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Development of a novel nonrigid support friction stir welding repair robot for aluminum alloy train Ind. Rob. (IF 1.8) Pub Date : 2024-03-18 Taotao Jin, Xiuhui Cui, Chuanyue Qi, Xinyu Yang
Purpose This paper aims to develop a specific type of mobile nonrigid support friction stir welding (FSW) robot, which can adapt to aluminum alloy trucks for rapid online repair. Design/methodology/approach The friction stir welding robot is designed to complete online repair according to the surface damage of large aluminum alloy trucks. A rotatable telescopic arm unit and a structure for a cutting
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Calibration strategies for enhancing accuracy in serial industrial robots for orbital milling applications Ind. Rob. (IF 1.8) Pub Date : 2024-03-15 Mohamed Slamani, Hocine Makri, Aissa Boudilmi, Ilian A. Bonev, Jean-Francois Chatelain
Purpose This research paper aims to optimize the calibration process for an ABB IRB 120 robot, specifically for robotic orbital milling applications, by introducing and validating the use of the observability index and telescopic ballbar for accuracy enhancement. Design/methodology/approach The study uses the telescopic ballbar and an observability index for the calibration of an ABB IRB 120 robot
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SiLK-SLAM: accurate, robust and versatile visual SLAM with simple learned keypoints Ind. Rob. (IF 1.8) Pub Date : 2024-03-11 Jianjun Yao, Yingzhao Li
Purpose Weak repeatability is observed in handcrafted keypoints, leading to tracking failures in visual simultaneous localization and mapping (SLAM) systems under challenging scenarios such as illumination change, rapid rotation and large angle of view variation. In contrast, learning-based keypoints exhibit higher repetition but entail considerable computational costs. This paper proposes an innovative
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Piston-like particle jamming for enhanced stiffness adjustment of soft robotic arm Ind. Rob. (IF 1.8) Pub Date : 2024-03-04 Tianlei Wang, Fei Ding, Zhenxing Sun
Purpose Stiffness adjusting ability is essential for soft robotic arms to perform complex tasks. A soft state enables dexterous operation and safe interaction, while a rigid state enables large force output or heavy weight carrying. However, making a compact integration of soft actuators with powerful stiffness adjusting mechanisms is challenging. This study aims to develop a piston-like particle jamming
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A robot motion skills method with explicit environmental constraints Ind. Rob. (IF 1.8) Pub Date : 2024-03-04 Yonghua Huang, Tuanjie Li, Yuming Ning, Yan Zhang
Purpose This paper aims to solve the problem of the inability to apply learning methods for robot motion skills based on dynamic movement primitives (DMPs) in tasks with explicit environmental constraints, while ensuring the reliability of the robot system. Design/methodology/approach The authors propose a novel DMP that takes into account environmental constraints to enhance the generality of the
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The role of robots in logistics Ind. Rob. (IF 1.8) Pub Date : 2024-02-29 Robert Bogue
Purpose The purpose of this paper is to illustrate the growing role of robots in the logistics industry. Design/methodology/approach Following an introduction, which identifies key challenges facing the industry, this paper discusses robotic applications in warehouses, followed by sections covering transportation and delivery and conclusions. Findings The logistics industry faces a number of challenges
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Research on dual robot collaboration method based on improved double ant colony algorithm Ind. Rob. (IF 1.8) Pub Date : 2024-02-26 Xiaohui Jia, Chunrui Tang, Xiangbo Zhang, Jinyue Liu
Purpose This study aims to propose an efficient dual-robot task collaboration strategy to address the issue of low work efficiency and inability to meet the production needs of a single robot during construction operations. Design/methodology/approach A hybrid task allocation method based on integer programming and auction algorithms, with the aim of achieving a balanced workload between two robots
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A heavy-load wall-climbing robot for bridge concrete structures inspection Ind. Rob. (IF 1.8) Pub Date : 2024-02-23 Guizhi Lyu, Peng Wang, Guohong Li, Feng Lu, Shenglong Dai
Purpose The purpose of this paper is to present a wall-climbing robot platform for heavy-load with negative pressure adsorption, which could be equipped with a six-degree of freedom (DOF) collaborative robot (Cobot) and detection device for inspecting the overwater part of concrete bridge towers/piers for large bridges. Design/methodology/approach By analyzing the shortcomings of existing wall-climbing
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Fuzzy logic system-based force tracking control of robot in highly dynamic environments Ind. Rob. (IF 1.8) Pub Date : 2024-02-15 Chengguo Liu, Junyang Li, Zeyu Li, Xiutao Chen
Purpose The study aims to equip robots with the ability to precisely maintain interaction forces, which is crucial for tasks such as polishing in highly dynamic environments with unknown and varying stiffness and geometry, including those found in airplane wings or thin, soft materials. The purpose of this study is to develop a novel adaptive force-tracking admittance control scheme aimed at achieving
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Sky-Worker: a heterogeneous dual-arm robot with dynamic authority assignment for live-line working Ind. Rob. (IF 1.8) Pub Date : 2024-02-13 Yanghong Li, Yahao Wang, Yutao Chen, X.W. Rong, Yuliang Zhao, Shaolei Wu, Erbao Dong
Purpose The current difficulties of distribution network working robots are mainly in the performance and operation mode. On the one hand, high-altitude power operation tasks require high load-carrying capacity and dexterity of the robot; on the other hand, the fully autonomous mode is uncontrollable and the teleoperation mode has a high failure rate. Therefore, this study aims to design a distribution
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Design and extensibility analysis of a variable buoyancy system for small autonomous underwater vehicles Ind. Rob. (IF 1.8) Pub Date : 2024-02-13 Yi Xia, Yonglong Li, Hongbin Zang, Yanpian Mao, Haoran Wang, Jialong Li
Purpose A switching depth controller based on a variable buoyancy system (VBS) is proposed to improve the performance of small autonomous underwater vehicles (AUVs). First, the requirements of VBS for small AUVs are analyzed. Second, a modular VBS with high extensibility and easy integration is proposed based on the concepts of generality and interchangeability. Subsequently, a depth-switching controller
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Autonomous path planning and stabilizing force interaction control for robotic massage in unknown environment Ind. Rob. (IF 1.8) Pub Date : 2024-02-09 Xiaoqing Zhang, Genliang Xiong, Peng Yin, Yanfeng Gao, Yan Feng
Purpose To ensure the motion attitude and stable contact force of massage robot working on unknown human tissue environment, this study aims to propose a robotic system for autonomous massage path planning and stable interaction control. Design/methodology/approach First, back region extraction and acupoint recognition based on deep learning is proposed, which provides a basis for determining the working
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Design and experimental research of a rolling-adsorption wall-climbing robot Ind. Rob. (IF 1.8) Pub Date : 2024-02-07 Kai Cao, Guodong Qin, Jian Zhou, Jiajun Xu, Linsen Xu, Aihong Ji
Purpose With the popularity of high-rise buildings, wall inspection and cleaning are becoming more difficult and associated with danger. The best solution is to replace manual work with wall-climbing robots. Therefore, this paper proposes a design method for a rolling-adsorption wall-climbing robot (RWCR) based on vacuum negative pressure adsorption of the crawler. It can improve the operation efficiency
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Towards an obstacle detection system for robot obstacle negotiation Ind. Rob. (IF 1.8) Pub Date : 2024-02-06 Han Wang, Quan Zhang, Zhenquan Fan, Gongcheng Wang, Pengchao Ding, Weidong Wang
Purpose To solve the obstacle detection problem in robot autonomous obstacle negotiation, this paper aims to propose an obstacle detection system based on elevation maps for three types of obstacles: positive obstacles, negative obstacles and trench obstacles. Design/methodology/approach The system framework includes mapping, ground segmentation, obstacle clustering and obstacle recognition. The positive
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SLAM-RAMU: 3D LiDAR-IMU lifelong SLAM with relocalization and autonomous map updating for accurate and reliable navigation Ind. Rob. (IF 1.8) Pub Date : 2024-02-02 Bushi Chen, Xunyu Zhong, Han Xie, Pengfei Peng, Huosheng Hu, Xungao Zhong, Qiang Liu
Purpose Autonomous mobile robots (AMRs) play a crucial role in industrial and service fields. The paper aims to build a LiDAR-based simultaneous localization and mapping (SLAM) system used by AMRs to overcome challenges in dynamic and changing environments. Design/methodology/approach This research introduces SLAM-RAMU, a lifelong SLAM system that addresses these challenges by providing precise and
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Robotic arm tracking control through smooth switching LPV controller based on LPV modeling and torque approximation Ind. Rob. (IF 1.8) Pub Date : 2024-01-31 Ali Fazli, Mohammad Hosein Kazemi
Purpose This paper aims to propose a new linear parameter varying (LPV) controller for the robot tracking control problem. Using the identification of the robot dynamics in different work space points about modeling trajectory based on the least square of error algorithm, an LPV model for the robotic arm is extracted. Design/methodology/approach Parameter set mapping based on parameter component analysis
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Adaptive pneumatic soft gripper with embedded flexible bending sensor Ind. Rob. (IF 1.8) Pub Date : 2024-01-29 Chang Chen, Yuandong Liang, Jiten Sun, Chen Lin, Yehao Wen
Purpose The purpose of this paper is to introduce a variable distance pneumatic gripper with embedded flexible sensors, which can effectively grasp fragile and flexible objects. Design/methodology/approach Based on the motion principle of the three-jaw chuck and the pneumatic “fast pneumatic network” (FPN), a variable distance pneumatic holder embedded with a flexible sensor is designed. A structural
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A method for predicting relative position errors in dual-robot systems via knowledge transfer from geometric and nongeometric calibration Ind. Rob. (IF 1.8) Pub Date : 2024-01-25 Siming Cao, Hongfeng Wang, Yingjie Guo, Weidong Zhu, Yinglin Ke
Purpose In a dual-robot system, the relative position error is a superposition of errors from each mono-robot, resulting in deteriorated coordination accuracy. This study aims to enhance relative accuracy of the dual-robot system through direct compensation of relative errors. To achieve this, a novel calibration-driven transfer learning method is proposed for relative error prediction in dual-robot
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Narrow gap welding seam deflection correction study based on passive vision Ind. Rob. (IF 1.8) Pub Date : 2024-01-23 Wang Zhang, Lizhe Fan, Yanbin Guo, Weihua Liu, Chao Ding
Purpose The purpose of this study is to establish a method for accurately extracting torch and seam features. This will improve the quality of narrow gap welding. An adaptive deflection correction system based on passive light vision sensors was designed using the Halcon software from MVtec Germany as a platform. Design/methodology/approach This paper proposes an adaptive correction system for welding
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UDS-SLAM: real-time robust visual SLAM based on semantic segmentation in dynamic scenes Ind. Rob. (IF 1.8) Pub Date : 2024-01-22 Jun Liu, Junyuan Dong, Mingming Hu, Xu Lu
Purpose Existing Simultaneous Localization and Mapping (SLAM) algorithms have been relatively well developed. However, when in complex dynamic environments, the movement of the dynamic points on the dynamic objects in the image in the mapping can have an impact on the observation of the system, and thus there will be biases and errors in the position estimation and the creation of map points. The aim
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Research on system integration and control methods of an apple-picking robot in unstructured environment Ind. Rob. (IF 1.8) Pub Date : 2024-01-22 Qiaojun Zhou, Ruilong Gao, Zenghong Ma, Gonghao Cao, Jianneng Chen
Purpose The purpose of this article is to solve the issue that apple-picking robots are easily interfered by branches or other apples near the target apple in an unstructured environment, leading to grasping failure and apple damage. Design/methodology/approach This study introduces the system units of the apple-picking robot prototype, proposes a method to determine the apple-picking direction via
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A KMP-based interactive learning approach for robot trajectory adaptation with obstacle avoidance Ind. Rob. (IF 1.8) Pub Date : 2024-01-18 Sa Xiao, Xuyang Chen, Yuankai Lu, Jinhua Ye, Haibin Wu
Purpose Imitation learning is a powerful tool for planning the trajectory of robotic end-effectors in Cartesian space. Present methods can adapt the trajectory to the obstacle; however, the solutions may not always satisfy users, whereas it is hard for a nonexpert user to teach the robot to avoid obstacles in time as he/she wishes through demonstrations. This paper aims to address the above problem
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A dynamic parameter identification method for the 5-DOF hybrid robot based on sensitivity analysis Ind. Rob. (IF 1.8) Pub Date : 2024-01-18 Zaihua Luo, Juliang Xiao, Sijiang Liu, Mingli Wang, Wei Zhao, Haitao Liu
Purpose This paper aims to propose a dynamic parameter identification method based on sensitivity analysis for the 5-degree of freedom (DOF) hybrid robots, to solve the problems of too many identification parameters, complex model, difficult convergence of optimization algorithms and easy-to-fall into a locally optimal solution, and improve the efficiency and accuracy of dynamic parameter identification
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Joint torque prediction of industrial robots based on PSO-LSTM deep learning Ind. Rob. (IF 1.8) Pub Date : 2024-01-12 Wei Xiao, Zhongtao Fu, Shixian Wang, Xubing Chen
Purpose Because of the key role of joint torque in industrial robots (IRs) motion performance control and energy consumption calculation and efficiency optimization, the purpose of this paper is to propose a deep learning torque prediction method based on long short-term memory (LSTM) recurrent neural networks optimized by particle swarm optimization (PSO), which can accurately predict the the joint
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FTESO-adaptive neural network based safety control for a quadrotor UAV under multiple disturbances: algorithm and experiments Ind. Rob. (IF 1.8) Pub Date : 2024-01-10 Xin Cai, Xiaozhou Zhu, Wen Yao
Purpose Quadrotors have been applied in various fields. However, because the quadrotor is subject to multiple disturbances, consisting of external disturbances, actuator faults and parameter uncertainties, it is difficult to control the unmanned aerial vehicle (UAV) to achieve high-precision tracking performance. This paper aims to design a safety controller that uses observer and neural network method
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Triangle codes and tracer lights based absolute positioning method for terminal visual docking of autonomous underwater vehicles Ind. Rob. (IF 1.8) Pub Date : 2024-01-09 Zhuoyu Zhang, Lijia Zhong, Mingwei Lin, Ri Lin, Dejun Li
Purpose Docking technology plays a crucial role in enabling long-duration operations of autonomous underwater vehicles (AUVs). Visual positioning solutions alone are susceptible to abnormal drift values due to the challenging underwater optical imaging environment. When an AUV approaches the docking station, the absolute positioning method fails if the AUV captures an insufficient number of tracers
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Adaptive decentralized fuzzy compensation control for large optical mirror processing systems Ind. Rob. (IF 1.8) Pub Date : 2024-01-09 Zujin Jin, Zixin Yin, Siyang Peng, Yan Liu
Purpose Large optical mirror processing systems (LOMPSs) consist of multiple subrobots, and correlated disturbance terms between these robots often lead to reduced processing accuracy. This abstract introduces a novel approach, the nonlinear subsystem adaptive dispersed fuzzy compensation control (ADFCC) method, aimed at enhancing the precision of LOMPSs. Design/methodology/approach The ADFCC model
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A resistance torque compensation algorithm based on Luenberger observer for minimally invasive surgical robot Ind. Rob. (IF 1.8) Pub Date : 2024-01-05 Hongqiang Sang, Fang Huang, Wei Lu, Rui Han, Fen Liu
Purpose The patient-side manipulator (PSM) achieves high torque capability by combining harmonic servo system with high reduction ratio and low torque motor. However, high reduction ratio can increase inertia and decrease compliance of the manipulator. To enhance the backdrivability of the minimally invasive surgical robot, this paper aims to propose a resistance torque compensation algorithm. Des
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LiDAR-based SLAM for robotic mapping: state of the art and new frontiers Ind. Rob. (IF 1.8) Pub Date : 2024-01-02 Xiangdi Yue, Yihuan Zhang, Jiawei Chen, Junxin Chen, Xuanyi Zhou, Miaolei He
Purpose In recent decades, the field of robotic mapping has witnessed widespread research and development in light detection and ranging (LiDAR)-based simultaneous localization and mapping (SLAM) techniques. This paper aims to provide a significant reference for researchers and engineers in robotic mapping. Design/methodology/approach This paper focused on the research state of LiDAR-based SLAM for
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Political tensions and technological innovation driving the military robot business Ind. Rob. (IF 1.8) Pub Date : 2023-12-12 Robert Bogue
Purpose The purpose of this paper is to provide a detailed insight into the global military robot industry with an emphasis on products and their applications. Design/methodology/approach Following an introduction which includes a brief historical account, this provides an industry overview, including various market dimensions and a discussion of the geopolitical and technological factors driving market
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Prescribed performance sliding mode control for the PAMs elbow exoskeleton in the tracking trajectory task Ind. Rob. (IF 1.8) Pub Date : 2023-12-05 Zhirui Zhao, Lina Hao, Guanghong Tao, Hongjun Liu, Lihua Shen
Purpose This study discusses the tracking trajectory issue of the exoskeleton under the bounded disturbance and designs an useful tracking trajectory control method to solve it. By using the proposed control method, the tracking error can be successfully convergence to the assigned boundary. Meanwhile, the chattering effect caused by the actuators is already reduced, and the tracking performance of
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Dynamic parameter identification based on improved particle swarm optimization and comprehensive excitation trajectory for 6R robotic arm Ind. Rob. (IF 1.8) Pub Date : 2023-12-04 Feifei Zhong, Guoping Liu, Zhenyu Lu, Lingyan Hu, Yangyang Han, Yusong Xiao, Xinrui Zhang
Purpose Robotic arms’ interactions with the external environment are growing more intricate, demanding higher control precision. This study aims to enhance control precision by establishing a dynamic model through the identification of the dynamic parameters of a self-designed robotic arm. Design/methodology/approach This study proposes an improved particle swarm optimization (IPSO) method for parameter
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Pose optimization for mobile manipulator grasping based on hybrid manipulability Ind. Rob. (IF 1.8) Pub Date : 2023-11-22 Yangmin Xie, Jiajia Liu, Yusheng Yang
Purpose Proper platform pose is important for the mobile manipulator to accomplish dexterous manipulation tasks efficiently and safely, and the evaluation criterion to qualify manipulation performance is critical to support the pose decision process. This paper aims to present a comprehensive index to evaluate the manipulator’s operation performance from various aspects. Design/methodology/approach
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Using digital twin to enhance Sim2real transfer for reinforcement learning in 3C assembly Ind. Rob. (IF 1.8) Pub Date : 2023-11-22 Weiwen Mu, Wenbai Chen, Huaidong Zhou, Naijun Liu, Haobin Shi, Jingchen Li
Purpose This paper aim to solve the problem of low assembly success rate for 3c assembly lines designed based on classical control algorithms due to inevitable random disturbances and other factors,by incorporating intelligent algorithms into the assembly line, the assembly process can be extended to uncertain assembly scenarios. Design/methodology/approach This work proposes a reinforcement learning
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Robots addressing agricultural labour shortages and environmental issues Ind. Rob. (IF 1.8) Pub Date : 2023-11-07 Robert Bogue
Purpose The purpose of this paper is to provide details of recent developments in agricultural robots with an emphasis of those that address labour shortages and environmental issues. Design/methodology/approach Following an introduction which highlights some of the challenges facing the agricultural industry, this discusses recent robotic agricultural vehicle developments and the enabling technologies
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Robots trends and megatrends: artificial intelligence and the society Ind. Rob. (IF 1.8) Pub Date : 2023-11-06 Rezia Molfino, Francesco E. Cepolina, Emanuela Cepolina, Elvezia Maria Cepolina, Sara Cepolina
Purpose The purpose of this study is to analyze the robot trends of the next generation. Design/methodology/approach This paper is divided into two sections: the key modern technology on which Europe's robotics industry has built its foundation is described. Then, the next key megatrends were analyzed. Findings Artificial intelligence (AI) and robotics are technologies of major importance for the development
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Gait and simulation analysis of quadruped crawling robot based on metamorphic structure Ind. Rob. (IF 1.8) Pub Date : 2023-11-01 Yifan Pan, Lei Zhang, Dong Mei, Gangqiang Tang, Yujun Ji, Kangning Tan, Yanjie Wang
Purpose This study aims to present a type of metamorphic mechanism-based quadruped crawling robot. The trunk design of the robot has a metamorphic mechanism, which endows it with excellent crawling capability and adaptability in challenging environments. Design/methodology/approach The robot consists of a metamorphic trunk and four series-connected three-joint legs. First, the walking and steering
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Multiple interaction strategies for mobile robots based on improved dynamic window approach in unknown dynamic environments Ind. Rob. (IF 1.8) Pub Date : 2023-10-30 Li He, Shuai Zhang, Heng Zhang, Liang Yuan
Purpose The purpose of this paper is to solve the problem that mobile robots are still based on reactive collision avoidance in unknown dynamic environments leading to a lack of interaction with obstacles and limiting the comprehensive performance of mobile robots. A dynamic window approach with multiple interaction strategies (DWA-MIS) is proposed to solve this problem. Design/methodology/approach
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Collision avoidance control for redundant manipulators in construction operations: a null-space-based task-priority adjustment approach Ind. Rob. (IF 1.8) Pub Date : 2023-10-20 Yi Wu, Xiaohui Jia, Tiejun Li, Chao Xu, Jinyue Liu
Purpose This paper aims to use redundant manipulators to solve the challenge of collision avoidance in construction operations such as welding and painting. Design/methodology/approach In this paper, a null-space-based task-priority adjustment approach is developed to avoid collisions. The method establishes the relative position of the obstacle and the robot arm by defining the “link space,” and then
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Research on fuzzy impedance control of upper-limb rehabilitation robot based on membership functions online optimization learning strategy Ind. Rob. (IF 1.8) Pub Date : 2023-10-16 Peng Wang, Renquan Dong
Purpose To improve the position tracking efficiency of the upper-limb rehabilitation robot for stroke hemiplegia patients, the optimization Learning rate of the membership function based on the fuzzy impedance controller of the rehabilitation robot is propose. Design/methodology/approach First, the impaired limb’s damping and stiffness parameters for evaluating its physical recovery condition are online
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CPG-MPC controller for wheel-fin-flipper integrated amphibious robot Ind. Rob. (IF 1.8) Pub Date : 2023-09-29 Yue Qiao, Wang Wei, Yunxiang Li, Shengzui Xu, Lang Wei, Xu Hao, Re Xia
Purpose The purpose of this paper is to introduce a motion control method for WFF-AmphiRobot, which can effectively realize the flexible motion of the robot on land, underwater and in the transition zone between land and water. Design/methodology/approach Based on the dynamics model, the authors selected the appropriate state variables to construct the state space model of the robot and estimated the
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Bounding gait control of a parallel quadruped robot Ind. Rob. (IF 1.8) Pub Date : 2023-09-29 Xu Hao, Lang Wei, Yue Qiao, Shengzui Xu, Jian Bin Liao, Yu Xi, Wang Wei, Zhi-Wei Liu
Purpose The computing power of the legged robot is not enough to perform high-frequency updates for the full-body model predictive control (MPC) of the robot, which is a common problem encountered in the gait research of the legged robot. The purpose of this paper is to propose a high-frequency MPC control method for the bounding gait of a parallel quadruped robot. Design/methodology/approach According
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AGV robot for laser-SLAM based method testing in automated container terminal Ind. Rob. (IF 1.8) Pub Date : 2023-09-25 Ang Yang, Yu Cao, Yang Liu, Qingcheng Zeng, Fangqiang Xiu
Purpose Magnet spot is the primary method to develop the automated guided vehicle (AGV) guidance system for many automated container terminals (ACT). Aiming to improve the high flexibility of AGV operation in ACT, this paper aims to address the problem of technical stability leading to ACT production paralysis and propose a mini-terminal AGV robot for testing laser simultaneous location and mapping
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Robotic milling stability optimization based on robot functional redundancy Ind. Rob. (IF 1.8) Pub Date : 2023-09-20 Ke Gao, Xiaoqin Zhou, Rongqi Wang, Mingxu Fan, Haochen Han
Purpose Compared with the high stiffness of traditional CNC machine tools, the structural stiffness of industrial robots is usually less than 1 N/µm. Chatter not only affects the quality of robotic milling but also reduces the accuracy of the milling process. The purpose of this paper is to reduce chatter in the robotic machining process. Design/methodology/approach First, the mode coupling chatter
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ODLC_SAM: a novel LiDAR SLAM system towards open-air environments with loop closure Ind. Rob. (IF 1.8) Pub Date : 2023-09-19 Jiazhong Zhang, Shuai Wang, Xiaojun Tan
Purpose The light detection and ranging sensor has been widely deployed in the area of simultaneous localization and mapping (SLAM) for its remarkable accuracy, but obvious drift phenomenon and large accumulated error are inevitable when using SLAM. The purpose of this study is to alleviate the accumulated error and drift phenomenon in the process of mapping. Design/methodology/approach A novel light
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Design and preliminary evaluation of a lower limb exoskeleton based on hydraulic actuator Ind. Rob. (IF 1.8) Pub Date : 2023-09-18 Yali Han, Shunyu Liu, Jiachen Chang, Han Sun, Shenyan Li, Haitao Gao, Zhuangzhuang Jin
Purpose This paper aims to propose a novel system design and control algorithm of lower limb exoskeleton, which provides walking assistance and load sharing for the wearer. Design/methodology/approach In this paper, the valve-controlled asymmetrical hydraulic cylinder is selected for driving the hip and knee joint of exoskeleton. Pressure shoe is developed that purpose on detecting changes in plantar
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A review of visual SLAM with dynamic objects Ind. Rob. (IF 1.8) Pub Date : 2023-09-18 Yong Qin, Haidong Yu
Purpose This paper aims to provide a better understanding of the challenges and potential solutions in Visual Simultaneous Localization and Mapping (SLAM), laying the foundation for its applications in autonomous navigation, intelligent driving and other related domains. Design/methodology/approach In analyzing the latest research, the review presents representative achievements, including methods
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A robust human target following system in corridor environment based on wall detection Ind. Rob. (IF 1.8) Pub Date : 2023-09-14 Ruifeng Li, Wei Wu
Purpose In corridor environments, human-following robot encounter difficulties when the target turning around at the corridor intersections, as walls may cause complete occlusion. This paper aims to propose a collision-free following system for robot to track humans in corridors without a prior map. Design/methodology/approach In addition to following a target and avoiding collisions robustly, the
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Sequential calibration of transmission ratios for joints of 6-DOF serial industrial robots based on laser tracker Ind. Rob. (IF 1.8) Pub Date : 2023-09-12 Ling Wang, Xiaoliang Wu, Zeng Kang, Yanfeng Gao, Xiai Chen, Binrui Wang
Purpose In traditional calibration methods of kinematics parameters of industrial robots, dozens of model parameters are identified together based on an optimization procedure. Due to different contributions of model parameter errors to the tool center point positioning error of industrial robots, obtaining good results for all model parameters is very difficult. Therefore, the purpose of this paper
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Research on dynamic parameter identification and collision detection method for cooperative robots Ind. Rob. (IF 1.8) Pub Date : 2023-09-12 Shuwen Sun, Chenyu Song, Bo Wang, Haiming Huang
Purpose The safety performance of cooperative robots is particularly important. This paper aims to study collision detection and response of cooperative robots, which meet the lightweight requirements of cooperative robots and help to ensure the safety of humans and robots. Design/methodology/approach This paper proposes a collision detection, recognition and response method based on dynamic models
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Design and analysis of a continuum manipulator for use in narrow spaces Ind. Rob. (IF 1.8) Pub Date : 2023-09-08 Fei Qi, Dongming Bai, Xiaoming Dou, Heng Zhang, Haishan Pei, Jing Zhu
Purpose This paper aims to present a kinematics analysis method and statics based control of the continuum robot with mortise and tenon joints to achieve better control performance of the robot. Design/methodology/approach The kinematics model is derived by the geometric analysis method under the piecewise constant curvature assumption, and the workspace and dexterity of the proposed robot are analyzed
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Tightly coupled IMU-Laser-RTK odometry algorithm for underground multi-layer and large-scale environment Ind. Rob. (IF 1.8) Pub Date : 2023-09-07 Minghao Wang, Ming Cong, Dong Liu, Yu Du, Xiaojing Tian, Bing Li
Purpose The purpose of this study is to designed a robot odometry based on three dimensional (3D) laser point cloud data, inertial measurement unit (IMU) data and real-time kinematic (RTK) data in underground spatial features and gravity fluctuations environment. This method improves the mapping accuracy in two types of underground space: multi-layer space and large-scale scenarios. Design/methodology/approach
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Design, modeling and kinematic analysis of a multi-configuration dexterous hand with integrated high-dimensional sensors Ind. Rob. (IF 1.8) Pub Date : 2023-08-22 Feng Shuang, Yang Du, Shaodong Li, Mingqi Chen
Purpose This study aims to introduce a multi-configuration, three-finger dexterous hand with integrated high-dimensional sensors and provides an analysis of its design, modeling and kinematics. Design/methodology/approach A mechanical design scheme of the three-finger dexterous hand with a reconfigurable palm is proposed based on the existing research on dexterous hands. The reconfigurable palm design
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Bin picking: a review of recent developments Ind. Rob. (IF 1.8) Pub Date : 2023-08-15 Robert Bogue
Purpose The purpose of this paper is to provide an insight into the present-day state of bin picking by considering research, technology, products and applications. Design/methodology/approach Following a short introduction, this first provides examples of recent bin picking research. It then discusses a selection of commercial product developments and applications. Finally, brief conclusions are drawn
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Manipulability optimization of redundant manipulators using reinforcement learning Ind. Rob. (IF 1.8) Pub Date : 2023-07-05 Haoqiang Yang, Xinliang Li, Deshan Meng, Xueqian Wang, Bin Liang
Purpose The purpose of this paper is using a model-free reinforcement learning (RL) algorithm to optimize manipulability which can overcome difficulties of dilemmas of matrix inversion, complicated formula transformation and expensive calculation time. Design/methodology/approach Manipulability optimization is an effective way to solve the singularity problem arising in manipulator control. Some control
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Shape perception of soft hand based on dual-signal comparison contact detection Ind. Rob. (IF 1.8) Pub Date : 2023-07-04 Kai Shi, Jun Li, Gang Bao
Purpose The structural adaptive ability of the soft robot is fully demonstrated in the grasping task of the soft hand. A soft hand can easily realize the envelope operation of the object without planning. With the continuous development of robot applications, researchers are no longer satisfied with the ability of the soft hand to grasp. The purpose of this paper is to perceive the object’s shape while
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Design and performance of a slender soft continuum manipulator for tall structure inspection Ind. Rob. (IF 1.8) Pub Date : 2023-06-16 Mohamed Tahir Shoani, Mohamed Najib Ribuan, Ahmad 'Athif Mohd Faudzi
Purpose The current methods for inspecting tall or deep structures such as towers, chimneys, silos, and wells suffer from certain constraints. Manual and assisted inspection methods including humans, drones, wall climbing robots, and others are either costly, have a limited operation time, or affected by field conditions, such as temperature and radiation. This study aims to overcome the presented
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A nonlinear robot joint friction compensation method including stick and sliding characteristics Ind. Rob. (IF 1.8) Pub Date : 2023-06-06 Yanli Feng, Ke Zhang, Haoyu Li, Jingyu Wang
Purpose Due to dynamic model is the basis of realizing various robot control functions, and it determines the robot control performance to a large extent, this paper aims to improve the accuracy of dynamic model for n-Degree of Freedom (DOF) serial robot. Design/methodology/approach This paper exploits a combination of the link dynamical system and the friction model to create robot dynamic behaviors
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Multi-pyramid-based hierarchical template matching for 6D pose estimation in industrial grasping task Ind. Rob. (IF 1.8) Pub Date : 2023-05-31 Ziqi Chai, Chao Liu, Zhenhua Xiong
Purpose Template matching is one of the most suitable choices for full six degrees of freedom pose estimation in many practical industrial applications. However, the increasing number of templates while dealing with a wide range of viewpoint changes results in a long runtime, which may not meet the real-time requirements. This paper aims to improve matching efficiency while maintaining sample resolution
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Hybrid-disturbance-observer-based interaction control for a fully actuated UAV with tether-based positioning system Ind. Rob. (IF 1.8) Pub Date : 2023-05-31 Ran Jiao, Yongfeng Rong, Mingjie Dong, Jianfeng Li
Purpose This paper aims to tackle the problem for a fully actuated unmanned aerial vehicle (FUAV) to perform physical interaction tasks in the Global Positioning System-denied environments without expensive motion capture system (like VICON) under disturbances. Design/methodology/approach A tether-based positioning system consisting of a universal joint, a tether-actuated absolute position encoder