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Authors:Yanli Feng, Ke Zhang, Haoyu Li, Jingyu Wang Abstract: 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. This paper exploits a combination of the link dynamical system and the friction model to create robot dynamic behaviors. A practical approach to identify the nonlinear joint friction parameters including the slip properties in sliding phase and the stick characteristics in presliding phase is presented. Afterward, an adaptive variable-step moving average method is proposed to effectively reduce the noise impact on the collected data. Furthermore, a radial basis function neural network-based friction estimator for varying loads is trained to compensate the nonlinear effects of load on friction during robot joint moving. Experiment validations are carried out on all the joints of a 6-DOF industrial robot. The experimental results of joint torque estimation demonstrate that the proposed strategy significantly improves the accuracy of the robot dynamic model, and the prediction effect of the proposed method is better than that of existing methods. The proposed method extends the robot dynamic model with friction compensation, which includes the nonlinear effects of joint stick motion, joint sliding motion and load attached to the end-effector. Citation: Industrial Robot PubDate: 2023-06-06 DOI: 10.1108/IR-12-2022-0322 Issue No:Vol. ahead-of-print, No. ahead-of-print (2023)
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Authors:Ziqi Chai, Chao Liu, Zhenhua Xiong Abstract: 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 and matching accuracy. A multi-pyramid-based hierarchical template matching strategy is proposed. Three pyramids are established at the sphere subdivision, radius and in-plane rotation levels during the offline template render stage. Then, a hierarchical template matching is performed from the highest to the lowest level in each pyramid, narrowing the global search space and expanding the local search space. The initial search parameters at the top level can be determined by the preprocessing of the YOLOv3 object detection network to further improve real-time performance. Experimental results show that this matching strategy takes only 100 ms under 100k templates without loss of accuracy, promising for real industrial applications. The authors further validated the approach by applying it to a real robot grasping task. The matching framework in this paper improves the template matching efficiency by two orders of magnitude and is validated using a common template definition and viewpoint sampling methods. In addition, it can be easily adapted to other template definitions and viewpoint sampling methods. Citation: Industrial Robot PubDate: 2023-05-31 DOI: 10.1108/IR-08-2022-0220 Issue No:Vol. ahead-of-print, No. ahead-of-print (2023)
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Authors:Ran Jiao, Yongfeng Rong, Mingjie Dong, Jianfeng Li Abstract: 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. A tether-based positioning system consisting of a universal joint, a tether-actuated absolute position encoder and an attitude sensor is designed to provide reliable position feedback for the FUAV. To handle the disturbances, including the tension force caused by the taut tether, model uncertainties and other external disturbances such as aerodynamic disturbance, a hybrid disturbance observer (HDO) combining the position-based method and momentum-based technology with force sensor feedback is designed for the system. In addition, an HDO-based impedance controller is built to allow the FUAV interacting with the environment and meanwhile rejecting the disturbances. Experimental validations of the proposed control algorithm are implemented on a real FUAV with the result of nice disturbance rejection capability and physical interaction performance. A cheap alternative to indoor positioning system is proposed, with which the FUAV is able to interact with external environment and meanwhile reject the disturbances under the help of proposed hybrid disturbance observer and the impedance controller. Citation: Industrial Robot PubDate: 2023-05-31 DOI: 10.1108/IR-11-2022-0277 Issue No:Vol. ahead-of-print, No. ahead-of-print (2023)
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Authors:Robert Bogue Abstract: This paper aims to illustrate the growing role of robots in the electronics industries. Following a short introduction, this paper discusses robotic applications and products in three sectors of the electronics industry: semiconductor processing, printed circuit manufacture and electronic product assembly. Finally, conclusions are drawn. The major application in semiconductor manufacture is the handling of silicon wafers during both front- and back-end processes and products include cleanroom certified multi-axis robotic arms, some mounted on mobile platforms, and automated guided vehicles. Applications in printed circuit board production include component handling and insertion, soldering, inspection, testing and packing. These exploit Cartesian, SCARA and six-axis articulated robots and cobots play an important role where automated and manual processes operate in close proximity. Electronic product assembly applications include part handling, soldering, bonding and sealing, screw driving, test and inspection and packaging. Cobots offer the benefits of a small footprint which allows deployment in the often limited space and use in proximity to humans. As yet, robotic assembly of complex electronic products such as smartphones and computers has not been realised for technical reasons. This study provides a detailed review of robotic products and applications in three key sectors of the electronics industries. Citation: Industrial Robot PubDate: 2023-05-22 DOI: 10.1108/IR-04-2023-0082 Issue No:Vol. ahead-of-print, No. ahead-of-print (2023)
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Authors:Yujie Zhang, Jing Cui, Yang Li, Zhongyi Chu Abstract: This paper aims to address the issue of model discontinuity typically encountered in traditional Denavit-Hartenberg (DH) models. To achieve this, we propose the use of a local Product of Exponentials (POE) approach. Additionally, a modified calibration model is presented which takes into account both kinematic errors and high-order joint-dependent kinematic errors. Both kinematic errors and high-order joint-dependent kinematic errors are analyzed to modify the model. Robot positioning accuracy is critically important in high-speed and heavy-load manufacturing applications. One essential problem encountered in calibration of series robot is that the traditional methods only consider fitting kinematic errors, while ignoring joint-dependent kinematic errors. Laguerre polynomials are chosen to fitting kinematic errors and high-order joint-dependent kinematic errors which can avoid the Runge phenomenon of curve fitting to a great extent. Levenberg–Marquard algorithm, which is insensitive to overparameterization and can effectively deal with redundant parameters, is used to quickly calibrate the modified model. Experiments on an EFFORT ER50 robot are implemented to validate the efficiency of the proposed method; compared with the Chebyshev polynomial calibration methods, the positioning accuracy is improved from 0.2301 to 0.2224 mm. The results demonstrate the substantial improvement in the absolute positioning accuracy achieved by the proposed calibration methods on an industrial serial robot. Citation: Industrial Robot PubDate: 2023-05-22 DOI: 10.1108/IR-11-2022-0284 Issue No:Vol. ahead-of-print, No. ahead-of-print (2023)
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Authors:Shijie Dai, Shida Li, Wenbin Ji, Ruiqin Wang, Shuyuan Liu Abstract: Considering the response lag and viscous slip oscillation of the system caused by cylinder piston friction during automatic polishing of aero-engine blades by a robotic pneumatic end-effector, the purpose of this study is to propose a constant force control method with adaptive friction compensation. First, the mathematical model of the pneumatic end-effector is established based on the continuous LuGre model, and the static parameters of the LuGre model are identified to verify the necessity of friction compensation. Second, aiming at the problems of difficult identification of dynamic parameters and unmeasurable internal states in the LuGre model, the parameter adaptive law and friction state observer are designed to estimate these parameters online. Finally, an adaptive friction compensation backstepping controller is designed to improve the response speed and polishing force control accuracy of the system. Simulation and experimental results show that, compared with proportion integration differentiation, extended state observer-based active disturbance rejection controller and integral sliding mode controller, the proposed method can quickly and effectively suppress the polishing force fluctuation caused by nonlinear friction and significantly improve the blade quality. The pneumatic force control method combining backstepping control with the friction adaptive compensation based on LuGre friction model is studied, which effectively suppresses the fluctuation of normal polishing force. Citation: Industrial Robot PubDate: 2023-05-19 DOI: 10.1108/IR-01-2023-0010 Issue No:Vol. ahead-of-print, No. ahead-of-print (2023)
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Authors:Yanbiao Zou, Tao Liu, Tie Zhang, Hubo Chu Abstract: This paper aims to propose a learning exponential jerk trajectory planning to suppress the residual vibrations of industrial robots. Based on finite impulse response filter technology, a step signal with a proper amplitude first passes through two linear filters and then performs exponential filter shaping to obtain an exponential jerk trajectory and cancel oscillation modal. An iterative learning strategy designed by gradient descent principle is used to adjust the parameters of exponential filter online and achieve the maximum vibration suppression effect. By building a SCARA robot experiment platform, a series of contrast experiments are conducted. The results show that the proposed method can effectively suppress residual vibration compared to zero vibration shaper and zero vibration and derivative shaper. The idea of the adopted iterative leaning strategy is simple and reduces the computing power of the controller. A cheap acceleration sensor is available because it just needs to measure vibration energy to feedback. Therefore, the proposed method can be applied to production practice. Citation: Industrial Robot PubDate: 2023-05-10 DOI: 10.1108/IR-02-2023-0013 Issue No:Vol. ahead-of-print, No. ahead-of-print (2023)
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Authors:Pengfei Zhou, Shufeng Tang, Yubin Liu, Jie Zhao, Zaiyong Sun Abstract: This study aims to the complex and unpredictable terrain environment of the Qinghai-Tibet Plateau scientific research station, such as cement road, wetland, gravel desert, snowfield, ice surface, grassland, slimy ground, steep slope, step, etc., a reconfigurable walking mechanism based on two movement modes of wheel and triangular crawler was proposed. By analyzing the deformation mechanism of the walking mechanism, a reconfigurable wheel-crawler-integrated walking mechanism and the configuration scheme are designed. The analysis of the kinematics and mechanical properties of the swing arm system and the deformation mechanism of the walking mechanism. The reconfigurable wheel-crawler-integrated walking mechanism can be switched between the wheel and triangular crawler modes by driving the deformation mechanism. Through the numerical simulation of its movement process, and the trial production and experiment of the prototype, indicates the validity of the reconfigurable wheel-crawler-integrated walking mechanism design. The work of this paper provides a reconfigurable wheel-crawler-integrated-walking mechanism, which can be used by robots in the Qinghai-Tibet Plateau scientific research station. It has excellent reconfigurability and can effectively improve the robot’s adaptability to complex terrain. Citation: Industrial Robot PubDate: 2023-05-09 DOI: 10.1108/IR-08-2022-0208 Issue No:Vol. ahead-of-print, No. ahead-of-print (2023)
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Authors:Changlong Ye, Jingru Shao, Yong Liu, Suyang Yu Abstract: Omnidirectional mobile robots with a special type of wheel structure can realize flexible motion with all three degrees of freedom in a plane. But the driving method brings large disturbance, which affects motion accuracy and stability. This study aims to improve the motion control accuracy of the omnidirectional mobile platform with MY3 wheels (MY3-OMR), a new fuzzy active disturbance rejection control (FADRC) method with adaptivity is proposed. Based on the basic mechanical structure and drive characteristics of MY3-OMR, the dynamics model of the system is established. The linear active disturbance rejection control (LADRC) system is designed to reduce the interference of nonlinear factors in this dynamics model. A fuzzy controller is introduced to realize the online adjustment of the parameters of the LADRC, which further improves the anti-disturbance performance of the system. The control method proposed in this paper is compared and analyzed with other methods by simulation and experiment. Results show that the proposed method has better tracking and robustness, which effectively improves the control accuracy of trajectory tracking of MY3-OMR. A FADRC method with adaptivity is proposed by combining fuzzy control and LADRC. The motion accuracy and anti-interference ability of the MY3-OMR are improved by this control method, which lays a foundation for the subsequent application of MY3-OMR. Citation: Industrial Robot PubDate: 2023-05-03 DOI: 10.1108/IR-10-2022-0264 Issue No:Vol. ahead-of-print, No. ahead-of-print (2023)
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Authors:Xinyang Fan, Xin Shu, Baoxu Tu, Changyuan Liu, Fenglei Ni, Zainan Jiang Abstract: In the current teleoperation system of humanoid robots, the control between arms and the control between the waist and arms are individual and lack coordinated motion. This paper aims to solve the above problem and proposes a teleoperation control approach for a humanoid robot based on waist–arm coordination (WAC). The teleoperation approach based on WAC comprises dual-arm coordination (DAC) and WAC. The DAC method realizes the coordinated motion of both arms through one hand by establishing a mapping relationship between a single hand controller and the manipulated object; the WAC method realizes the coordinated motion of both arms and waist by calculating the inverse kinematic input of robotic arms based on the desired velocity of the waist and the end of both arms. An integrated teleoperation control framework provides interfaces for the above methods, and users can switch control modes online to adapt to different tasks. After conducting experiments on the dual-arm humanoid robot through the teleoperation control framework, it was found that the DAC method can save 27.2% of the operation time and reduce 99.9% of the posture change of the manipulated object compared with the commonly used individual control. The WAC method can accomplish a task that cannot be done by individual control. The experiments proved the improvement of both methods in terms of operation efficiency, operation stability and operation capability compared with individual control. The DAC method better maintains the constraints of both arms and the manipulated object. The WAC method better maintains the constraints of the manipulated object itself. Meanwhile, the teleoperation framework integrates the proposed methods and enriches the teleoperation modes and control means. Citation: Industrial Robot PubDate: 2023-04-20 DOI: 10.1108/IR-12-2022-0306 Issue No:Vol. ahead-of-print, No. ahead-of-print (2023)
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Authors:Xiangda Yan, Jie Huang, Keyan He, Huajie Hong, Dasheng Xu Abstract: Robots equipped with LiDAR sensors can continuously perform efficient actions for mapping tasks to gradually build maps. However, with the complexity and scale of the environment increasing, the computation cost is extremely steep. This study aims to propose a hybrid autonomous exploration method that makes full use of LiDAR data, shortens the computation time in the decision-making process and improves efficiency. The experiment proves that this method is feasible. This study improves the mapping update module and proposes a full-mapping approach that fully exploits the LiDAR data. Under the same hardware configuration conditions, the scope of the mapping is expanded, and the information obtained is increased. In addition, a decision-making module based on reinforcement learning method is proposed, which can select the optimal or near-optimal perceptual action by the learned policy. The decision-making module can shorten the computation time of the decision-making process and improve the efficiency of decision-making. The result shows that the hybrid autonomous exploration method offers good performance, which combines the learn-based policy with traditional frontier-based policy. This study proposes a hybrid autonomous exploration method, which combines the learn-based policy with traditional frontier-based policy. Extensive experiment including real robots is conducted to evaluate the performance of the approach and proves that this method is feasible. Citation: Industrial Robot PubDate: 2023-04-11 DOI: 10.1108/IR-12-2022-0299 Issue No:Vol. ahead-of-print, No. ahead-of-print (2023)
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Authors:Sixing Liu, Yan Chai, Rui Yuan, Hong Miao Abstract: Simultaneous localization and map building (SLAM), as a state estimation problem, is a prerequisite for solving the problem of autonomous vehicle motion in unknown environments. Existing algorithms are based on laser or visual odometry; however, the lidar sensing range is small, the amount of data features is small, the camera is vulnerable to external conditions and the localization and map building cannot be performed stably and accurately using a single sensor. This paper aims to propose a laser three dimensions tightly coupled map building method that incorporates visual information, and uses laser point cloud information and image information to complement each other to improve the overall performance of the algorithm. The visual feature points are first matched at the front end of the method, and the mismatched point pairs are removed using the bidirectional random sample consensus (RANSAC) algorithm. The laser point cloud is then used to obtain its depth information, while the two types of feature points are fed into the pose estimation module for a tightly coupled local bundle adjustment solution using a heuristic simulated annealing algorithm. Finally, the visual bag-of-words model is fused in the laser point cloud information to establish a threshold to construct a loopback framework to further reduce the cumulative drift error of the system over time. Experiments on publicly available data sets show that the proposed method in this paper can match its real trajectory well. For various scenes, the map can be constructed by using the complementary laser and vision sensors, with high accuracy and robustness. At the same time, the method is verified in a real environment using an autonomous walking acquisition platform, and the system loaded with the method can run well for a long time and take into account the environmental adaptability of multiple scenes. A multi-sensor data tight coupling method is proposed to fuse laser and vision information for optimal solution of the positional attitude. A bidirectional RANSAC algorithm is used for the removal of visual mismatched point pairs. Further, oriented fast and rotated brief feature points are used to build a bag-of-words model and construct a real-time loopback framework to reduce error accumulation. According to the experimental validation results, the accuracy and robustness of the single-sensor SLAM algorithm can be improved. Citation: Industrial Robot PubDate: 2023-04-07 DOI: 10.1108/IR-02-2023-0016 Issue No:Vol. ahead-of-print, No. ahead-of-print (2023)
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Authors:Robert Bogue Abstract: This paper aims to illustrate the growing role of drones in applications involving physical tasks. Following a short introduction, this first provides a brief introduction to drone technology. It then describes and discusses products and applications involving physical tasks in agricultural and forestry, maritime rescue, firefighting and product delivery. Finally, brief conclusions are drawn. Excluding military applications, drones were initially used primarily for image acquisition. Numerous different designs have since been developed with greatly varying wing configurations, payloads, flight duration, power sources and other features which are increasingly being used to conduct physical tasks. In the applications considered here drones are applying agrochemicals and dispersing crop and tree seeds; saving lives by deploying lifeboats and buoyancy aids; extinguishing fires in high-rise buildings and forests; and delivering groceries, food, mail, medicines and humanitarian aid, often in and to remote locations. This study provides a detailed insight into selection of applications in which drones conduct physical tasks. Citation: Industrial Robot PubDate: 2023-03-31 DOI: 10.1108/IR-03-2023-0037 Issue No:Vol. ahead-of-print, No. ahead-of-print (2023)
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Authors:Cengiz Deniz Abstract: The aim of this study is to create a robust and simple collision avoidance approach based on quaternion algebra for vision-based pick and place applications in manufacturing industries, specifically for use with industrial robots and collaborative robots (cobots). In this study, an approach based on quaternion algebra is developed to prevent any collision or breakdown during the movements of industrial robots or cobots in vision system included pick and place applications. The algorithm, integrated into the control system, checks for collisions before the robot moves its end effector to the target position during the process flow. In addition, a hand–eye calibration method is presented to easily calibrate the camera and define the geometric relationships between the camera and the robot coordinate systems. This approach, specifically designed for vision-based robot/cobot applications, can be used by developers and robot integrator companies to significantly reduce application costs and the project timeline of the pick and place robotics system installation. Furthermore, the approach ensures a safe, robust and highly efficient application for robotics vision applications across all industries, making it an ideal solution for various industries. The algorithm for this approach, which can be operated in a robot controller or a programmable logic controller, has been tested as real-time in vision-based robotics applications. It can be applied to both existing and new vision-based pick and place projects with industrial robots or collaborative robots with minimal effort, making it a cost-effective and efficient solution for various industries. Citation: Industrial Robot PubDate: 2023-03-28 DOI: 10.1108/IR-01-2023-0005 Issue No:Vol. ahead-of-print, No. ahead-of-print (2023)
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Authors:Xinwei Guo, Yang Chen Abstract: Currently, the vision and depth information obtained from the eye-to-hand RGB-D camera can apply to the reconstruction of the three-dimensional (3D) environment for a robotic operation workspace. The reconstructed 3D space contributes to a symmetrical and equal observation view for robots and humans, which can be considered a digital twin (DT) environment. The purpose of this study is to enhance the robot skill in the physical workspace, although the artificial intelligence (AI) technique has high performance of the robotic operation in the known environments. A multimodal interaction framework is proposed in DT operation environments. A fast image-based target segmentation technique is combined in the 3D reconstruction of the robotic operation environment from the eye-to-hand camera, thus expediting the 3D DT environment generation without accuracy loss. A multimodal interaction interface is integrated into the DT environment. The users are supported to operate the virtual objects in the DT environment using speech, mouse and keyboard simultaneously. The humans’ operations in 3D DT virtual space are recorded, and cues are provided for the robot’s operations in practice. Citation: Industrial Robot PubDate: 2023-03-28 DOI: 10.1108/IR-10-2022-0260 Issue No:Vol. ahead-of-print, No. ahead-of-print (2023)
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Authors:Shufeng Tang, Renjie Huang, Guoqing Zhao, Guoqing Wang Abstract: The purpose of this paper is that the modular mobile robots reformed the multimachine joint mode to achieve obstacle-crossing, climbing and other multifunctional inspection in unstructured environment under the connection of the cone–hole docking mechanism. An arc-shaped docking cone head with a posture-maintaining spring and two arc-shaped connecting rods that formed a ring round hole were designed to achieve large tolerance docking. Before active locking, the coordination between structures was used to achieve passive locking, which mitigated the docking impact of modular robots in unstructured environment. Using the locking ring composed of the two arc-shaped connecting rods, open-loop and closed-loop motion characteristics were obtained through the mutual motion of the connecting rod and the sliding block to achieve active locking, which not only ensured high precision docking, but also achieved super docking stability. The cone–hole docking mechanism had the docking tolerance performance of position deviation of 6mm and pitch deviation of 8° to achieve docking of six degrees of freedom (6-DOF), which had a load capacity of 230 N to achieve super docking stability. Under the connection of the cone–hole docking mechanism, the modular mobile robots reformed the multimachine joint mode to achieve obstacle-crossing, climbing and other multifunctional inspection in unstructured environment. Based on mechanical analysis of universal models, a cone–hole docking mechanism combining active and passive functions, six-dimensional constraints could be implemented, was proposed in this paper. The characteristics of the posture-maintaining spring in the cone docking head and the compression spring at the two ends of two arc-shaped connecting rods were used to achieve docking with large tolerance. Passive locking and active locking modules were designed, mitigating impact load and the locking did not require power to maintain, which not only ensured high precision docking, but also achieved super docking stability. Citation: Industrial Robot PubDate: 2023-03-15 DOI: 10.1108/IR-11-2022-0295 Issue No:Vol. ahead-of-print, No. ahead-of-print (2023)
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Authors:Caixia Chao, Xin Mei, Yongle Wei, Lijin Fang Abstract: This paper aims to design a walking-clamp mechanism for the inspection robot of transmission line. The focus for this design is on climbing ability and obstacle-crossing ability with a goal to create a novel walking-clamp mechanism that can clamp not only the line but also the obstacle. A novel clamping jaw used in the walking-clamp mechanism is proposed. The clamping wheel is mounted on the lower end of clamping jaw to reduce the friction between the clamping jaw and the line, and the top end of clamping jaw is designed as a hook structure to clamp the obstacle. The working principle and force states of the walking-clamp mechanism clamping the line and obstacle are analyzed, and the simulation and prototype experiments are carried out. The experimental results show that this mechanism can clamp the obstacle steadily, and the clamping forces of the front and back pairs of clamping jaws are almost equal during robot walking along the catenary-shaped line. It is in agreement with the theoretical analysis, and it demonstrates that this mechanism can meet the working requirements of inspection robot. This novel mechanism can be used for inspection robot of transmission line, and it is beneficial for robot to complete long-distance inspection works. It stands to reduce costs related to inspection and improve the inspection efficiency. Innovative features include its structure, working principle and force states. Citation: Industrial Robot PubDate: 2023-03-14 DOI: 10.1108/IR-09-2022-0226 Issue No:Vol. ahead-of-print, No. ahead-of-print (2023)
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Authors:Yanbing Ni, Yizhang Cui, Shilei Jia, Chenghao Lu, Wenliang Lu Abstract: The purpose of this paper is to propose a method for selecting the position and attitude trajectory of error measurement to improve the kinematic calibration efficiency of a one translational and two rotational (1T2R) parallel power head and to improve the error compensation effect by improving the properties of the error identification matrix. First, a general mapping model between the endpoint synthesis error is established and each geometric error source. Second, a model for optimizing the position and attitude trajectory of error measurement based on sensitivity analysis results is proposed, providing a basis for optimizing the error measurement trajectory of the mechanism in the working space. Finally, distance error measurement information and principal component analysis (PCA) ideas are used to construct an error identification matrix. The robustness and compensation effect of the identification algorithm were verified by simulation and through experiments. Through sensitivity analysis, it is found that the distribution of the sensitivity coefficient of each error source in the plane of the workspace can approximately represent its distribution in the workspace, and when the end of the mechanism moves in a circle with a large nutation angle, the comprehensive influence coefficient of each sensitivity is the largest. Residual analysis shows that the robustness of the identification algorithm with the idea of PCA is improved. Through experiments, it is found that the compensation effect is improved. A model for optimizing the position and attitude trajectory of error measurement is proposed, which can effectively improve the error measurement efficiency of the 1T2R parallel mechanism. In addition, the PCA idea is introduced. A least-squares PCA error identification algorithm that improves the robustness of the identification algorithm by improving the property of the identification matrix is proposed, and the compensation effect is improved. This method has been verified by experiments on 1T2R parallel mechanism and can be extended to other similar parallel mechanisms. Citation: Industrial Robot PubDate: 2023-03-03 DOI: 10.1108/IR-09-2022-0234 Issue No:Vol. ahead-of-print, No. ahead-of-print (2023)
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Authors:Kang Min, Fenglei Ni, Hong Liu Abstract: The purpose of the paper is to propose an efficient and accurate force/torque (F/T) sensing method for the robotic wrist-mounted six-dimensional F/T sensor based on an excitation trajectory. This paper presents an efficient and accurate F/T sensing method based on an excitation trajectory. First, the dynamic identification model is established by comprehensively considering inertial forces/torques, sensor zero-drift values, robot base inclination errors and forces/torques caused by load gravity. Therefore, the sensing accuracy is improved. Then, the excitation trajectory with optimized poses is used for robot following and data acquisition. The data acquisition is not limited by poses and its time can be significantly shortened. Finally, the least squares method is used to identify parameters and sense contact forces/torques. Experiments have been carried out on the self-developed robot manipulator. The results strongly demonstrate that the proposed approach is more efficient and accurate than the existing widely-adopted method. Furthermore, the data acquisition time can be shortened from more than 60 s to 3 s/20 s. Thus, the proposed approach is effective and suitable for fast-paced industrial applications. The main contributions of this paper are as follows: the dynamic identification model is established by comprehensively considering inertial forces/torques, sensor zero-drift values, robot base inclination errors and forces/torques caused by load gravity; and the excitation trajectory with optimized poses is used for robot following and data acquisition. Citation: Industrial Robot PubDate: 2023-02-17 DOI: 10.1108/IR-08-2022-0206 Issue No:Vol. ahead-of-print, No. ahead-of-print (2023)
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Authors:Shengqian Li, Xiaofan Zhang Abstract: An active disturbance rejection controller (ADRC) based on model compensation is proposed in this paper. The method should first be taken a nominal model of the robot to compensate. Subsequently, the uncertain external disturbance is estimated and compensated is used an expansion state observer (ESO) in real time, which can reduce the estimating range of observation for ESO. The purpose of this paper is to suggest a novel method to improve the system tracking performance, as well as the dynamic and static performance index. A welding robot is a complicated system with uncertainty, time-varying, strong coupling and a nonlinear system; it is more complex as if it is used in an underwater environment, and it is difficult to establish an accurate dynamic model for an underwater welding robot. Aiming at the tracking control of an underwater welding robot, it is difficult to achieve the control performance requirements by the conventional proportional integral derivative method to realize automatic tracking of the seam. The simulation experiment is carried out by MATLAB/Simulink, and the application experiment is recorded. The experimental results show that the control method is correct and effective, and the system’s tracking performance is stable, and the robustness and tracking accuracy of the system are also improved. The seam gets plumper and smoother, with better continuity and no undercut phenomenon. Citation: Industrial Robot PubDate: 2023-02-17 DOI: 10.1108/IR-11-2022-0274 Issue No:Vol. ahead-of-print, No. ahead-of-print (2023)
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Authors:Martin Karlsson, Fredrik Bagge Carlson, Martin Holmstrand, Anders Robertsson, Jeroen De Backer, Luisa Quintino, Eurico Assuncao, Rolf Johansson Abstract: This study aims to enable robotic friction stir welding (FSW) in practice. The use of robots has hitherto been limited, because of the large contact forces necessary for FSW. These forces are detrimental for the position accuracy of the robot. In this context, it is not sufficient to rely on the robot’s internal sensors for positioning. This paper describes and evaluates a new method for overcoming this issue. A closed-loop robot control system for seam-tracking control and force control, running and recording data in real-time operation, was developed. The complete system was experimentally verified. External position measurements were obtained from a laser seam tracker and deviations from the seam were compensated for, using feedback of the measurements to a position controller. The proposed system was shown to be working well in overcoming position error. The system is flexible and reconfigurable for batch and short production runs. The welds were free of defects and had beneficial mechanical properties. In the experiments, the laser seam tracker was used both for control feedback and for performance evaluation. For evaluation, it would be better to use yet another external sensor for position measurements, providing ground truth. These results imply that robotic FSW is practically realizable, with the accuracy requirements fulfilled. The method proposed in this research yields very accurate seam tracking as compared to previous research. This accuracy, in turn, is crucial for the quality of the resulting material. Citation: Industrial Robot PubDate: 2023-02-14 DOI: 10.1108/IR-06-2022-0153 Issue No:Vol. ahead-of-print, No. ahead-of-print (2023)
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Authors:Yuqi Liu, Junqiang Su, Xinyu Li, Guoqing Jin Abstract: The garment industry will be one of the major beneficiaries of advances in smart manufacturing, as it is highly labor-intensive and heavily depends on labor force. Manipulating robots in human environments has made great strides in recent years. However, the main research has focused on rigid, solid objects and core capabilities such as grasping, placing remain a challenging problem when dealing with soft textiles. The experimental results indicate that adopting the proposed bionic soft finger will provide garment manufacturers with smart manufacturing capabilities. Then, the purpose of this paper is to utilize the flexibility of the soft finger to transfer fabric layer by layer without damage in garment automation. In this paper, a new way to separate layer by layer pieces of fabric has been inspired by the rise of soft robotics and their applications in automation. Fabric gripping is accomplished by wiping deformation and pinching the fabric. A single fabric piece is separated from cutting pile by the soft finger in four steps: making an arch by pressing, wiping deformation, grasping and separating, and placing. The case study demonstrated that the soft finger arrangement for automated grasping of fabric pieces of a garment can be successfully applied to delicate fabric. A combination of cloth shape and weight determines the number of soft fingers. In addition, the soft finger was tested on different types of fabrics to determine its performance and application capabilities. The technology may be used to produce clothing intelligently in the future, such as intelligent stacking, intelligent transportation and intelligent packaging, to increase clothing industry productivity. An industrial bionic soft finger gripping system is proposed in this paper for application in the field of fabric automatic manipulation. A piece of fabric could be picked up and released layer by layer from a stack by the proposed gripper without creating any damage to it. Soft grippers have the right proportion of softness and rigidity like a human being. A soft finger has a potential affinity for soft materials such as fabrics without damaging either their surface or their properties. Citation: Industrial Robot PubDate: 2023-02-06 DOI: 10.1108/IR-07-2022-0173 Issue No:Vol. ahead-of-print, No. ahead-of-print (2023)
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Authors:Ke Zhang, Hongtao Wei, Yongqi Bi Abstract: The purpose of this paper is to design a soft robot for performing detection, by using a hybrid drive to reach the target point faster and enable the robot to perform the detection task at a relatively fast speed. The soft robot is driven by a mixture of motors and pneumatic pressure, in which the pneumatic pressure is used to drive the soft actuator to bend and the motors to drive the soft robot forward. The careful design of the actuator is based on a finite element simulation using ABAQUS, which combines a constant curvature differential model and the D-H method to analyze the motion space of the soft actuator. The soft robot’s ability to adapt to the environment and cross obstacles has been demonstrated by building prototypes and complex environments such as grass, gravel, sand and pipes. This design can improve the speed and smoothness of the motion of the soft robot, while retaining the good environmental flexibility of the soft robot. And the soft robot has good environmental adaptability and the ability to cross obstacles. The soft robot proposed in this paper has broad prospects in fields such as pipeline inspection and field exploration. Citation: Industrial Robot PubDate: 2023-02-03 DOI: 10.1108/IR-08-2022-0214 Issue No:Vol. ahead-of-print, No. ahead-of-print (2023)
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Authors:Ahmed Eslam Salman, Magdy Raouf Roman Abstract: The study proposed a human–robot interaction (HRI) framework to enable operators to communicate remotely with robots in a simple and intuitive way. The study focused on the situation when operators with no programming skills have to accomplish teleoperated tasks dealing with randomly localized different-sized objects in an unstructured environment. The purpose of this study is to reduce stress on operators, increase accuracy and reduce the time of task accomplishment. The special application of the proposed system is in the radioactive isotope production factories. The following approach combined the reactivity of the operator’s direct control with the powerful tools of vision-based object classification and localization. Perceptive real-time gesture control predicated on a Kinect sensor is formulated by information fusion between human intuitiveness and an augmented reality-based vision algorithm. Objects are localized using a developed feature-based vision algorithm, where the homography is estimated and Perspective-n-Point problem is solved. The 3D object position and orientation are stored in the robot end-effector memory for the last mission adjusting and waiting for a gesture control signal to autonomously pick/place an object. Object classification process is done using a one-shot Siamese neural network (NN) to train a proposed deep NN; other well-known models are also used in a comparison. The system was contextualized in one of the nuclear industry applications: radioactive isotope production and its validation were performed through a user study where 10 participants of different backgrounds are involved. The system was contextualized in one of the nuclear industry applications: radioactive isotope production and its validation were performed through a user study where 10 participants of different backgrounds are involved. The results revealed the effectiveness of the proposed teleoperation system and demonstrate its potential for use by robotics non-experienced users to effectively accomplish remote robot tasks. The proposed system reduces risk and increases level of safety when applied in hazardous environment such as the nuclear one. The contribution and uniqueness of the presented study are represented in the development of a well-integrated HRI system that can tackle the four aforementioned circumstances in an effective and user-friendly way. High operator–robot reactivity is kept by using the direct control method, while a lot of cognitive stress is removed using elective/flapped autonomous mode to manipulate randomly localized different configuration objects. This necessitates building an effective deep learning algorithm (in comparison to well-known methods) to recognize objects in different conditions: illumination levels, shadows and different postures. Citation: Industrial Robot PubDate: 2023-02-02 DOI: 10.1108/IR-11-2022-0289 Issue No:Vol. ahead-of-print, No. ahead-of-print (2023)
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