Assembly Automation: Volume 38 Issue 5

Guest editorial

Hesheng Wang

Robot learning human stiffness regulation for hybrid manufacture

Chao Zeng, Chenguang Yang, Zhaopeng Chen, Shi-Lu Dai

Teaching by demonstration (TbD) is a promising way for robot learning skills in human and robot collaborative hybrid manufacturing lines. Traditionally, TbD systems have only…

Neurodynamics-based leader-follower formation tracking of multiple nonholonomic vehicles

Guo Yi, Jianxu Mao, Yaonan Wang, Hui Zhang, Zhiqiang Miao

The purpose of this paper is to consider the leader-following formation control problem for nonholonomic vehicles based on a novel biologically inspired neurodynamics approach.

Visual servoing of dynamic wheeled mobile robots with anti-interference finite-time controllers

Hua Chen, Lei Chen, Qian Zhang, Fei Tong

The finite-time visual servoing control problem is considered for dynamic wheeled mobile robots (WMRs) with unknown control direction and external disturbance.

Fuzzy model predictive control for 2-DOF robotic arms

Weilin Yang, Wentao Zhang, Dezhi Xu, Wenxu Yan

Robotic arm control is challenging due to the intrinsic nonlinearity. Proportional-integral-derivative (PID) controllers prevail in many robotic arm applications. However, it is…

Design of the tip state estimator for hybrid-structured flexible manipulator based on SDFT and FLAKF

Teng Long, En Li, Junfeng Fan, Lei Yang, Zize Liang

This paper aims to design a tip state estimation method for a hybrid-structured flexible manipulator (HSFM) with one rotating joint and one telescopic joint in the vertical plane.

Nonlinear time-optimal trajectory planning for varying-rope-length overhead cranes

Yiming Wu, Ning Sun, He Chen, Jianyi Zhang, Yongchun Fang

From practical perspectives and to improve the working efficiency, trolley transportation and payload hoisting/lowering should be simultaneously controlled. Moreover, in practical…

Motion and force control method of 7-DOF cable-driven rehabilitation exoskeleton robot

Wencheng Ni, Hui Li, Zhihong Jiang, Bainan Zhang, Qiang Huang

The purpose of this paper is to design an exoskeleton robot and present a corresponding rehabilitation training method for patients in different rehabilitation stages.

Disturbance observer-based sliding mode control for multi-agent systems with mismatched uncertainties

Qing Wang, Changyin Sun, Xiaofeng Chai, Yao Yu

This paper aims to develop sliding mode control (SMC) methods for second-order multi-agent systems (MAS) in the presence of mismatched uncertainties.

Adaptive control of redundant robot manipulators with null-space compliance

Qing Xu, Shuzhi Sam Ge

The purpose of this paper is to propose an adaptive control for a redundant robot manipulator interacting physically with the environment, especially with the existence of humans…

Non-fragile consensus control of networked robotic manipulators with topology-dependent memory

Chao Ma, Rui Li, Hong Qiao

The purpose of this paper is to solve the non-fragile consensus problem of networked robotic manipulators over communication networks by using information from topology-dependent…

Co-designed of network scheduling and sliding mode control for underwater shuttle based on adaptive genetic algorithm

Zeyu Li, Weidong Liu, Le Li, Zhi Liu, Feihu Zhang

Underwater shuttle is widely used in scenarios of deep sea transportation and observation. As messages are transmitted via the limited network, high transmission time-delay often…

Robot nonlinear control for Unmanned Aerial Vehicles’ multitasking

Víctor H. Andaluz, Cristian M. Gallardo, Fernando A. Chicaiza, Christian P. Carvajal, José Morales, Giovanny Cuzco, Vicente Morales, Byron E. Vaca, Nicolay Samaniego

This paper aims to present a unified motion control scheme for quadcopters which not only solves the point stabilization and trajectory tracking problems but also the path…

Dynamic modeling and controller design for SEA joints

Fenglei Ni, Tianhui Li, Yiwei Liu, Hong Liu, Yang Li, Liangliang Zhao, Zhaopeng Chen

The purpose of this paper is to study the dynamic modeling and controller design for the series element actuator (SEA) joints. The robot equipped with SEA joints is a strong…

Adaptive visual servoing control for an underwater soft robot

Fan Xu, Hesheng Wang, Weidong Chen, Jingchuan Wang

Soft robotics, regarded as a new research branch of robotics, has generated increasing interests in this decade and has demonstrated its outperformance in addressing safety issues…

A pose/force symmetric coordination method for a redundant dual-arm robot

Fuhai Zhang, Jiadi Qu, He Liu, Yili Fu

This paper aims to develop a pose/force coordination method for a redundant dual-arm robot to achieve a symmetric coordination task.

A self-organized reciprocal control method for multi-robot simultaneous coverage and tracking

Runfeng Chen, Jie Li, Lincheng Shen

Multi-robots simultaneously coverage and tracking (SCAT) is the problem of simultaneously covering area and tracking targets, which is essential for many applications, such as…