (URN)10.1007/978-1-84882-985-5_24 (DOI)000274285800024 ()2-s2.0-73449085827 (Scopus ID)978-1-84882-984-8 (ISBN)
Conference
7th IEEE Int. Workshop on Robot Motion Control, RoMoCo'2009, Czerniejewo, Poland
Available from: 2009-09-09 Created: 2009-09-09 Last updated: 2018-01-13Bibliographically approved
Ahmed, R. M., Ananiev, A. V. & Kalaykov, I. G. (2009). Safe robot with reconfigurable compliance/stiffness actuation. In: J. S. Dai, M. Zoppi, X. W. Kong (Ed.), Proceedings of ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots. ReMAR'2009: . Paper presented at International Conference on Reconfigurable Mechanisms and Robots, Kings Coll London, London, Jun 22-24 (pp. 633-638). IEEE
Open this publication in new window or tab >>Safe robot with reconfigurable compliance/stiffness actuation
2009 (English)In: Proceedings of ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots. ReMAR'2009 / [ed] J. S. Dai, M. Zoppi, X. W. Kong, IEEE, 2009, p. 633-638Conference paper, Published paper (Refereed)
Abstract [en]

Human robot interaction (HRI) in constrained motion tasks requires robots to have safe sharing of work space and to demonstrate adaptable compliant behavior Compliance control of industrial robots, normally can be achieved by using active compliance control of actuators based on various sensor data. Alternatively, passive devices allow controllable compliance motion but usually are mechanically complex. We present a unique method using a novel actuation mechanism based on magneto-rheological fluid (MRF) that incorporates reconfigurable compliance directly into the robot joints. This brings much simple interaction control strategy compared to other antagonistic methods. In this studies, we have described three essential modes of motions required for physical human system interaction. Then we have discussed their respective control disciplines. Finally, we have presented functional performance of reconfigurable MRF actuation mechanism in constrained motion tasks by simulating various HRI scenarios.

Place, publisher, year, edition, pages
IEEE, 2009
National Category
Control Engineering
Research subject
Automatic Control; Computer Science
Identifiers
urn:nbn:se:oru:diva-7863 (URN)978-88-89007-37-2 (ISBN)
Conference
International Conference on Reconfigurable Mechanisms and Robots, Kings Coll London, London, Jun 22-24
Available from: 2009-09-09 Created: 2009-09-09 Last updated: 2017-10-18Bibliographically approved
Ahmed, R. M., Kalaykov, I. & Ananiev, A. (2008). Modeling of magneto rheological fluid actuator enabling safe human-robot interaction. In: IEEE International Conference on Emerging Technologies and Factory Automation, 2008. ETFA 2008: . Paper presented at 13th IEEE Int. Conference on Emerging Technologies and Factory Automation, ETFA'2008, Hamburg, Germany (pp. 974-979).
Open this publication in new window or tab >>Modeling of magneto rheological fluid actuator enabling safe human-robot interaction
2008 (English)In: IEEE International Conference on Emerging Technologies and Factory Automation, 2008. ETFA 2008, 2008, p. 974-979Conference paper, Published paper (Refereed)
Abstract [en]

Impedance control and compliant behavior for safe human-robot physical interaction of industrial robots normally can be achieved by using active compliance control of actuators based on various sensor data. Alternatively, passive devices allow controllable compliance motion but usually are mechanically complex. We present another approach using a novel actuation mechanism based on magneto-rheological fluid (MRF) that incorporates variable stiffness directly into the joints. In this paper, we have investigated and analyzed principle characteristics of MRF actuation mechanism and presented the analytical-model. Then we have developed the static and dynamic model based on experimental test results and have discussed three essential modes of motion needed for human-robot manipulation interactive tasks.

National Category
Engineering and Technology Control Engineering Computer Sciences
Research subject
Automatic Control; Computer Science
Identifiers
urn:nbn:se:oru:diva-7866 (URN)10.1109/ETFA.2008.4638512 (DOI)978-1-4244-1505-2 (ISBN)
Conference
13th IEEE Int. Conference on Emerging Technologies and Factory Automation, ETFA'2008, Hamburg, Germany
Available from: 2009-09-09 Created: 2009-09-09 Last updated: 2018-01-13Bibliographically approved
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