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Publisher: Emerald   (Total: 335 journals)

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Showing 1 - 200 of 335 Journals sorted alphabetically
A Life in the Day     Hybrid Journal   (Followers: 12)
Academia Revista Latinoamericana de Administraci√≥n     Open Access   (Followers: 2, SJR: 0.144, h-index: 4)
Accounting Auditing & Accountability J.     Hybrid Journal   (Followers: 30)
Accounting Research J.     Hybrid Journal   (Followers: 24, SJR: 0.26, h-index: 7)
Accounting, Auditing and Accountability J.     Hybrid Journal   (Followers: 20, SJR: 0.88, h-index: 40)
Advances in Accounting Education     Hybrid Journal   (Followers: 15, SJR: 0.514, h-index: 5)
Advances in Appreciative Inquiry     Hybrid Journal   (SJR: 0.124, h-index: 5)
Advances in Autism     Hybrid Journal   (Followers: 12)
Advances in Dual Diagnosis     Hybrid Journal   (Followers: 46, SJR: 0.228, h-index: 2)
Advances in Gender Research     Full-text available via subscription   (Followers: 3, SJR: 0.229, h-index: 7)
Advances in Intl. Marketing     Full-text available via subscription   (Followers: 5, SJR: 0.123, h-index: 11)
Advances in Mental Health and Intellectual Disabilities     Hybrid Journal   (Followers: 59, SJR: 0.29, h-index: 5)
Advances in Mental Health and Learning Disabilities     Hybrid Journal   (Followers: 30)
African J. of Economic and Management Studies     Hybrid Journal   (Followers: 10, SJR: 0.125, h-index: 2)
Agricultural Finance Review     Hybrid Journal  
Aircraft Engineering and Aerospace Technology     Hybrid Journal   (Followers: 184, SJR: 0.391, h-index: 18)
American J. of Business     Hybrid Journal   (Followers: 17)
Annals in Social Responsibility     Full-text available via subscription  
Anti-Corrosion Methods and Materials     Hybrid Journal   (Followers: 11, SJR: 0.215, h-index: 25)
Arts and the Market     Hybrid Journal   (Followers: 8)
Asia Pacific J. of Marketing and Logistics     Hybrid Journal   (Followers: 8, SJR: 0.244, h-index: 15)
Asia-Pacific J. of Business Administration     Hybrid Journal   (Followers: 5, SJR: 0.182, h-index: 7)
Asian Association of Open Universities J.     Open Access  
Asian Education and Development Studies     Hybrid Journal   (Followers: 5)
Asian J. on Quality     Hybrid Journal   (Followers: 2)
Asian Review of Accounting     Hybrid Journal   (Followers: 2, SJR: 0.29, h-index: 7)
Aslib J. of Information Management     Hybrid Journal   (Followers: 25, SJR: 0.65, h-index: 29)
Aslib Proceedings     Hybrid Journal   (Followers: 283)
Assembly Automation     Hybrid Journal   (Followers: 2, SJR: 0.657, h-index: 26)
Baltic J. of Management     Hybrid Journal   (Followers: 3, SJR: 0.354, h-index: 14)
Benchmarking : An Intl. J.     Hybrid Journal   (Followers: 10, SJR: 0.556, h-index: 38)
British Food J.     Hybrid Journal   (Followers: 16, SJR: 0.329, h-index: 35)
Built Environment Project and Asset Management     Hybrid Journal   (Followers: 14, SJR: 0.232, h-index: 4)
Business Process Re-engineering & Management J.     Hybrid Journal   (Followers: 8, SJR: 0.614, h-index: 42)
Business Strategy Series     Hybrid Journal   (Followers: 6, SJR: 0.201, h-index: 6)
Career Development Intl.     Hybrid Journal   (Followers: 17, SJR: 0.686, h-index: 32)
China Agricultural Economic Review     Hybrid Journal   (Followers: 2, SJR: 0.238, h-index: 10)
China Finance Review Intl.     Hybrid Journal   (Followers: 5)
Chinese Management Studies     Hybrid Journal   (Followers: 4, SJR: 0.216, h-index: 12)
Circuit World     Hybrid Journal   (Followers: 15, SJR: 0.346, h-index: 17)
Collection Building     Hybrid Journal   (Followers: 11, SJR: 0.829, h-index: 10)
COMPEL: The Intl. J. for Computation and Mathematics in Electrical and Electronic Engineering     Hybrid Journal   (Followers: 3, SJR: 0.269, h-index: 22)
Competitiveness Review : An Intl. Business J. incorporating J. of Global Competitiveness     Hybrid Journal   (Followers: 5)
Construction Innovation: Information, Process, Management     Hybrid Journal   (Followers: 14, SJR: 0.508, h-index: 8)
Corporate Communications An Intl. J.     Hybrid Journal   (Followers: 7, SJR: 0.703, h-index: 26)
Corporate Governance Intl. J. of Business in Society     Hybrid Journal   (Followers: 7, SJR: 0.309, h-index: 29)
Critical Perspectives on Intl. Business     Hybrid Journal   (SJR: 0.32, h-index: 15)
Cross Cultural & Strategic Management     Hybrid Journal   (Followers: 8, SJR: 0.356, h-index: 13)
Development and Learning in Organizations     Hybrid Journal   (Followers: 7, SJR: 0.138, h-index: 8)
Digital Library Perspectives     Hybrid Journal   (Followers: 21)
Direct Marketing An Intl. J.     Hybrid Journal   (Followers: 6)
Disaster Prevention and Management     Hybrid Journal   (Followers: 22, SJR: 0.533, h-index: 32)
Drugs and Alcohol Today     Hybrid Journal   (Followers: 133, SJR: 0.241, h-index: 4)
Education + Training     Hybrid Journal   (Followers: 22, SJR: 0.532, h-index: 30)
Education, Business and Society : Contemporary Middle Eastern Issues     Hybrid Journal   (Followers: 1, SJR: 0.141, h-index: 10)
Emerald Emerging Markets Case Studies     Hybrid Journal   (Followers: 1)
Employee Relations     Hybrid Journal   (Followers: 6, SJR: 0.435, h-index: 22)
Engineering Computations     Hybrid Journal   (Followers: 3, SJR: 0.387, h-index: 39)
Engineering, Construction and Architectural Management     Hybrid Journal   (Followers: 10, SJR: 0.541, h-index: 28)
Equal Opportunities Intl.     Hybrid Journal   (Followers: 3)
Equality, Diversity and Inclusion : An Intl. J.     Hybrid Journal   (Followers: 13, SJR: 0.239, h-index: 9)
EuroMed J. of Business     Hybrid Journal   (Followers: 1, SJR: 0.145, h-index: 9)
European Business Review     Hybrid Journal   (Followers: 8, SJR: 0.481, h-index: 21)
European J. of Innovation Management     Hybrid Journal   (Followers: 23, SJR: 0.596, h-index: 30)
European J. of Marketing     Hybrid Journal   (Followers: 21, SJR: 0.933, h-index: 55)
European J. of Training and Development     Hybrid Journal   (Followers: 9, SJR: 0.489, h-index: 23)
Evidence-based HRM     Hybrid Journal   (Followers: 5)
Facilities     Hybrid Journal   (Followers: 2, SJR: 0.371, h-index: 18)
Foresight     Hybrid Journal   (Followers: 7, SJR: 0.486, h-index: 20)
Gender in Management : An Intl. J.     Hybrid Journal   (Followers: 17, SJR: 0.359, h-index: 22)
Grey Systems : Theory and Application     Hybrid Journal   (Followers: 1)
Health Education     Hybrid Journal   (Followers: 2, SJR: 0.383, h-index: 17)
Higher Education, Skills and Work-based Learning     Hybrid Journal   (Followers: 45, SJR: 0.172, h-index: 4)
History of Education Review     Hybrid Journal   (Followers: 12, SJR: 0.141, h-index: 2)
Housing, Care and Support     Hybrid Journal   (Followers: 8, SJR: 0.174, h-index: 4)
Human Resource Management Intl. Digest     Hybrid Journal   (Followers: 17, SJR: 0.121, h-index: 6)
Humanomics     Hybrid Journal   (Followers: 2, SJR: 0.14, h-index: 4)
IMP J.     Hybrid Journal  
Indian Growth and Development Review     Hybrid Journal   (SJR: 0.163, h-index: 4)
Industrial and Commercial Training     Hybrid Journal   (Followers: 5, SJR: 0.217, h-index: 14)
Industrial Lubrication and Tribology     Hybrid Journal   (Followers: 5, SJR: 0.322, h-index: 19)
Industrial Management & Data Systems     Hybrid Journal   (Followers: 7, SJR: 0.63, h-index: 69)
Industrial Robot An Intl. J.     Hybrid Journal   (Followers: 2, SJR: 0.375, h-index: 32)
Info     Hybrid Journal   (Followers: 1, SJR: 0.25, h-index: 21)
Information and Computer Security     Hybrid Journal   (Followers: 22)
Information Technology & People     Hybrid Journal   (Followers: 43, SJR: 0.576, h-index: 28)
Interactive Technology and Smart Education     Hybrid Journal   (Followers: 11, SJR: 0.112, h-index: 1)
Interlending & Document Supply     Hybrid Journal   (Followers: 60, SJR: 0.48, h-index: 13)
Internet Research     Hybrid Journal   (Followers: 36, SJR: 1.746, h-index: 57)
Intl. J. for Lesson and Learning Studies     Hybrid Journal   (Followers: 4)
Intl. J. for Researcher Development     Hybrid Journal   (Followers: 9)
Intl. J. of Accounting and Information Management     Hybrid Journal   (Followers: 9, SJR: 0.304, h-index: 7)
Intl. J. of Bank Marketing     Hybrid Journal   (Followers: 8, SJR: 0.515, h-index: 38)
Intl. J. of Climate Change Strategies and Management     Hybrid Journal   (Followers: 14, SJR: 0.416, h-index: 7)
Intl. J. of Clothing Science and Technology     Hybrid Journal   (Followers: 6, SJR: 0.279, h-index: 25)
Intl. J. of Commerce and Management     Hybrid Journal   (Followers: 1)
Intl. J. of Conflict Management     Hybrid Journal   (Followers: 14, SJR: 0.763, h-index: 38)
Intl. J. of Contemporary Hospitality Management     Hybrid Journal   (Followers: 12, SJR: 1.329, h-index: 35)
Intl. J. of Culture Tourism and Hospitality Research     Hybrid Journal   (Followers: 18, SJR: 0.399, h-index: 5)
Intl. J. of Development Issues     Hybrid Journal   (Followers: 9)
Intl. J. of Disaster Resilience in the Built Environment     Hybrid Journal   (Followers: 6, SJR: 0.225, h-index: 7)
Intl. J. of Educational Management     Hybrid Journal   (Followers: 5, SJR: 0.424, h-index: 32)
Intl. J. of Emergency Services     Hybrid Journal   (Followers: 6, SJR: 0.179, h-index: 1)
Intl. J. of Emerging Markets     Hybrid Journal   (Followers: 3, SJR: 0.199, h-index: 5)
Intl. J. of Energy Sector Management     Hybrid Journal   (Followers: 2, SJR: 0.25, h-index: 12)
Intl. J. of Entrepreneurial Behaviour & Research     Hybrid Journal   (Followers: 4, SJR: 0.694, h-index: 28)
Intl. J. of Event and Festival Management     Hybrid Journal   (Followers: 5, SJR: 0.32, h-index: 8)
Intl. J. of Gender and Entrepreneurship     Hybrid Journal   (Followers: 5, SJR: 0.638, h-index: 6)
Intl. J. of Health Care Quality Assurance     Hybrid Journal   (Followers: 11, SJR: 0.352, h-index: 32)
Intl. J. of Health Governance     Hybrid Journal   (Followers: 26, SJR: 0.277, h-index: 15)
Intl. J. of Housing Markets and Analysis     Hybrid Journal   (Followers: 9, SJR: 0.201, h-index: 5)
Intl. J. of Human Rights in Healthcare     Hybrid Journal   (Followers: 6, SJR: 0.13, h-index: 2)
Intl. J. of Information and Learning Technology     Hybrid Journal   (Followers: 7)
Intl. J. of Innovation Science     Hybrid Journal   (Followers: 10, SJR: 0.173, h-index: 5)
Intl. J. of Intelligent Computing and Cybernetics     Hybrid Journal   (Followers: 3, SJR: 0.258, h-index: 10)
Intl. J. of Intelligent Unmanned Systems     Hybrid Journal   (Followers: 4, SJR: 0.145, h-index: 2)
Intl. J. of Islamic and Middle Eastern Finance and Management     Hybrid Journal   (Followers: 9)
Intl. J. of Law and Management     Hybrid Journal   (Followers: 2, SJR: 0.107, h-index: 2)
Intl. J. of Law in the Built Environment     Hybrid Journal   (Followers: 3, SJR: 0.111, h-index: 2)
Intl. J. of Leadership in Public Services     Hybrid Journal   (Followers: 18)
Intl. J. of Lean Six Sigma     Hybrid Journal   (Followers: 5, SJR: 0.562, h-index: 15)
Intl. J. of Logistics Management     Hybrid Journal   (Followers: 10, SJR: 0.998, h-index: 15)
Intl. J. of Managerial Finance     Hybrid Journal   (Followers: 5, SJR: 0.212, h-index: 11)
Intl. J. of Managing Projects in Business     Hybrid Journal   (Followers: 2)
Intl. J. of Manpower     Hybrid Journal   (Followers: 2, SJR: 0.354, h-index: 37)
Intl. J. of Mentoring and Coaching in Education     Hybrid Journal   (Followers: 24)
Intl. J. of Migration, Health and Social Care     Hybrid Journal   (Followers: 11, SJR: 0.261, h-index: 5)
Intl. J. of Numerical Methods for Heat & Fluid Flow     Hybrid Journal   (Followers: 11, SJR: 0.594, h-index: 32)
Intl. J. of Operations & Production Management     Hybrid Journal   (Followers: 18, SJR: 2.198, h-index: 94)
Intl. J. of Organizational Analysis     Hybrid Journal   (Followers: 3, SJR: 0.222, h-index: 11)
Intl. J. of Pervasive Computing and Communications     Hybrid Journal   (Followers: 3, SJR: 0.165, h-index: 9)
Intl. J. of Pharmaceutical and Healthcare Marketing     Hybrid Journal   (Followers: 4, SJR: 0.304, h-index: 12)
Intl. J. of Physical Distribution & Logistics Management     Hybrid Journal   (Followers: 11, SJR: 1.694, h-index: 66)
Intl. J. of Prisoner Health     Hybrid Journal   (Followers: 10, SJR: 0.254, h-index: 10)
Intl. J. of Productivity and Performance Management     Hybrid Journal   (Followers: 7, SJR: 0.785, h-index: 31)
Intl. J. of Public Sector Management     Hybrid Journal   (Followers: 23, SJR: 0.272, h-index: 37)
Intl. J. of Quality & Reliability Management     Hybrid Journal   (Followers: 7, SJR: 0.544, h-index: 63)
Intl. J. of Quality and Service Sciences     Hybrid Journal   (Followers: 2, SJR: 0.133, h-index: 1)
Intl. J. of Retail & Distribution Management     Hybrid Journal   (Followers: 6, SJR: 0.543, h-index: 36)
Intl. J. of Service Industry Management     Hybrid Journal   (Followers: 2)
Intl. J. of Social Economics     Hybrid Journal   (Followers: 5, SJR: 0.227, h-index: 25)
Intl. J. of Sociology and Social Policy     Hybrid Journal   (Followers: 49, SJR: 0.361, h-index: 5)
Intl. J. of Sports Marketing and Sponsorship     Hybrid Journal   (Followers: 1)
Intl. J. of Structural Integrity     Hybrid Journal   (Followers: 2, SJR: 0.325, h-index: 8)
Intl. J. of Sustainability in Higher Education     Hybrid Journal   (Followers: 13, SJR: 0.616, h-index: 29)
Intl. J. of Tourism Cities     Hybrid Journal   (Followers: 2)
Intl. J. of Web Information Systems     Hybrid Journal   (Followers: 4, SJR: 0.208, h-index: 13)
Intl. J. of Wine Business Research     Hybrid Journal   (Followers: 7, SJR: 0.196, h-index: 12)
Intl. J. of Workplace Health Management     Hybrid Journal   (Followers: 11, SJR: 0.358, h-index: 8)
Intl. Marketing Review     Hybrid Journal   (Followers: 16, SJR: 1.076, h-index: 57)
J. for Multicultural Education     Hybrid Journal   (Followers: 1, SJR: 0.124, h-index: 11)
J. of Accounting & Organizational Change     Hybrid Journal   (Followers: 5, SJR: 0.346, h-index: 7)
J. of Accounting in Emerging Economies     Hybrid Journal   (Followers: 8)
J. of Adult Protection, The     Hybrid Journal   (Followers: 15, SJR: 0.291, h-index: 7)
J. of Advances in Management Research     Hybrid Journal   (Followers: 2)
J. of Aggression, Conflict and Peace Research     Hybrid Journal   (Followers: 48, SJR: 0.177, h-index: 9)
J. of Agribusiness in Developing and Emerging Economies     Hybrid Journal  
J. of Applied Accounting Research     Hybrid Journal   (Followers: 16, SJR: 0.22, h-index: 5)
J. of Applied Research in Higher Education     Hybrid Journal   (Followers: 49)
J. of Asia Business Studies     Hybrid Journal   (Followers: 2, SJR: 0.115, h-index: 1)
J. of Assistive Technologies     Hybrid Journal   (Followers: 19, SJR: 0.215, h-index: 6)
J. of Business & Industrial Marketing     Hybrid Journal   (Followers: 8, SJR: 0.664, h-index: 48)
J. of Business Strategy     Hybrid Journal   (Followers: 11, SJR: 0.381, h-index: 17)
J. of Centrum Cathedra     Open Access  
J. of Children's Services     Hybrid Journal   (Followers: 5, SJR: 0.167, h-index: 9)
J. of Chinese Economic and Foreign Trade Studies     Hybrid Journal   (Followers: 1, SJR: 0.188, h-index: 4)
J. of Chinese Entrepreneurship     Hybrid Journal   (Followers: 4)
J. of Chinese Human Resource Management     Hybrid Journal   (Followers: 6, SJR: 0.112, h-index: 3)
J. of Communication Management     Hybrid Journal   (Followers: 6, SJR: 0.735, h-index: 6)
J. of Consumer Marketing     Hybrid Journal   (Followers: 18, SJR: 0.613, h-index: 62)
J. of Corporate Real Estate     Hybrid Journal   (Followers: 3, SJR: 0.633, h-index: 5)
J. of Criminal Psychology     Hybrid Journal   (Followers: 119, SJR: 0.13, h-index: 1)
J. of Criminological Research, Policy and Practice     Hybrid Journal   (Followers: 52)
J. of Cultural Heritage Management and Sustainable Development     Hybrid Journal   (Followers: 10, SJR: 0.109, h-index: 5)
J. of Documentation     Hybrid Journal   (Followers: 168, SJR: 0.936, h-index: 50)
J. of Economic and Administrative Sciences     Hybrid Journal   (Followers: 2)
J. of Economic Studies     Hybrid Journal   (Followers: 5, SJR: 0.498, h-index: 26)
J. of Educational Administration     Hybrid Journal   (Followers: 6, SJR: 0.848, h-index: 36)
J. of Engineering, Design and Technology     Hybrid Journal   (Followers: 16, SJR: 0.173, h-index: 10)
J. of Enterprise Information Management     Hybrid Journal   (Followers: 4, SJR: 0.433, h-index: 38)
J. of Enterprising Communities People and Places in the Global Economy     Hybrid Journal   (Followers: 1, SJR: 0.212, h-index: 8)
J. of Entrepreneurship and Public Policy     Hybrid Journal   (Followers: 8)
J. of European Industrial Training     Hybrid Journal   (Followers: 2)
J. of European Real Estate Research     Hybrid Journal   (Followers: 3, SJR: 0.52, h-index: 7)
J. of Facilities Management     Hybrid Journal   (Followers: 3)
J. of Family Business Management     Hybrid Journal   (Followers: 7)
J. of Fashion Marketing and Management     Hybrid Journal   (Followers: 12, SJR: 0.529, h-index: 30)
J. of Financial Crime     Hybrid Journal   (Followers: 365, SJR: 0.158, h-index: 5)
J. of Financial Economic Policy     Hybrid Journal   (Followers: 1)
J. of Financial Management of Property and Construction     Hybrid Journal   (Followers: 8, SJR: 0.234, h-index: 1)
J. of Financial Regulation and Compliance     Hybrid Journal   (Followers: 8)
J. of Financial Reporting and Accounting     Hybrid Journal   (Followers: 11)
J. of Forensic Practice     Hybrid Journal   (Followers: 56, SJR: 0.225, h-index: 8)
J. of Global Mobility     Hybrid Journal   (Followers: 2)
J. of Global Responsibility     Hybrid Journal   (Followers: 4)
J. of Health Organisation and Management     Hybrid Journal   (Followers: 21, SJR: 0.67, h-index: 27)
J. of Historical Research in Marketing     Hybrid Journal   (Followers: 4, SJR: 0.376, h-index: 8)
J. of Hospitality and Tourism Technology     Hybrid Journal   (Followers: 4, SJR: 0.672, h-index: 10)
J. of Human Resource Costing & Accounting     Hybrid Journal   (Followers: 4)
J. of Humanitarian Logistics and Supply Chain Management     Hybrid Journal   (Followers: 13)

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Journal Cover Industrial Robot An International Journal
  [SJR: 0.375]   [H-I: 32]   [2 followers]  Follow
    
   Hybrid Journal Hybrid journal (It can contain Open Access articles)
   ISSN (Print) 0143-991X
   Published by Emerald Homepage  [335 journals]
  • Applications of robotics in test and inspection
    • Abstract: Industrial Robot: the international journal of robotics research and application, Ahead of Print.
      Purpose The purpose of this paper is to provide an insight on the use of robots in a range of industrial test and inspection applications. Design/methodology/approach Following a brief introduction, this discusses robotic test and inspection products and practices in the following applications: pipelines, storage tanks, bridges, marine uses, green energy generation and aerospace. Finally, concluding comments are drawn. Findings This shows that robotic test and inspection practices are being used in a wide range of applications across a diversity of industries. This reflects the many operational and economic benefits arising from their use which include the ability to automate certain laborious manual methods; operation in hazardous locations; uses in inaccessible environments such as within pipelines; the ability to deploy several different techniques simultaneously and thus detect multiple potential defects; reduced workforce costs; and, very often, more rapid testing and greater data acquisition rates than are possible with human operators. Originality/value This illustrates the increasingly important role played by robotic technologies in industrial test and inspection practices.
      Citation: Industrial Robot: the international journal of robotics research and application
      PubDate: 2018-03-29T07:00:13Z
      DOI: 10.1108/IR-01-2018-0012
       
  • Force sensing drill jig for robotic assisted drilling
    • Abstract: Industrial Robot: the international journal of robotics research and application, Ahead of Print.
      Purpose The purpose of this paper is to present a novel force sensing jig for robot-assisted drilling used to drill holes for the fastening of floating nut plates in aircraft assembly. Design/methodology/approach The paper describes the drill jig, which consists of a parallel gripper, peg-in-hole pins and a back-plate with a recess where a Polydimethylsiloxane cone is placed on top of a force sensor. As the jig approaches the part, the force sensor registers the applied force until it reaches steady state, which indicates full contact between the jig and the part. The peg-in-hole pins then lock into a pre-existing hole, which provides a mechanical reference, and the support plate provides back support during drilling. Findings Positional accuracy and the repeatability of the system were successfully placed within the specification for accuracy and repeatability (0.1 mm tolerance and 0.2 mm tolerance, respectively). Practical implications The drill jig can be integrated into existing robot drilling solutions and modified for specific applications. The integration of the force sensor provides data for engineers to monitor and analyze forces during drilling. The design of the force sensing drill jig is particularly suited to industrial prototype robot drilling end-effectors for small and medium manufacturers. Originality/value The key novelties of this drilling jig are in the compact assembly, modular design and inclusion of force sensing and back support features.
      Citation: Industrial Robot: the international journal of robotics research and application
      PubDate: 2018-03-22T11:51:16Z
      DOI: 10.1108/IR-11-2017-0208
       
  • Dr Amit Goffer, co-founder at UPnRIDE, serial inventor and entrepreneur
    • Abstract: Industrial Robot: the international journal of robotics research and application, Ahead of Print.
      Purpose The following article is a “Q&A interview” conducted by Joanne Pransky of Industrial Robot Journal as a method to impart the combined technological, business and personal experience of a prominent industry engineer-turned successful innovator and entrepreneur regarding the development of his inventions and the challenges he faced. This paper aims to discuss these issues. Design/methodology/approach The interviewee is Dr Amit Goffer, Chief Technology Officer and President at UPnRIDE Robotics Ltd., a startup that makes a wheeled robotic device for almost anyone who is unable to physically stand or walk. He served as Chief Executive Officer (until 2012) and President and Chief Technical Officer of ReWalk Robotics, a company he founded in 2001 (previously called Argo Medical Technologies Ltd). Prior to Argo/ReWalk, Dr Goffer served as the Founder at Odin Medical Technologies Ltd. (later acquired by Medtronic), President and Chief Executive Officer. As an accomplished inventor and serial entrepreneur of medical devices, Goffer describes how his education in school and in running his companies combined with his life experiences led to his breakthroughs. Findings Dr Amit Goffer completed BSc from Technion-Israel Institute of Technology, MSc from Tel-Aviv University, Israel, and PhD from Drexel University, Philadelphia, USA, all in electrical and computer engineering. After working for Elscint, a medical imaging company, Goffer started Odin Medical to provide real-time magnetic resonance imaging images for brain surgery. After a tragic accident confined him to a wheelchair, Goffer created ReWalk, a robotic exoskeleton that enables people with lower limb disabilities to stand, walk, ascend/descend stairs and more. He recently founded his latest company, UPnRIDE. Originality/value Dr Amit Goffer is highly regarded as a pioneer of the emerging exoskeleton industry. His invention and development of the ReWalk Robotics wearable exoskeleton has enabled so far hundreds of wheelchair users to walk again, and another estimated 500,000 could benefit from it. Despite Goffer not being able to use the ReWalk himself, as he is a quadriplegic, his greatest passion is to improve the disabled’s self-esteem and quality of life. ReWalk was the first commercially available exoskeleton in the USA. It was named “best invention” by Popular Science and Time magazines. ReWalk Robotics went public in 2014. In 2015, the US Veteran’s Administration announced they would provide ReWalks for all eligible veterans with spinal cord injuries. Goffer recently devised UPnRIDE as a new product, allowing millions of wheelchair users worldwide, including himself, full mobility in the standing position in almost any urban environment.
      Citation: Industrial Robot: the international journal of robotics research and application
      PubDate: 2018-03-20T02:47:38Z
      DOI: 10.1108/IR-01-2018-0009
       
  • Stretched backboneless continuum manipulator driven by cannula tendons
    • Abstract: Industrial Robot: the international journal of robotics research and application, Ahead of Print.
      Purpose The purpose of this paper is to present a stretched backboneless continuum manipulator, which aims to provide sufficient inner room for potential transportation of objects or fixture of necessary devices, and to reduce the number of motors for reduction of the weight of the system. Design/methodology/approach A mathematical model of the presented manipulator is established in this paper. To verify the presented theory, the position of the free end was recorded by a high-resolution digital camera in experiment. According to the comparison of experimental values and theoretical values, the error is less than 2.5 per cent. It shows that the mathematical model and theoretical analysis are reasonable; the presented continuum manipulator can reach to desired postures and positions. Findings This paper presents a new stretched backboneless continuum manipulator supported and driven by cannula tendons. The cannula tendons are composed of rubber tubes and glass fibers. The upper section and the lower section of the presented manipulator are driven by same motors. For steering the manipulator, switched driving strategy is developed based on the presented kinematics model. The presented manipulator possesses six degrees of freedom (DOFs) and has good performance in dealing with complex working environment. The experiment verifies the presented driving strategy. Research limitations/implications The presented backboneless continuum manipulator has only two sections and is supported by cannula tendons. Extending this structure to further more sections is a challenge and is left for future research. Originality/value The value of this study is to propose a stretched backboneless continuum manipulator, which can provide inner room as large as possible for potential usage and halve the number of motors, for which a switched driving strategy is put forward. As a result, the weight and complexity of the manipulator are decreased. The presented manipulator is able to move in potential complex environments and approach its objects in different postures in virtue of its high flexibility and its six DOFs.
      Citation: Industrial Robot: the international journal of robotics research and application
      PubDate: 2018-02-19T03:25:16Z
      DOI: 10.1108/IR-06-2017-0124
       
  • Smooth transition adaptive hybrid impedance control for connector assembly
    • Abstract: Industrial Robot: the international journal of robotics research and application, Ahead of Print.
      Purpose This paper aims to present a smooth transition adaptive hybrid impedance control for compliant connector assembly. Design/methodology/approach The dynamics of the manipulator is firstly presented with linear property. The controller used in connector assembly is inspired by human operation habits in similar tasks. The hybrid impedance control is adopted to apply force in the assembly direction and provide compliance in rest directions. The reference trajectory is implemented with an adaptive controller. Event-based switching strategy is conducted for a smooth transition from unconstrained to constrained space. Findings The method can ensure both ideal compliance behaviour with dynamic uncertainty and a smooth transition from unconstrained to constrained space. Also, the method can ensure compliant connector assembly with a good tolerance to the target estimation error. Practical implications The method can be applied in the connector assembly by “pushing” operation. The controller devotes efforts on force tracking and smooth transition, having potential applications in contact tasks in delicate environment. Originality/value As far as the authors know, the paper is original in providing a uniform controller for improving force and position control performance in both unconstrained and constrained space with dynamic uncertainty. The proposed controller can ensure a smooth transition by only adjusting parameters.
      Citation: Industrial Robot: the international journal of robotics research and application
      PubDate: 2018-02-12T03:03:10Z
      DOI: 10.1108/IR-11-2017-0193
       
  • Implementation of open-architecture kinematic controller for articulated
           robots under ROS
    • Abstract: Industrial Robot: the international journal of robotics research and application, Ahead of Print.
      Purpose This paper aims to present an open-architecture kinematic controller, which was developed for articulated robots, facing the demands of various applications and low cost on robot system. Design/methodology/approach A general approach to develop this controller is described in hardware and software design. The hardware consists of embedded boards and programable multi-axes controller (PMAC), connected with ethernet, and the software is implemented on a robot operating system with MoveIt!. The authors also developed a teach pendant running as a LAN node to provide a human–machine interface (HMI). Findings The proposed approach was applied to several real articulated robot systems and was proved to be effective and portable. The proposed controller was compared with several similar systems to verify its integrality and flexibility. The openness of this controller was discussed and is summarized at the end of this paper. Practical implications The proposed approach provided an open and low-complex solution for experimental studies in the lab and short-run production in small workshops. Originality/value Several contributions are made by the research. The actuation model and communication were implemented to integrate the trajectory planning module and PMAC for setting up the physical interface. Method and program interface based on kinematics was provided to generate various interpolations for trajectory planning. A teach pedant with HMI was developed for controlling and programing the robot.
      Citation: Industrial Robot: the international journal of robotics research and application
      PubDate: 2018-02-09T10:59:44Z
      DOI: 10.1108/IR-09-2017-0166
       
  • Hybrid obstacle avoidance system with vision and ultrasonic sensors for
           multi-rotor MAVs
    • Abstract: Industrial Robot: the international journal of robotics research and application, Ahead of Print.
      Purpose This paper aims to develop an obstacle avoidance system for a multi-rotor micro aerial vehicle (MAV) that flies in indoor environments which usually contain transparent, texture-less or moving objects. Design/methodology/approach The system adopts a combination of a stereo camera and an ultrasonic sensor to detect obstacles and extracts three-dimensional (3D) point clouds. The obstacle map is built on a coarse global map and updated by local maps generated by the recent 3D point clouds. An efficient layered A* path planning algorithm is also proposed to address the path planning in 3D space for MAVs. Findings The authors conducted a lot of experiments in both static and dynamic scenes. The results show that the obstacle avoidance system works reliably even when transparent or texture-less obstacles are present. The layered A* path planning algorithm is much faster than the traditional 3D algorithm and makes the system response quickly when the obstacle map has been changed because of the moving objects. Research limitations/implications The limited field of view of both stereo camera and ultrasonic sensor makes the system need to change heading first before moving side to side or moving backward. But this problem could be addressed when multiple systems are mounted toward different directions on the MAV. Practical implications The developed approach could be valuable to applications in indoors. Originality/value This paper presents a robust obstacle avoidance system and a fast layered path planning algorithm that are easy to be implemented for practical systems.
      Citation: Industrial Robot: the international journal of robotics research and application
      PubDate: 2018-02-09T08:49:28Z
      DOI: 10.1108/IR-07-2017-0126
       
  • An underwater robot with self-adaption mechanism for cleaning steel pipes
           with variable diameters
    • Abstract: Industrial Robot: the international journal of robotics research and application, Ahead of Print.
      Purpose This paper aims to present an underwater climbing robot for wiping off marine life from steel pipes (e.g. jackets of oil platforms). The self-adaption mechanism that consists of a passive roll joint and combined magnet adhesion units provides the robot with better mobility and stability. Design/methodology/approach Adhesion requirements are achieved by analyses of falling and slipping. The movement status on pipes is analyzed to design the passive roll joint. The optimized structure parameters of the combined magnet adhesion unit are achieved by simulations. An approximation method is established to simplify the simulations conditions, and the simulations are conducted in two steps to save time effectively. Findings The self-adaption mechanism has expected performance that the robot can travel on pipes in different directions with high mobility. Meanwhile, the robot can clean continuous region of underwater pipes’ surface of offshore platforms. Practical implications The proposed underwater robot is needed by offshore oil platforms as their jackets require to be cleaned periodically. Compared with traditional maintenance by divers, it is more efficient, economic and safety. Originality/value Due to the specific self-adaption mechanism, the robot has good mobility and stability in any directions on pipes with different diameters. The good performance of striping attachments from pipes makes the underwater robot be a novel solution to clean steel pipes.
      Citation: Industrial Robot: the international journal of robotics research and application
      PubDate: 2018-01-25T10:12:40Z
      DOI: 10.1108/IR-09-2017-0168
       
  • Design and analysis of a climbing robot for pylon maintenance
    • Abstract: Industrial Robot: the international journal of robotics research and application, Ahead of Print.
      Purpose The purpose of this paper is to describe the design and development of “Pylon-Climber II”, a 5-DOF biped climbing robot (degree of freedom – DOF) for moving on the external surface of a tower and assisting the electricians to complete some maintenance tasks. Design/methodology/approach The paper introduces a pole-climbing robot, which consists of a 5-DOF mechanical arm and two novel grippers. The gripper is composed of a two-finger clamping module and a retractable L-shaped hook module. The robot is symmetrical in structure, and the rotary joint for connecting two arms is driven by a linear drive mechanism. Findings The developed prototype proved a new approach for the inspection and maintenance of the electricity pylon. The gripper can reliably grasp the angle bars with different specifications by using combined movement of the two-finger clamping module and the retractable L-shaped hook module and provide sufficient adhesion force for the Pylon-Climber II. Practical implications The clamping experiments of the gripper and the climbing experiments of the robot were carried out on a test tower composed of some angle bars with different specification. Originality/value This paper includes the design and development of a 5-DOF biped climbing robot for electricity pylon maintenance. The climbing robot can move on the external surface of the electric power tower through grasping the angle bar alternatively. The gripper that is composed of a two-finger gripping module and a retractable L-shaped hook module is very compact and can provide reliable adhesion force for the climbing robot.
      Citation: Industrial Robot: the international journal of robotics research and application
      PubDate: 2018-01-25T10:08:00Z
      DOI: 10.1108/IR-08-2017-0143
       
  • Integrated virtual impedance control based pose correction for a
           simultaneous three-fingered end-effector
    • Abstract: Industrial Robot: the international journal of robotics research and application, Ahead of Print.
      Purpose This paper aims to present a pose correction method based on integrated virtual impedance control for avoiding collision and reducing impact. Design/methodology/approach The authors first constructed the artificial potential field (APF) considering the geometric characteristics of the end-effector. The characteristics of the proposed field were analyzed considering the position and orientation misalignment. Then, an integrated virtual impedance control was proposed by adding resultant virtual repulsive force into traditional impedance control. Finally, the authors modified a correction trajectory for avoiding collision and reducing impact with virtual force and contact force. Findings The APF the authors constructed can get rid of a local minimum. Comparing with linear correction, this method is able to avoid collision effectively. When the capturing target has intrinsic estimation error, the pose correction can ensure smooth transitions among different stages. Practical implications This method can be implemented on a manipulator with inner position control. It can be applied to an industrial robot with applications on robotic assembly for achieving a softer and smoother process. The method can also be expanded to the kind of claw-shaped end-effectors for capturing target. Originality value As the authors know, it is the first time that the characteristics of the end-effector are considered for avoiding collision in capturing application. The proposed integrated virtual impedance control can provide smooth transitions among different stages without switching different force/position controllers.
      Citation: Industrial Robot: the international journal of robotics research and application
      PubDate: 2018-01-09T12:28:47Z
      DOI: 10.1108/IR-09-2017-0173
       
  • Road area detection method based on DBNN for robot navigation using single
           camera in outdoor environments
    • Abstract: Industrial Robot: the international journal of robotics research and application, Ahead of Print.
      Purpose The purpose of this study is to develop a cost-effective autonomous wheelchair robot navigation method that assists the aging population. Design/methodology/approach Navigation in outdoor environments is still a challenging task for an autonomous mobile robot because of the highly unstructured and different characteristics of outdoor environments. This study examines a complete vision guided real-time approach for robot navigation in urban roads based on drivable road area detection by using deep learning. During navigation, the camera takes a snapshot of the road, and the captured image is then converted into an illuminant invariant image. Subsequently, a deep belief neural network considers this image as an input. It extracts additional discriminative abstract features by using general purpose learning procedure for detection. During obstacle avoidance, the robot measures the distance from the obstacle position by using estimated parameters of the calibrated camera, and it performs navigation by avoiding obstacles. Findings The developed method is implemented on a wheelchair robot, and it is verified by navigating the wheelchair robot on different types of urban curve roads. Navigation in real environments indicates that the wheelchair robot can move safely from one place to another. The navigation performance of the developed method and a comparison with laser range finder (LRF)-based methods were demonstrated through experiments. Originality/value This study develops a cost-effective navigation method by using a single camera. Additionally, it utilizes the advantages of deep learning techniques for robust classification of the drivable road area. It performs better in terms of navigation when compared to LRF-based methods in LRF-denied environments.
      Citation: Industrial Robot: the international journal of robotics research and application
      PubDate: 2018-01-02T03:58:06Z
      DOI: 10.1108/IR-08-2017-0139
       
  • What are the prospects for robots in the construction industry'
    • Pages: 1 - 6
      Abstract: Industrial Robot: the international journal of robotics research and application, Volume 45, Issue 1, Page 1-6, January 2018.
      Purpose This paper aims to address the question posed in the title by considering the present uses and potential future role of robots in the construction industry. Design/methodology/approach Following a short introduction, this first considers developments involving the robotic automation of conventional building practices, notably bricklaying and glazing. This is followed by a discussion of the role of drones and developments in autonomous ground vehicles. It then provides examples of the rapidly growing use of robotic 3D printing of concrete structures and concludes with a discussion. Findings Many different classes of robots aimed at a diversity of uses in the construction industry exist or are at an advanced stage of development. While some seek to automate conventional building practices, others such as concrete printing robots underpin novel construction concepts. Their use has the potential to yield significant economic, operational, environmental and other benefits and many technologically advanced companies have recently been established which aim to exploit these opportunities. While the industry has traditionally been slow to adopt new technologies, robots are now exerting a real impact and will inevitably play a vital and growing role in the future. Originality/value The construction industry is under pressure to modernise and improve its efficiency, and this article illustrates the role that robots are playing in this process.
      Citation: Industrial Robot: the international journal of robotics research and application
      PubDate: 2017-12-15T02:29:30Z
      DOI: 10.1108/IR-11-2017-0194
       
  • The Pransky interview: Mel Torrie, Founder, CEO and President of
           Autonomous Solutions, Inc.
    • Pages: 7 - 10
      Abstract: Industrial Robot: the international journal of robotics research and application, Volume 45, Issue 1, Page 7-10, January 2018.
      Purpose The following paper is a “Q&A interview” conducted by Joanne Pransky of Industrial Robot Journal as a method to impart the combined technological, business and personal experience of a prominent, robotic industry engineer-turned successful innovator and leader, regarding the challenges of bringing technological discoveries to fruition. This paper aims to discuss these issues. Design/methodology/approach The interviewee is Mel Torrie, CEO and President of Autonomous Solutions, Inc. (ASI). ASI manufactures an OEM/vendor independent software and hardware solution retrofitted to existing equipment to create a wide variety of fully autonomous vehicles spanning agriculture, mining, automotive, industrial cleaning, security and government/military applications. In this interview, Torrie shares how he first got started in the robotics field along with his experiences in running his ground-breaking startup. Findings In 1999, Torrie received a Master’s Degree in Electrical Engineering at Utah State University (USU) where he worked on two National Aeronautics and Space Administration (NASA) space shuttle payloads. After his work at USU, he managed robotics development programs for John Deere, the US Department of Defense and the US Department of Energy. He founded ASI, a spin-off of the Center of Self Organizing and Intelligent Systems (CSOIS) at USU, in 2000. Originality/value Torrie was a pioneer and visionary who bootstrapped ASI from the beginning. Under Torrie’s leadership, ASI raised over $85m in a unique business model where there is no equity but only strategic partners. These foremost companies are given exclusive rights to their vertical market and jointly own their industry’s driverless vehicle’s intellectual property (IP) with ASI. The vehicles are developed and tested at ASI’s 100-acre proving ground facility in Utah. To date, ASI’s more than 100 employees and their business partners have automated 75 different vehicle types and ASI continues to create new markets. Some of ASI’s notable installations include the Bingham Canyon Mine clean-up effort; BatCat, the teleoperated CAT telehandler for the Los Angeles Police Department; and the robotic durability testing program with Ford Motors, Toyota, Fiat Chrysler Automotive, Hyundai, General Motors as well as other private proving grounds.
      Citation: Industrial Robot: the international journal of robotics research and application
      PubDate: 2017-12-13T04:12:14Z
      DOI: 10.1108/IR-11-2017-0199
       
  • State estimation of a robot joint by a novel nonlinear tracking
           differentiator
    • Pages: 11 - 22
      Abstract: Industrial Robot: the international journal of robotics research and application, Volume 45, Issue 1, Page 11-22, January 2018.
      Purpose This paper aims to present a method for improving the state estimation of a robot in the presence of noise measurement, which can improve the performance of the robot controller. Design/methodology/approach In this work, a novel nonlinear tracking differentiator (NTD) was formulated to solve the problems of phase lag, low stability and amplitude attenuation faced by traditional tracking differentiators, which can be used for the state estimation of a robot. Based on the user-defined function stu() with linear and nonlinear characteristics, the authors establish a new acceleration function of NTD and confirm its global asymptotic stability by using the Lyapunov method and the system equivalence method. Phase plane analysis shows that the origin is its stable nodal point or focus point and uncovers the basic constraint conditions for parameter regulation. In addition, the convergence property and robustness performance against noises are studied by describing function method. Findings Comparative simulations, robot state estimation experiments and joint trajectory tracking experiments have indicated that NTD proposed integrates tracking rapidness, accuracy and transitional stability and has high approximation and filtering effects on generalized derivatives of the signal, which contribute to an excellent performance of robot controller in stability and response speed in practice. Originality/value The main contribution of this paper lies in the design of a novel NTD, which successfully improves the state estimation of a robot joint in noisy surroundings, the tracking performance of robot controller and the stability of the system.
      Citation: Industrial Robot: the international journal of robotics research and application
      PubDate: 2017-12-13T02:09:51Z
      DOI: 10.1108/IR-08-2017-0149
       
  • Fuzzy logic PD controller for trajectory tracking of an autonomous
           differential drive mobile robot (i.e. Quanser Qbot)
    • Pages: 23 - 33
      Abstract: Industrial Robot: the international journal of robotics research and application, Volume 45, Issue 1, Page 23-33, January 2018.
      Purpose The aim of this paper is to propose a robust robot fuzzy logic proportional-derivative (PD) controller for trajectory tracking of autonomous nonholonomic differential drive wheeled mobile robot (WMR) of the type Quanser Qbot. Design/methodology/approach Fuzzy robot control approach is used for developing a robust fuzzy PD controller for trajectory tracking of a nonholonomic differential drive WMR. The linear/angular velocity of the differential drive mobile robot are formulated such that the tracking errors between the robot’s trajectory and the reference path converge asymptotically to zero. Here, a new controller zero-order Takagy–Sugeno trajectory tracking (ZTS-TT) controller is deduced for robot’s speed regulation based on the fuzzy PD controller. The WMR used for the experimental implementation is Quanser Qbot which has two differential drive wheels; therefore, the right/left wheel velocity of the differential wheels of the robot are worked out using inverse kinematics model. The controller is implemented using MATLAB Simulink with QUARC framework, downloaded and compiled into executable (.exe) on the robot based on the WIFI TCP/IP connection. Findings Compared to other fuzzy proportional-integral-derivative (PID) controllers, the proposed fuzzy PD controller was found to be robust, stable and consuming less resources on the robot. The comparative results of the proposed ZTS-TT controller and the conventional PD controller demonstrated clearly that the proposed ZTS-TT controller provides better tracking performances, flexibility, robustness and stability for the WMR. Practical implications The proposed fuzzy PD controller can be improved using hybrid techniques. The proposed approach can be developed for obstacle detection and collision avoidance in combination with trajectory tracking for use in environments with obstacles. Originality/value A robust fuzzy logic PD is developed and its performances are compared to the existing fuzzy PID controller. A ZTS-TT controller is deduced for trajectory tracking of an autonomous nonholonomic differential drive mobile robot (i.e. Quanser Qbot).
      Citation: Industrial Robot: the international journal of robotics research and application
      PubDate: 2017-12-13T02:19:09Z
      DOI: 10.1108/IR-07-2017-0128
       
  • Mechanism design and kinematic analysis of a robotic manipulator driven by
           joints with two degrees of freedom (DOF)
    • Pages: 34 - 43
      Abstract: Industrial Robot: the international journal of robotics research and application, Volume 45, Issue 1, Page 34-43, January 2018.
      Purpose This paper aims to introduce a new design concept for robotic manipulator driven by the special two degrees of freedom (DOF) joints. Joint as a basic but essential component of the robotic manipulator is analysed emphatically. Design/methodology/approach The proposed robotic manipulator consists of several two-DOF joints and a rotary joint. Each of the two-DOF joints consists of a cylinder pairs driven by two DC motors and a universal joint (U-joint). Both kinematics of the robotic manipulator and the two-DOF joint are analysed. The influence to output ability of the joint in terms of the scale effect of the inclined plane is analysed in ADAMS simulation software. The contrast between the general and the proposed two-DOF joint is also studied. Finally, a physical prototype of the two-DOF joint is developed for experiments. Findings The kinematic analysis indicates that the joint can achieve omnidirectional deflection motion at a range of ±50° and the robotic manipulator can reach a similar workspace in comparison to the general robotic manipulator. Based on the kinematic analysis, two special motion modes are proposed to endow the two-DOF joint with better motion capabilities. The contrast simulation results between the general and the proposed two-DOF joints suggest that the proposed joint can perform better in the output ability. The experimental results verify the kinematic analysis and motion ability of the proposed two-DOF joint. Originality/value A new design concept of a robotic manipulator has been presented and verified. The complete kinematic analysis of a special two-DOF joint and a seven-DOF robotic manipulator have been resolved and verified. Compared with the general two-DOF joint, the proposed two-DOF joint can perform better in output ability.
      Citation: Industrial Robot: the international journal of robotics research and application
      PubDate: 2017-11-28T11:23:22Z
      DOI: 10.1108/IR-07-2017-0137
       
  • Intelligent grasping with natural human-robot interaction
    • Pages: 44 - 53
      Abstract: Industrial Robot: the international journal of robotics research and application, Volume 45, Issue 1, Page 44-53, January 2018.
      Purpose The aim of this paper is to propose a grasping method based on intelligent perception for implementing a grasp task with human conduct. Design/methodology/approach First, the authors leverage Kinect to collect the environment information including both image and voice. The target object is located and segmented by gesture recognition and speech analysis and finally grasped through path teaching. To obtain the posture of the human gesture accurately, the authors use the Kalman filtering (KF) algorithm to calibrate the posture use the Gaussian mixture model (GMM) for human motion modeling, and then use Gaussian mixed regression (GMR) to predict human motion posture. Findings In the point-cloud information, many of which are useless, the authors combined human’s gesture to remove irrelevant objects in the environment as much as possible, which can help to reduce the computation while dividing and recognizing objects; at the same time to reduce the computation, the authors used the sampling algorithm based on the voxel grid. Originality/value The authors used the down-sampling algorithm, kd-tree algorithm and viewpoint feature histogram algorithm to remove the impact of unrelated objects and to get a better grasp of the state.
      Citation: Industrial Robot: the international journal of robotics research and application
      PubDate: 2017-12-05T11:06:17Z
      DOI: 10.1108/IR-05-2017-0089
       
  • In-line stereo-camera assisted robotic spot welding quality control system
    • Pages: 54 - 63
      Abstract: Industrial Robot: the international journal of robotics research and application, Volume 45, Issue 1, Page 54-63, January 2018.
      Purpose The purpose of this study is to design a robotic inline measurement system for spot welding quality control to achieve process requirement without any operator during the manufacturing flow. Design/methodology/approach A robot manipulator carries a stereo-camera and an ultrasonic control probe. The center position of the spot welding point is determined by evaluating the results of the edge, gradient and symmetry approaches from the methods proposed up to now in the literature to increase reliability. The center position of the spot welding point, determined in the camera reference plane, is transferred to the robot base plane coordinates with the hand–eye calibration proposed in this manuscript. Weld quality is checked by the ultrasonic test probe located at the spot welding point. Findings While operators can only control welding quality, the developed station can also evaluate the quality based on geometric accuracy by processing the deviation of the position of the spot welding points. The proposed calibration method and the results of other methods in the literature are presented in this study by comparing it with synthetic data in simulations and in practical application. Research limitations/implications The quality control is performed not only for the spot welding made with robots but also for the manual welds as well. Because of vision configuration, and reliability issues, maximum allowable offset by the correct spot position is limited to 20 mm to position the manipulator for testing. The installation and pretest works of the developed robotic welding quality control station are completed in the Body Shop Area of Ford Otosan factory in Kocaeli/Turkey. The results of the robotic control process are monitored by the quality assurance team. Integration of automation with the production line will be completed and an inline measurement will be done. Originality value In this paper, a new hand–eye calibration method based on simple and closed-form analytical solutions has been presented. The objective function is defined as reducing the deviation in the point projection, rather than reducing the error in the calibration equation. To increase reliability, combining the results of existing centering algorithms for the detection of the strongly deformed spot welding spot center, although it is normally in a circular form, has been suggested.
      Citation: Industrial Robot: the international journal of robotics research and application
      PubDate: 2017-12-13T01:49:47Z
      DOI: 10.1108/IR-06-2017-0117
       
  • A solution to the hand-eye calibration in the manner of the absolute
           orientation problem
    • Pages: 64 - 77
      Abstract: Industrial Robot: the international journal of robotics research and application, Volume 45, Issue 1, Page 64-77, January 2018.
      Purpose This paper aims to introduce a simple hand-eye calibration method that can be easily applied with different objective functions. Design/methodology/approach The hand-eye calibration is solved by using the closed form absolute orientation equations. Instead of processing all samples together, the proposed method goes through all minimal solution sets. Final result is chosen after evaluating the solution set for arbitrary objectives. In this stage, outliers can be excluded optionally if more accuracy is desired. Findings The proposed method is very flexible and gives more accurate and convenient results than the existing solutions. The mathematical error expression defined by the calibration equations may not be valid in practice, where especially systematic distortions are present. It is shown in the simulations that the solution which results the least mathematical error in systems may have incorrect, incompatible results in the presence of practical demands. Research limitations/implications The performance of the calibration performed with the proposed method is compared with the reference methods in the literature. When the back-projection error is benchmarked, which corresponds to the point repeatability, the proposed approach is considered as the most successful method among all others. Due to its robustness, it is decided to make tooling-sensor calibrations by the recommended method, in the robotic non-destructive testing station in Ford-OTOSAN Kocaeli Plant Body Shop Department. Originality/value Arranging the well-known AX = XB calibration equation in quaternion representation as Q_A = Q_x × Q_B × Q_x reveals another common spatial rotation equation. In this way, absolute orientation solution satisfies the hand-eye calibration equations. The proposed solution is not presented in the literature as a standalone hand-eye calibration method, although some researchers drop a hint to the relative formulations.
      Citation: Industrial Robot: the international journal of robotics research and application
      PubDate: 2017-12-13T02:00:08Z
      DOI: 10.1108/IR-08-2017-0152
       
  • Analysis, optimization and prototyping of a parallel RCM mechanism of a
           surgical robot for craniotomy surgery
    • Pages: 78 - 88
      Abstract: Industrial Robot: the international journal of robotics research and application, Volume 45, Issue 1, Page 78-88, January 2018.
      Purpose Removing the bone flap is a compulsory step in open skull surgeries and is very cumbersome and time-consuming. Exerting large forces during the milling and cutting of the skull renders the surgeon exhausted and consequently increases probable errors in further task of manipulating the sensitive brain tissue. This paper aims to present the development of a robotic system capable of perforating and cutting the required bone flap without restraining the surgeon. Design/methodology/approach For the purpose of optimization, the target workspace is estimated by 3D modeling of the sample skull and bone flaps of targeted surgeries. The optimization considers kinematic performance matrices and the extracted workspace requirements by assigning scores to each possible design and finally selects the design with highest score. Findings The design utilizes a parallel remote center of motion mechanism. Coordinating the remote center of motion (RCM) of the mechanism with the center of a sphere which circumscribes the skull, the milling tool is always nearly perpendicular to the skull bone. The paper presents the concept design, optimization criteria and finally the optimal design of the robot and the fabricated prototype. Tests indicate that the prototype is able to sweep the target workspace and to exert the required forces for bone milling. Originality value The workspace requirements of the craniotomy/craniectomy surgeries are investigated and converted into one quantitative target workspace. An optimized design for a surgical robot is developed which satisfies the workspace requirements of the targeted surgeries.
      Citation: Industrial Robot: the international journal of robotics research and application
      PubDate: 2017-12-08T11:43:06Z
      DOI: 10.1108/IR-08-2017-0144
       
  • Real-time control of triglide robot using sliding mode control method
    • Pages: 89 - 97
      Abstract: Industrial Robot: the international journal of robotics research and application, Volume 45, Issue 1, Page 89-97, January 2018.
      Purpose The purpose of the study is to design a three-dimensional (3D) triglide parallel robot with a different approach and to control the manufactured robot via sliding mode control method that has not been applied to the robot before. Design/methodology/approach The x, y and z coordinates of the end effector of the robot have been given as a reference. The x, y and z reference values are transformed as new reference values of the vertical movement of the robot on the endless screw by using the inverse kinematic equations of the robot. The control of the robot over these reference values is provided by a sliding mode control. The MATLAB/real-time toolbox has been used for creating the interface. The real-time control of the triglide robot has been carried out with a sliding mode controller in the Simulink environment. Findings When the results of the sliding mode control are examined, it is seen that the desired reference values are provided in about 0.6 s. The velocity of the sliding limbs in each arm of the robot is approximately 50 mm/s. The reference values have been reached using the sliding mode control method, with an average error of 0.01 mm. In addition, the problem of chattering in the system caused by using the sign function has been relatively eliminated by using the saturation function instead of the sign function. Thus, the sliding mode control method with saturation function is more feasible. Originality/value In this study, the triglide parallel robot was manufactured using a 3D model after taking into consideration the dimensions of the 3D model. After production, the necessary hardware connections were provided, and a real-time sliding mode control method was implemented to the robot by using the interface program in MATLAB/Simulink environment. The literature contribution of the paper is the real-time control of the triglide robot with the sliding mode control method.
      Citation: Industrial Robot: the international journal of robotics research and application
      PubDate: 2017-12-08T11:37:46Z
      DOI: 10.1108/IR-06-2017-0107
       
  • POLIBOT – POwer Lines Inspection RoBOT
    • Pages: 98 - 109
      Abstract: Industrial Robot: the international journal of robotics research and application, Volume 45, Issue 1, Page 98-109, January 2018.
      Purpose Several studies have aimed to develop robotic systems which move in transmission lines. Until this moment, all of them have a high weight and cost associated with the equipment and reduced battery autonomy time. In this context, this paper aims to propose the POLIBOT (POwer Lines Inspection roBOT) with low cost and weight, enabling the movement over the lines and an easier installation and remove. Design/methodology/approach The designed robot uses the Profiles Manufacturing Methodology (PMM). The construction of the robot mechanical structure uses modularized aluminum parts built through square profiles. Thus, it’s possible a drastic reduction in production time as well as cost reduction and weight when comparing this method with other manufacturing processes like foundry, for example. For hardware and software systems, the use of free and open source software causes a significant reduction in cost and project execution time. The benefits of using open source systems are immeasurable, both from academic and industrial applications. Findings The POLIBOT platform is one solution to the problem of inspection in power lines. With this robot, more lines are maintained with lower time. In its constructive aspect, the robotic mechanism is designed using principles of bioengineering. The use of this principle was successful, considering that obstacle transposition is performed with stability and low energy consumption. Research limitations/implications The suggestion for future researches is to replace the battery for solar energy and construction in polymeric material to avoid high magnetic fields. Practical implications The commercial application is evident because manual inspections are inefficient, very expensive and dangerous. Thus, it is growing the number of researches that develop mechatronics systems for this kind of inspection. Social implications The impact is the reduction of accidents because the present procedure requires precision of movements, where the pilot and electrical technician are close to high electrical and magnetic fields. In addition, for some tasks, the worker has to walk on the line to reach some important points. Thus, those tasks involve high risk of death. Originality/value The PMM methodology represents an innovation to the state of the art because others robotic mechanisms proposed for inspection tasks present total structure mass between 50 and 100 kg and POLIBOT has only 9 kg. Other fact is its price for implementation as this robot used the robot operating system (ROS) framework, what dispense the use of licenses. Other important features are that the robot performs the tasks autonomously, which reduces errors introduced by the operator and its low manufacturing cost as compared with other projects.
      Citation: Industrial Robot: the international journal of robotics research and application
      PubDate: 2017-12-13T01:31:27Z
      DOI: 10.1108/IR-08-2016-0217
       
  • Real-time velocity scaling and obstacle avoidance for industrial robots
           using fuzzy dynamic movement primitives and virtual impedances
    • Pages: 110 - 126
      Abstract: Industrial Robot: the international journal of robotics research and application, Volume 45, Issue 1, Page 110-126, January 2018.
      Purpose This paper aims to increase the safety of the robots’ operation by developing a novel method for real-time implementation of velocity scaling and obstacle avoidance as the two widely accepted safety increasing concepts. Design/methodology/approach A fuzzy version of dynamic movement primitive (DMP) framework is proposed as a real-time trajectory generator with imbedded velocity scaling capability. Time constant of the DMP system is determined by a fuzzy system which makes decisions based on the distance from obstacle to the robot’s workspace and its velocity projection toward the workspace. Moreover, a combination of the DMP framework with a human-like steering mechanism and a novel configuration of virtual impedances is proposed for real-time obstacle avoidance. Findings The results confirm the effectiveness of the proposed method in real-time implementation of the velocity scaling and obstacle avoidance concepts in different cases of single and multiple stationary obstacles as well as moving obstacles. Practical implications As the provided experiments indicate, the proposed method can effectively increase the real-time safety of the robots’ operations. This is achieved by developing a simple method with low computational loads. Originality/value This paper proposes a novel method for real-time implementation of velocity scaling and obstacle avoidance concepts. This method eliminates the need for modification of original DMP formulation. The velocity scaling concept is implemented by using a fuzzy system to adjust the DMP’s time constant. Furthermore, the novel impedance configuration makes it possible to obtain a non-oscillatory convergence to the desired path, in all degrees of freedom.
      Citation: Industrial Robot: the international journal of robotics research and application
      PubDate: 2017-12-15T02:15:08Z
      DOI: 10.1108/IR-02-2017-0035
       
  • Improving backdrivability in preoperative manual manipulability of
           minimally invasive surgery robot
    • Pages: 127 - 140
      Abstract: Industrial Robot: the international journal of robotics research and application, Volume 45, Issue 1, Page 127-140, January 2018.
      Purpose The purpose of this paper is to propose a control algorithm to improve the backdrivability performance of minimally invasive surgical robotic arms, so that precise manual manipulations of robotic arms can be performed in the preoperative operation. Design/methodology/approach First, the flexible-joint dynamic model of the 3-degree of freedom remote center motion (RCM) mechanisms of minimally invasive surgery (MIS) robot is derived and its dynamic parameters and friction parameters are identified. Next, the angular velocities and angular accelerations of joints are estimated in real time by the designed Kalman filter. Finally, a control algorithm based on Kalman filter is proposed to enhance the backdrivability of RCM mechanisms by compensating for the internally generated gravitational, frictional and inertial resistances experienced during the positioning and orientating. Findings The parameter identification for RCM mechanisms can be experimentally evaluated from comparison between the measured torques and the reconstructed torques. The accuracy and convergence of the real-time estimation of angular velocity and acceleration of the joint by the designed Kalman filter can be verified from corresponding simulation experiments. Manual adjustment experiments and animal experiments validate the effectiveness of the proposed backdrivability control algorithm. Research limitations/implications The backdrivability control algorithm presented in this paper is a universal method to enhance the manual operation performance of robots, which can be used not only in the medical robot preoperative manual manipulation but also in robot haptic interaction, industrial robot direct teaching and active rehabilitation training of rehabilitation robot and so on. Originality/value Compared with other backdrivability design methods, the proposed algorithm achieves good backdrivability for RCM mechanisms without using force sensors and accelerometers. In addition, this paper presents a new static friction compensation approach for a joint moving with very low velocity.
      Citation: Industrial Robot: the international journal of robotics research and application
      PubDate: 2017-12-13T12:19:01Z
      DOI: 10.1108/IR-02-2017-0031
       
  • Force control approaches research for robotic machining based on particle
           swarm optimization and adaptive iteration algorithms
    • Pages: 141 - 151
      Abstract: Industrial Robot: the international journal of robotics research and application, Volume 45, Issue 1, Page 141-151, January 2018.
      Purpose The purpose of this paper is to reduce the strain and vibration during robotic machining. Design/methodology/approach An intelligent approach based on particle swarm optimization (PSO) and adaptive iteration algorithms is proposed to optimize the PD control parameters in accordance with robotic machining state. Findings The proposed intelligent approach can significantly reduce robotic machining strain and vibration. Originality value The relationship between robotic machining parameters is studied and the dynamics model of robotic machining is established. In view of the complexity of robotic machining process, the PSO and adaptive iteration algorithms are used to optimize the PD control parameters in accordance with robotic machining state. The PSO is used to optimize the PD control parameters during stable-machining state, and the adaptive iteration algorithm is used to optimize the PD control parameters during cut-into state.
      Citation: Industrial Robot: the international journal of robotics research and application
      PubDate: 2017-12-13T01:40:27Z
      DOI: 10.1108/IR-03-2017-0045
       
  • P-like controllers with collision avoidance for passive bilateral
           teleoperation of a UAV
    • Pages: 152 - 166
      Abstract: Industrial Robot: the international journal of robotics research and application, Volume 45, Issue 1, Page 152-166, January 2018.
      Purpose This paper aims to tele-operate the movement of an unmanned aerial vehicle (UAV) in the obstructed environment with asymmetric time-varying delays. A simple passive proportional velocity errors plus damping injection (P-like) controller is proposed to deal with the asymmetric time-varying delays in the aerial teleoperation system. Design/methodology/approach This paper presents both theoretical and real-time experimental results of the bilateral teleoperation system of a UAV for collision avoidance over the wireless network. First, a position-velocity workspace mapping is used to solve the master-slave kinematic/dynamic dissimilarity. Second, a P-like controller is proposed to ensure the stability of the time-delayed bilateral teleoperation system with asymmetric time-varying delays. The stability is analyzed by the Lyapunov–Krasovskii function and the delay-dependent stability criteria are obtained under linear-matrix-inequalities conditions. Third, a vision-based localization is presented to calibrate the UAV’s pose and provide the relative distance for obstacle avoidance with a high accuracy. Finally, the performance of the teleoperation scheme is evaluated by both human-in-the-loop simulations and real-time experiments where a single UAV flies through the obstructed environment. Findings Experimental results demonstrate that the teleoperation system can maintain passivity and collision avoidance can be achieved with a high accuracy for asymmetric time-varying delays. Moreover, the operator could tele-sense the force reflection to improve the maneuverability in the aerial teleoperation. Originality/value A real-time bilateral teleoperation system of a UAV for collision avoidance is performed in the laboratory. A force and visual interface is designed to provide force and visual feedback of the slave environment to the operator.
      Citation: Industrial Robot: the international journal of robotics research and application
      PubDate: 2017-12-13T01:10:04Z
      DOI: 10.1108/IR-04-2017-0072
       
  • An industrial security system for human-robot coexistence
    • Abstract: Industrial Robot: the international journal of robotics research and application, Ahead of Print.
      Purpose The installation of industrial robots requires security barriers, a costly, time-consuming exercise. Collaborative robots may offer a solution; however, these systems only comply with safety standards if operating at reduced speeds. The purpose of this paper is to describe the development and implementation of a novel security system that allows human–robot coexistence while permitting the robot to execute much of its task at nominal speed. Design/methodology/approach The security system is defined by three modes: a nominal mode, a coexistence mode and a gravity compensation mode. Mode transition is triggered by three lasers, two of which are mechanically linked to the robot. These scanners create a dynamic envelope around the robot and allow the detection of operator presence or environmental changes. To avoid velocity discontinuities between transitions, the authors propose a novel time scaling method. Findings The paper describes the system’s mechanical, software and control architecture. The system is demonstrated experimentally on a collaborative robot and is compared with the performance of a state-of-art security system. Both a qualitative and quantitative analysis of the new system is carried out. Practical implications The mode transition method is easily implemented, requires little computing power and leaves the trajectories unchanged. As velocity discontinuities are avoided, motor wear is reduced. The execution time is substantially less than a commercial alternative. These advantages can lead to economic benefits in high-volume manufacturing environments. Originality/value This paper proposes a novel system that is based on industrial material but can generate dynamic safety zones for a collaborative robot.
      Citation: Industrial Robot: the international journal of robotics research and application
      PubDate: 2017-12-13T04:05:33Z
      DOI: 10.1108/IR-09-2017-0165
       
  • Computational and experimental study on dynamics behavior of a bionic
           underwater robot with multi-flexible caudal fins
    • Abstract: Industrial Robot: the international journal of robotics research and application, Ahead of Print.
      Purpose This paper aims to develop a novel type of bionic underwater robot (BUR) with multi-flexible caudal fins. With the coordinate movement of multi-caudal fins, BUR will combine the undulation propulsion mode of carangiform fish and jet propulsion mode of jellyfish together organically. The use of Computational Fluid Dynamics (CFD) and experimental method helps to reveal the effect of caudal fin stiffness and motion parameters on its hydrodynamic forces. Design/methodology/approach First, the prototype of BUR was given by mimicking the shape and propulsion mechanism of both carangiform fish and jellyfish. Besides, the kinematics models in both undulation and jet propulsion modes were established. Then, the effects of caudal fin stiffness on its hydrodynamic forces were investigated based on the CFD method. Finally, an experimental set-up was developed to test and verify the effects of the caudal fin stiffness on its hydrodynamic forces under different caudal fin actuation frequency and amplitude. Findings The results of this paper demonstrate that BUR with multi-flexible caudal fins combines the hydrodynamic characteristics of undulation and jet propulsion modes. In addition, the caudal fin with medium stiffness can generate larger thrust force and reduce the reactive power. Practical implications This paper implies that robotic fish can be equipped with both undulation and jet propulsion modes to optimize the swimming performance in the future. Originality/value This paper provides a BUR with multi-propulsion modes, which has the merits of high propulsion efficiency, high acceleration performance and overcome the head shaken problem effectively.
      Citation: Industrial Robot: the international journal of robotics research and application
      PubDate: 2017-12-13T03:55:33Z
      DOI: 10.1108/IR-06-2017-0122
       
 
 
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