Industrial Robot: Volume 51 Issue 5

Developments in robotic teleoperation

Rob Bogue

The aim of this article is to provide details of recent technological developments in robotic teleoperation.

Simplified model to study the kinematics of manipulators with parallelogram linkages

Omar Malla, Madhavan Shanmugavel

Parallelogram linkages are used to increase the stiffness of manipulators and allow precise control of end-effectors. They help maintain the orientation of connected links when…

Pose detection and docking control for autonomous dynamic docking mechanism with non-cooperative targets

Gan Zhan, Zhihua Chen, Zhenyu Zhang, Jigang Zhan, Wentao Yu, Jiehao Li

This study aims to address the issue of random movement and non coordination between docking mechanisms and locking mechanisms, and proposes a comprehensive dynamic docking…

A dynamic target tracking framework of UGV for UAV recovery under random disturbances

Bin Li, Shoukun Wang, Jinge Si, Yongkang Xu, Liang Wang, Chencheng Deng, Junzheng Wang, Zhi Liu

Dynamically tracking the target by unmanned ground vehicles (UGVs) plays a critical role in mobile drone recovery. This study aims to solve this challenge under diverse random…

Adaptive variable impedance force/position hybrid control for large surface polishing

Zhixu Zhu, Hualiang Zhang, Guanghui Liu, Dongyang Zhang

This paper aims to propose a hybrid force/position controller based on the adaptive variable impedance.

3D-AMM: a 3D artificial moment method for path planning of manipulator in multiple obstacles scenario

Andong Liu, Yawen Zhang, Jiayun Fu, Yuankun Yan, Wen-An Zhang

In response to the issue of traditional algorithms often falling into local minima or failing to find feasible solutions in manipulator path planning. The purpose of this paper is…

Accurate kinematic calibration of a six-DoF serial robot by using hybrid models with reduced dimension and minimized linearization errors

Zhouxiang Jiang, Shiyuan Chen, Yuchen Zhao, Zhongjie Long, Bao Song, Xiaoqi Tang

In typical model-based calibration, linearization errors are derived inevitably, and non-negligible negative impact will be induced on the identification results if the rotational…

Contact localization from soft tactile array sensor using tactile image

Baoxu Tu, Yuanfei Zhang, Kang Min, Fenglei Ni, Minghe Jin

This paper aims to estimate contact location from sparse and high-dimensional soft tactile array sensor data using the tactile image. The authors used three feature extraction…

Impedance-based null-space control of redundant torque-controlled robot

Leigang Zhang, Hongliu Yu, Xilong Cui

The null-space projection method is commonly adopted for controlling redundant robots, which undoubtedly requires the robot Jacobian matrix inverse. This paper aims to provide a…

Thermal error modeling method of truss robot based on GA-LSTM

Long Li, Binyang Chen, Jiangli Yu

The selection of sensitive temperature measurement points is the premise of thermal error modeling and compensation. However, most of the sensitive temperature measurement point…

Model-free visual servoing based on active disturbance rejection control and adaptive estimator for robotic manipulation without calibration

Jun Tian, Xungao Zhong, Xiafu Peng, Huosheng Hu, Qiang Liu

Visual feedback control is a promising solution for robots work in unstructured environments, and this is accomplished by estimation of the time derivative relationship between…

Movement and binding control strategy based on a new type of rebar-binding robot

Dong Huan Shen, Shuai Guo, Hao Duan, Kehao Ji, Haili Jiang

The paper focuses on the issue of manual rebar-binding tasks in the construction industry, which are marked by high labor intensity, high costs and inefficient operations. The…

A trajectory planning method for robotic arms based on improved dynamic motion primitives

Xiaohui Jia, Bin Zhao, Jinyue Liu, Shaolong Zhang

Traditional robot arm trajectory planning methods have problems such as insufficient generalization performance and low adaptability. This paper aims to propose a method to plan…

Force manipulability-oriented manipulation planning for collaborative robot

Tianyu Zhang, Hongguang Wang, Peng LV, Xin’an Pan, Huiyang Yu

Collaborative robots (cobots) are widely used in various manipulation tasks within complex industrial environments. However, the manipulation capabilities of cobot manipulation…