Industrial Robot: Volume 50 Issue 6

Bin picking: a review of recent developments

Robert Bogue

The purpose of this paper is to provide an insight into the present-day state of bin picking by considering research, technology, products and applications.

Tightly coupled IMU-Laser-RTK odometry algorithm for underground multi-layer and large-scale environment

Minghao Wang, Ming Cong, Dong Liu, Yu Du, Xiaojing Tian, Bing Li

The purpose of this study is to designed a robot odometry based on three dimensional (3D) laser point cloud data, inertial measurement unit (IMU) data and real-time kinematic…

Bounding gait control of a parallel quadruped robot

Xu Hao, Lang Wei, Yue Qiao, Shengzui Xu, Jian Bin Liao, Yu Xi, Wang Wei, Zhi-Wei Liu

The computing power of the legged robot is not enough to perform high-frequency updates for the full-body model predictive control (MPC) of the robot, which is a common problem…

CPG-MPC controller for wheel-fin-flipper integrated amphibious robot

Yue Qiao, Wang Wei, Yunxiang Li, Shengzui Xu, Lang Wei, Xu Hao, Re Xia

The purpose of this paper is to introduce a motion control method for WFF-AmphiRobot, which can effectively realize the flexible motion of the robot on land, underwater and in the…

Laser 3D tightly coupled mapping method based on visual information

Sixing Liu, Yan Chai, Rui Yuan, Hong Miao

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…

Design and analysis of a continuum manipulator for use in narrow spaces

Fei Qi, Dongming Bai, Xiaoming Dou, Heng Zhang, Haishan Pei, Jing Zhu

This paper aims to present a kinematics analysis method and statics based control of the continuum robot with mortise and tenon joints to achieve better control performance of the…

Design and performance of a slender soft continuum manipulator for tall structure inspection

Mohamed Tahir Shoani, Mohamed Najib Ribuan, Ahmad 'Athif Mohd Faudzi

The current methods for inspecting tall or deep structures such as towers, chimneys, silos, and wells suffer from certain constraints. Manual and assisted inspection methods…

Shape perception of soft hand based on dual-signal comparison contact detection

Kai Shi, Jun Li, Gang Bao

The structural adaptive ability of the soft robot is fully demonstrated in the grasping task of the soft hand. A soft hand can easily realize the envelope operation of the object…

AGV robot for laser-SLAM based method testing in automated container terminal

Ang Yang, Yu Cao, Yang Liu, Qingcheng Zeng, Fangqiang Xiu

Magnet spot is the primary method to develop the automated guided vehicle (AGV) guidance system for many automated container terminals (ACT). Aiming to improve the high…

Design, modeling and kinematic analysis of a multi-configuration dexterous hand with integrated high-dimensional sensors

Feng Shuang, Yang Du, Shaodong Li, Mingqi Chen

This study aims to introduce a multi-configuration, three-finger dexterous hand with integrated high-dimensional sensors and provides an analysis of its design, modeling and…

Sequential calibration of transmission ratios for joints of 6-DOF serial industrial robots based on laser tracker

Ling Wang, Xiaoliang Wu, Zeng Kang, Yanfeng Gao, Xiai Chen, Binrui Wang

In traditional calibration methods of kinematics parameters of industrial robots, dozens of model parameters are identified together based on an optimization procedure. Due to…

A review of visual SLAM with dynamic objects

Yong Qin, Haidong Yu

This paper aims to provide a better understanding of the challenges and potential solutions in Visual Simultaneous Localization and Mapping (SLAM), laying the foundation for its…

ODLC_SAM: a novel LiDAR SLAM system towards open-air environments with loop closure

Jiazhong Zhang, Shuai Wang, Xiaojun Tan

The light detection and ranging sensor has been widely deployed in the area of simultaneous localization and mapping (SLAM) for its remarkable accuracy, but obvious drift…

Research on dynamic parameter identification and collision detection method for cooperative robots

Shuwen Sun, Chenyu Song, Bo Wang, Haiming Huang

The safety performance of cooperative robots is particularly important. This paper aims to study collision detection and response of cooperative robots, which meet the lightweight…

Robotic milling stability optimization based on robot functional redundancy

Ke Gao, Xiaoqin Zhou, Rongqi Wang, Mingxu Fan, Haochen Han

Compared with the high stiffness of traditional CNC machine tools, the structural stiffness of industrial robots is usually less than 1 N/µm. Chatter not only affects the quality…