Assembly Automation: Volume 37 Issue 3

Genetic algorithm-based compliant robot path planning: an improved Bi-RRT-based initialization method

Du Lin, Bo Shen, Yurong Liu, Fuad E. Alsaadi, Ahmed Alsaedi

The purpose of this paper is to improve the performance of the genetic algorithm-based compliant robot path planning (GACRPP) in complex dynamic environment by proposing an…

Fixed-time compliant motion/force control of robotic manipulators with environmental constraints

Chao Ma

The purpose of this paper is to design a new compliant motion/force control strategy for robotic manipulators with environmental constraints in the sense of fixed-time stability.

Feature fusion using Extended Jaccard Graph and word embedding for robot

Shenglan Liu, Muxin Sun, Xiaodong Huang, Wei Wang, Feilong Wang

Robot vision is a fundamental device for human–robot interaction and robot complex tasks. In this paper, the authors aim to use Kinect and propose a feature graph fusion (FGF) for…

Insertion force analysis of compliantly supported peg-in-hole assembly

Nagarajan Pitchandi, Saravana Perumaal Subramanian, Muhilan Irulappan

This paper aims to estimate the required insertion force and to analyze the influence of damping in a compliantly supported chamfered peg-in-hole assembly under dynamic conditions.

Impedance control of a cable-driven SEA with mixed H2/H∞ synthesis

Ningbo Yu, Wulin Zou

This paper aims to present an impedance control method with mixed H₂/H_∞ synthesis and relaxed passivity for a cable-driven series elastic actuator to be applied for physical…

Learning control of flexible manipulator with unknown dynamics

Zhiguang Chen, Chenguang Yang, Xin Liu, Min Wang

The purpose of this paper is to study the controller design of flexible manipulator. Flexible manipulator system is a nonlinear, strong coupling, time-varying system, which is…

Development and control of a robotic arm for percutaneous surgery

Chunlin Zhou, Huifeng Wu, Xiang Xu, Yong Liu, Qi Zhu, Shuwen Pan

The purpose of this paper is to propose a robotic system for percutaneous surgery. The key component in the system, a robotic arm that can manipulate a puncture needle is…

Viscoelastic model based bilateral teleoperation for robotic-assisted tele-palpation

Jing Guo, Ping Li, Huaicheng Yan, Hongliang Ren

The purpose of this paper is to design a model-based bilateral teleoperation method to improve the feedback force and velocity/position tracking for robotic-assisted tasks (such…

Development of a novel paediatric surgical assist robot for tissue manipulation in a narrow workspace

Quanquan Liu, Chaoyang Shi, Bo Zhang, Chunbao Wang, Lihong Duan, Tongyang Sun, Xin Zhang, Weiguang Li, Zhengzhi Wu, Masakatsu G. Fujie

Paediatric congenital esophageal atresia surgery typically requires delicate and dexterous operations in a narrow and confined workspace. This study aims to develop a novel robot…

Compliant training control of ankle joint by exoskeleton with human EMG-torque interface

Zhan Li, Hong Cheng, Hongliang Guo, Xiaohong Sun

The purpose of this paper is to make compliant training control of exoskeleton for ankle joint with electromyograph (EMG)-torque interface.

Active compliance control of the hydraulic actuated leg prototype

Guoteng Zhang, Zhenyu Jiang, Yueyang Li, Hui Chai, Teng Chen, Yibin Li

Legged robots are inevitably to interact with the environment while they are moving. This paper aims to properly handle these interactions. It works to actively control the joint…

Deep Spatial-Temporal Model for rehabilitation gait: optimal trajectory generation for knee joint of lower-limb exoskeleton

Du-Xin Liu, Xinyu Wu, Wenbin Du, Can Wang, Chunjie Chen, Tiantian Xu

The purpose of this paper is to model and predict suitable gait trajectories of lower-limb exoskeleton for wearer during rehabilitation walking. Lower-limb exoskeleton is widely…