All Outputs (161)

MPC and H-Infinity Based Feedback Control of Non-Linear Robotic Manipulator
Presentation / Conference Contribution
Ullah, M. I., Ajwad, S. A., Irfan, M., & Iqbal, J. (2016, December). MPC and H-Infinity Based Feedback Control of Non-Linear Robotic Manipulator. Presented at FIT 2016 - 14th International Conference on Frontiers of Information Technology, Islamabad, Pakistan

Pressing demands of accuracy, repeatability, reliability and productivity in today's robotic applications has highlighted significance of modern control techniques. This research proposes two non-linear design techniques, Model Predictive Control (MP... Read More about MPC and H-Infinity Based Feedback Control of Non-Linear Robotic Manipulator.

Flexible joint robotic manipulator: Modeling and design of robust control law
Presentation / Conference Contribution
Aziz, H. M. W., & Iqbal, J. (2016, November). Flexible joint robotic manipulator: Modeling and design of robust control law. Presented at 2nd International Conference on Robotics and Artificial Intelligence, ICRAI 2016, Rawalpindi, Pakistan

This paper presents modeling and sophisticated control of a single Degree Of Freedom (DOF) flexible robotic arm. The derived model is based on Euler-Lagrange approach while the first and second order (super twisting) Sliding Mode Control (SMC) is pro... Read More about Flexible joint robotic manipulator: Modeling and design of robust control law.

A centralized architecture for inventory management using RFID
Presentation / Conference Contribution
Zohaib, M., Pasha, S. M., Hassan, Z., & Iqbal, J. (2016, November). A centralized architecture for inventory management using RFID. Presented at 2016 2nd International Conference on Robotics and Artificial Intelligence, ICRAI 2016, Rawalpindi, Pakistan

The paper presents Radio Frequency Identification (RFID) based solution for inventory management reported by the researchers in various case studies of warehouses. Limitations and challenges faced by companies in monitoring and managing inventory are... Read More about A centralized architecture for inventory management using RFID.

Sliding mode control of rigid-link anthropomorphic robotic arm
Presentation / Conference Contribution
Ajwad, S. A., Islam, R. U., Azam, M. R., Ullah, M. I., & Iqbal, J. (2016, November). Sliding mode control of rigid-link anthropomorphic robotic arm. Presented at 2nd International Conference on Robotics and Artificial Intelligence, ICRAI 2016, Rawalpindi, Pakistan

Increasing demands of accuracy, productivity, reliability and repeatability in today's robotic applications have highlighted significance of modern control techniques. The associated control law must be able to handle perturbation forces, joint frict... Read More about Sliding mode control of rigid-link anthropomorphic robotic arm.

Towards autonomy in agriculture: Design and prototyping of a robotic vehicle with seed selector
Presentation / Conference Contribution
Hassan, M. U., Ullah, M., & Iqbal, J. (2016, November). Towards autonomy in agriculture: Design and prototyping of a robotic vehicle with seed selector. Presented at 2016 2nd International Conference on Robotics and Artificial Intelligence, ICRAI 2016, Rawalpindi, Pakistan

Traditional method of seeding by farmers demands laborious work and is now becoming story of the past. Technological revolution in mechatronics and allied areas is reshaping the agricultural processes, making the robots an integral part of this autom... Read More about Towards autonomy in agriculture: Design and prototyping of a robotic vehicle with seed selector.

Robotized task time scheduling and optimization based on Genetic Algorithms for non redundant industrial manipulators
Presentation / Conference Contribution
Baizid, K., Meddahi, A., Yousnadj, A., Chellali, R., Khan, H., & Iqbal, J. (2014, October). Robotized task time scheduling and optimization based on Genetic Algorithms for non redundant industrial manipulators. Presented at 2014 IEEE International Symposium on Robotic and Sensors Environments (ROSE), Timisoara, Romania

Industrial robot manipulators must work as fast as possible in order to increase the productivity. This goal could be achieved by increasing robots speed or/and optimizing the trajectories followed by robots while performing assembly, welding or simi... Read More about Robotized task time scheduling and optimization based on Genetic Algorithms for non redundant industrial manipulators.

Modeling and computed torque control of a 6 degree of freedom robotic arm
Presentation / Conference Contribution
Ullah, M. I., Ajwad, S. A., Islam, R. U., Iqbal, U., & Iqbal, J. (2014, April). Modeling and computed torque control of a 6 degree of freedom robotic arm. Presented at 2014 International Conference on Robotics and Emerging Allied Technologies in Engineering (iCREATE), Islamabad, Pakistan

This paper presents modelling and control design of ED 7220C - a vertical articulated serial arm having 5 revolute joints with 6 Degree Of Freedom. Both the direct and inverse kinematic models have been developed. For analysis of forces and to facili... Read More about Modeling and computed torque control of a 6 degree of freedom robotic arm.

Addressing collision avoidance and nonholonomic constraints of a wheeled robot: Modeling and simulation
Presentation / Conference Contribution
Zohaib, M., Pasha, S. M., Bushra, H., Hassan, K., & Iqbal, J. (2014, April). Addressing collision avoidance and nonholonomic constraints of a wheeled robot: Modeling and simulation. Presented at 2014 International Conference on Robotics and Emerging Allied Technologies in Engineering (iCREATE), Islamabad, Pakistan

This paper presents kinematic model of two configurations of a wheeled mobile robot. Two-wheeled robot with castor and four-wheeled robot are considered for modeling. Kinematic equations, modeled in MATLAB/Simulink, represent the position and angle o... Read More about Addressing collision avoidance and nonholonomic constraints of a wheeled robot: Modeling and simulation.

An autonomous image-guided robotic system simulating industrial applications
Presentation / Conference Contribution
Islam, R. U., Iqbal, J., Manzoor, S., Khalid, A., & Khan, S. (2012, July). An autonomous image-guided robotic system simulating industrial applications. Presented at 2012 7th International Conference on System of Systems Engineering (SoSE), Genova, Italy

This paper presents a robotic system based on a serial manipulator. The robot is a vertical articulated arm with 5 revolute joints having 6 Degree Of Freedom. Actuated with six precise servo motors, the system offers positional accuracy of ±0.5mm wit... Read More about An autonomous image-guided robotic system simulating industrial applications.

Brain controlled human robot interface
Presentation / Conference Contribution
Naveed, K., Iqbal, J., & Ur Rehman, H. (2012, October). Brain controlled human robot interface. Presented at 2012 International Conference on Robotics and Artificial Intelligence (ICRAI)

This Paper emphasizes on the ever increasing need of better communication medium between a human and a robot in order to control it precisely. Brain Computer Interface (BCI) is the most suitable mean of communication between them, especially for the... Read More about Brain controlled human robot interface.

Control strategies for robotic manipulators
Presentation / Conference Contribution
Khan, M. F., Ul Islam, R., & Iqbal, J. (2012, October). Control strategies for robotic manipulators. Presented at 2012 International Conference on Robotics and Artificial Intelligence (ICRAI), Rawalpindi, Pakistan

This survey is aimed at presenting the major robust control strategies for rigid robot manipulators. The techniques discussed are feedback linearization/Computed torque control, Variable structure compensator, Passivity based approach and Disturbance... Read More about Control strategies for robotic manipulators.

Emotions in robots
Presentation / Conference Contribution
Azeem, M. M., Iqbal, J., Toivanen, P., & Samad, A. Emotions in robots

This article gives a general overview of emotions in robotics. It sheds light on the composition of emotions in human beings and how this information can be used as blue print for creation of emotional robots. It discusses different factors involved... Read More about Emotions in robots.

Robotics for nuclear power plants - Challenges and future perspectives
Presentation / Conference Contribution
Iqbal, J., Tahir, A. M., Ul Islam, R., & Riaz-Un-Nabi. (2012, September). Robotics for nuclear power plants - Challenges and future perspectives. Presented at 2012 2nd International Conference on Applied Robotics for the Power Industry (CARPI), Zurich, Switzerland

Use of robotics and computerized tools in Nuclear Power Plants (NPPs) has been identified as a highly recommended practice by IAEA. The key rationale of robotics application has always been to avoid human exposure to hazardous environments and tasks... Read More about Robotics for nuclear power plants - Challenges and future perspectives.

A multi-DOF robotic exoskeleton interface for hand motion assistance
Presentation / Conference Contribution
Iqbal, J., Tsagarakis, N. G., & Caldwell, D. G. (2011, August). A multi-DOF robotic exoskeleton interface for hand motion assistance. Presented at 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, Boston, MA, USA

This paper outlines the design and development of a robotic exoskeleton based rehabilitation system. A portable direct-driven optimized hand exoskeleton system has been proposed. The optimization procedure primarily based on matching the exoskeleton... Read More about A multi-DOF robotic exoskeleton interface for hand motion assistance.

HEXOSYS II - Towards realization of light mass robotics for the hand
Presentation / Conference Contribution
Iqbal, J., Ahmad, O., & Malik, A. (2011, December). HEXOSYS II - Towards realization of light mass robotics for the hand. Presented at 2011 IEEE 14th International Multitopic Conference (INMIC), Karachi, Pakistan

This research presents a prototype of a direct-driven, optimized and light-mass hand exoskeleton that is designed to fit over the dorsal side of the hand, thus retaining palm free for interaction with real/virtual objects. The link lengths of the pro... Read More about HEXOSYS II - Towards realization of light mass robotics for the hand.

Distributed Leader-Follower Formation Control of Quadrotors Swarm Subjected to Disturbances
Presentation / Conference Contribution
Mechali, O., Iqbal, J., Wang, J., Xie, X., & Xu, L. (2021, August). Distributed Leader-Follower Formation Control of Quadrotors Swarm Subjected to Disturbances. Presented at 2021 IEEE International Conference on Mechatronics and Automation, ICMA 2021, Takamatsu, Japan

This paper proposes a novel control scheme for a group of quadrotors aircrafts that form a leader-follower configuration and are subjected to nonlinear behavior with lumped disturbances. For each aircraft, a distributed formation control law is desig... Read More about Distributed Leader-Follower Formation Control of Quadrotors Swarm Subjected to Disturbances.

Terminal sliding mode control of an anthropomorphic manipulator with friction based observer
Presentation / Conference Contribution
Ali, K., Mehmood, A., & Iqbal, J. (2021, October). Terminal sliding mode control of an anthropomorphic manipulator with friction based observer. Presented at 2021 International Conference on Robotics and Automation in Industry (ICRAI), Rawalpindi, Pakistan

The role of modern control techniques has been instrumental in today’s robotic applications because of their increasing requirements for reliability, accuracy, productivity and repeatability. Robotic manipulators are highly non-linear systems with co... Read More about Terminal sliding mode control of an anthropomorphic manipulator with friction based observer.

Design and Adaptive Compliance Control of a Wearable Walk Assist Device
Presentation / Conference Contribution
Shah, S. H., Alam, M. S., Arsalan, M., Ul Haq, I., Khan, S. G., & Iqbal, J. (2023, March). Design and Adaptive Compliance Control of a Wearable Walk Assist Device. Presented at 2023 International Conference on Robotics and Automation in Industry (ICRAI), Peshawar, Pakistan

The ability to walk independently is a predominant feature that human beings are bestowed with by nature. People with moving disabilities face many challenges in day-to-day activities and they have to rely on others to perform their day-to-day activi... Read More about Design and Adaptive Compliance Control of a Wearable Walk Assist Device.

A Nonlinear Model Predictive Controller for Trajectory Planning of Skid-Steer Mobile Robots in Agricultural Environments
Presentation / Conference Contribution
Aro, K., Urvina, R., Deniz, N. N., Menendez, O., Iqbal, J., & Prado, A. (2023, September). A Nonlinear Model Predictive Controller for Trajectory Planning of Skid-Steer Mobile Robots in Agricultural Environments. Presented at 2023 IEEE Conference on AgriFood Electronics (CAFE), Torino, Italy

This research presents an integrated trajectory planning strategy with a motion control approach using a Nonlinear Model Predictive Control (NMPC) framework for Skid-Steer Mobile Robots (SSMRs) in agricultural scenarios. In a single architecture, the... Read More about A Nonlinear Model Predictive Controller for Trajectory Planning of Skid-Steer Mobile Robots in Agricultural Environments.

Enquiry-based learning pedagogy – Design, development and delivery of a reproducible robotics framework
Presentation / Conference Contribution
Walker, A., Diaz, K. R. V., McKie, D., & Iqbal, J. (2024, February). Enquiry-based learning pedagogy – Design, development and delivery of a reproducible robotics framework. Presented at Ninth International Congress on Information and Communication Technology (ICICT 2024), London

Hardware-inspired enquiry-based learning (EBL) is an emerging pedagogy to develop transferable engineering skills in students. This paper is aimed at unleashing the potential of this pedagogy via the multidisciplinary domain of robotics to learn the... Read More about Enquiry-based learning pedagogy – Design, development and delivery of a reproducible robotics framework.