Industrial Robot: Volume 49 Issue 6

The growing importance of lidar technology

Robert Bogue

This paper aims to provide an insight into light detection and ranging (lidar) technology and its growing applications in robotics.

MoDeT: a low-cost obstacle tracker for self-driving mobile robot navigation using 2D-laser scan

Toan Van Nguyen, Minh Hoang Do, Jaewon Jo

Collision avoidance is considered as a crucial issue in mobile robotic navigation to guarantee the safety of robots as well as working surroundings, especially for humans…

A novel Stereo-IMU system based on accurate pose parameterization of two-wheeled inverted pendulum (TWIP) robot in localization and mapping

Yanwu Zhai, Haibo Feng, Haitao Zhou, Songyuan Zhang, Yili Fu

This paper aims to propose a method to solve the problem of localization and mapping of a two-wheeled inverted pendulum (TWIP) robot on the ground using the Stereo–inertial…

Modeling of a wheeled humanoid robot and hybrid algorithm-based path planning of wheel base for the dynamic obstacles avoidance

Shifa Sulaiman, A.P. Sudheer

Most of the conventional humanoid modeling approaches are not successful in coupling different branches of the tree-type humanoid robot. In this paper, a tree-type upper body…

Research on constant force grinding control of aero-engine blades based on extended state observer

Shijie Dai, Wenhua Zhang, Wenbin Ji, Yufeng Zhao, Hongwei Zheng, Jiaheng Mu, Pengwei Li, Riqing Deng

Considering the influence of environmental noise and modeling error during the process of the robotic automatic grinding aero-engine blade, this study aims to propose a method…

Robust-adaptive-behavior strategy for human-following robots in unknown environments based on fuzzy inference mechanism

Toan Van Nguyen, Minh Hoang Do, Jaewon Jo

To follow and maintain an appropriate distance to the selected target person (STP), the mobile robot is required to have capabilities: the human detection and tracking and an…

Calibration for a robotic drilling system with secondary encoders based on a novel enhanced rigid-flexible coupling model

Yunfei Fan, Yilian Zhang, Huang Jie, Tang Yue, Qingzhen Bi, Yuhan Wang

This paper aims to propose a novel model and calibration method to improve the absolute positioning accuracy of a robotic drilling system with secondary encoders and additional…

Minimum disturbance control based on synchronous and adaptive acceleration planning of dual-arm space robot to capture a rotating target

Qiang Liu, Shicai Shi, Minghe Jin, Shaowei Fan, Hong Liu

This study aims to design a controller which can improve the end-effector low-frequency chattering resulting from the measurement noise and the time delay in the on-orbit tasks…

Robotic plasma cladding complex NURBS curve coating using the bisection inverse search bow height control interpolation method

Zhao-Qin Wang, Yu Shi, Xiao-Rong Wang

The bisection inverse search bow height control interpolation (BIS-BHCI) method for nonuniform rational B-splines (NURBS) curve is proposed to accomplish the serial robotic plasma…

Design and performance analysis of an adaptive omnidirectional wheel for heavy payload robot

Changlong Ye, Yunfei Du, Suyang Yu, Qiang Zhao, Chunying Jiang

With the development of automation technology, the accuracy, bearing capacity and self-adaptation requirements of wheeled mobile robots are more and more demanding under various…

Multi-objective optimal trajectory planning of customized industrial robot based on reliable dynamic identification for improving control accuracy

Renluan Hou, Jianwei Niu, Yuliang Guo, Tao Ren, Bing Han, Xiaolong Yu, Qun Ma, Jin Wang, Renjie Qi

The purpose of this paper is to enhance control accuracy, energy efficiency and productivity of customized industrial robots by the proposed multi-objective trajectory…

Optimization of mechanical performance of a Bernoulli gripper based on the force characteristic curve synthesis method

Xubo Yu, Jianghong Zhao, Xin Li

The Bernoulli gripper fixedly installed on the manipulator is subject to limitations such as a small-working region and poor anti-interference capacity. This paper aims to propose…

Pose estimation of metal workpieces based on RPM-Net for robot grasping from point cloud

Lin Li, Xi Chen, Tie Zhang

Many metal workpieces have the characteristics of less texture, symmetry and reflectivity, which presents a challenge to existing pose estimation methods. The purpose of this…

A flexible gripper with a wide-range variable stiffness structure based on shape memory alloy

Canjun Yang, Weitao Wu, Xin Wu, Jifei Zhou, Zhangpeng Tu, Mingwei Lin, Sheng Zhang

Variable stiffness structure can significantly improve the interactive capabilities of grippers. Shape memory alloys have become a popular option for materials with variable…

Model-based detection and isolation of the wheel slippage and actuator faults of a holonomic mobile robot

Osman Nuri Şahin, Mehmet İsmet Can Dede

Mobile robots may perform very critical tasks under difficult operating conditions. Faults encountered during their tasks may cause the task to be interrupted or failed…

A point cloud registration-based calibration algorithm for robot offline programming automatic loading in aero-grinding applications

Zixin Mu, Zhenhua Cai, Chunnian Zeng, Zifan Li, Xufeng Liang, Fan Yang, Tingyang Chen, Shujuan Dong, Chunming Deng, Shaopeng Niu

During the process of the robotic grinding and polishing operations on aero-engine blades, the key problem of calibration error lies in fixture error and uneven margin. To solve…

Non-redundant inertial parameters determination for dynamic identification of branched articulated robots

Chao Tan, Huan Zhao, Han Ding

Branched articulated robots (BARs) are highly non-linear systems; accurate dynamic identification is critical for model-based control in high-speed and heavy-load applications…

Optimization-based hexapod robot locomotion generation

Fusheng Liu, Zhihang He, Yue Qiao, Xinxin Liu, Xuelong Li, Wang Wei, Bo Su, Ruina Dang

The purpose of this paper is specifically to provide a more intelligent locomotion planning method for a hexapod robot based on trajectory optimization, which could reduce the…

Design and motion analysis of double quadrilateral mobile mechanism

Junlin Cheng, Peiyu Ma, Qiang Ruan, Yezhuo Li, Qianqian Zhang

The purpose of this paper is to propose an overall deformation rolling mechanism based on double four-link mechanism. The double quadrilateral mobile mechanism (DQMM) has two…