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Article
Publication date: 9 February 2018

Yongzhuo Gao, Zhijiang Du, Xueshan Gao, Yanyu Su, Yu Mu, Li Ning Sun and Wei Dong

This paper aims to present an open-architecture kinematic controller, which was developed for articulated robots, facing the demands of various applications and low cost on robot…

487

Abstract

Purpose

This paper aims to present an open-architecture kinematic controller, which was developed for articulated robots, facing the demands of various applications and low cost on robot system.

Design/methodology/approach

A general approach to develop this controller is described in hardware and software design. The hardware consists of embedded boards and programable multi-axes controller (PMAC), connected with ethernet, and the software is implemented on a robot operating system with MoveIt!. The authors also developed a teach pendant running as a LAN node to provide a human–machine interface (HMI).

Findings

The proposed approach was applied to several real articulated robot systems and was proved to be effective and portable. The proposed controller was compared with several similar systems to verify its integrality and flexibility. The openness of this controller was discussed and is summarized at the end of this paper.

Practical implications

The proposed approach provided an open and low-complex solution for experimental studies in the lab and short-run production in small workshops.

Originality/value

Several contributions are made by the research. The actuation model and communication were implemented to integrate the trajectory planning module and PMAC for setting up the physical interface. Method and program interface based on kinematics was provided to generate various interpolations for trajectory planning. A teach pedant with HMI was developed for controlling and programing the robot.

Details

Industrial Robot: An International Journal, vol. 45 no. 2
Type: Research Article
ISSN: 0143-991X

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Article
Publication date: 16 May 2016

Xueshan Gao, Yu Mu and Yongzhuo Gao

The purpose of this paper is to propose a method of optimal trajectory planning for robotic manipulators that applies an improved teaching-learning-based optimization (ITLBO…

674

Abstract

Purpose

The purpose of this paper is to propose a method of optimal trajectory planning for robotic manipulators that applies an improved teaching-learning-based optimization (ITLBO) algorithm.

Design/methodology/approach

The ITLBO algorithm possesses better ability to escape from the local optimum by integrating the original TLBO with variable neighborhood search. The trajectory of robotic manipulators complying with the kinematical constraints is constructed by fifth-order B-spline curves. The objective function to be minimized is execution time of the trajectory.

Findings

Experimental results with a 6-DOF robotic manipulator applied to surface polishing of metallic workpiece verify the effectiveness of the method.

Originality/value

The presented ITLBO algorithm is more efficient than the original TLBO algorithm and its variants. It can be applied to any robotic manipulators to generate time-optimal trajectories.

Details

Industrial Robot: An International Journal, vol. 43 no. 3
Type: Research Article
ISSN: 0143-991X

Keywords

Available. Content available
Article
Publication date: 3 May 2011

Xueshan Gao

101

Abstract

Details

Industrial Robot: An International Journal, vol. 38 no. 3
Type: Research Article
ISSN: 0143-991X

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Article
Publication date: 6 March 2009

Xueshan Gao, Yan Wang, Dawei Zhou and Koki Kikuchi

The purpose of this paper is to present an omni‐directional floor‐cleaning robot equipped with four omni‐directional wheels. The research purposes are to design a robot for…

1115

Abstract

Purpose

The purpose of this paper is to present an omni‐directional floor‐cleaning robot equipped with four omni‐directional wheels. The research purposes are to design a robot for cleaning jobs in domestic, narrow and crowded places and to provide a robotics‐study platform in a laboratory.

Design/methodology/approach

The robot system using Swedish wheels, one dust collector (brush) switching device and a sort of air‐bag sensing device is designed. The kinematics and the motion control conditions of the robot are analyzed. Specifically, a design method of wheels is described.

Findings

The configuration of the robot, parameters of the wheel and controlling methods are studied and demonstrated. The smooth locomotion capability and high‐working efficiency are verified by experiments.

Practical implications

The robot can perform its work in semi‐autonomous and tele‐operated mode. Moreover, the robot can pivot around, avoid obstacles and is provided with automatic power management system.

Originality/value

The research target is to provide a kind of robotic cleaner especially for crowded public or narrow places and educational robotics‐study platform in a laboratory.

Details

Industrial Robot: An International Journal, vol. 36 no. 2
Type: Research Article
ISSN: 0143-991X

Keywords

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Article
Publication date: 3 May 2011

Chaoquan Li, Xueshan Gao, Qiang Huang, Fuquan Dai, Jie Shao, Yang Bai and Kejie Li

The purpose of this paper is to introduce a high load capacity coaxial couple wheeled robot (CCWR) and investigate a simple structure but effective fuzzy equilibrium controller…

453

Abstract

Purpose

The purpose of this paper is to introduce a high load capacity coaxial couple wheeled robot (CCWR) and investigate a simple structure but effective fuzzy equilibrium controller based on (Takagi‐Sugeno) T‐S for balance control in wide‐angle range.

Design/methodology/approach

By selecting the robot inclination angle and angular rate as input variables and the DC motors' rotation speed as output variables, a T‐S fuzzy controller (FC) is established.

Findings

Simplified robot dynamic equilibrium equations are feasible; the robot balance in wide‐angle range could be controlled by the T‐S FC. Despite the existence of small vibrations near the equilibrium position, the system can return to equilibrium within 3 s, showing strong robustness.

Practical implications

The robot can achieve self‐balance and pivot around, moreover, it provides a new way for balance control of CCWR in wide‐angle range. And at the same time, the robot can achieve its work in semi‐autonomous and tele‐operated mode.

Originality/value

The paper shows that designing the controller based on static analysis is feasible; simple structure T‐S fuzzy control way is introduced to balance control for CCWR in a wide angle scale; the development target is to provide a kind of robot platform for testing control algorithms or a personal transporter, and the project is supported by the High Technology Research and Development Program of China.

Details

Industrial Robot: An International Journal, vol. 38 no. 3
Type: Research Article
ISSN: 0143-991X

Keywords

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Article
Publication date: 19 June 2019

Shutian Liu, Xueshan Ding and Zeqi Tong

This paper aims to study the energy absorption properties of the thin-walled square tube with lateral piecewise variable thickness under axial crashing and the influence of the…

229

Abstract

Purpose

This paper aims to study the energy absorption properties of the thin-walled square tube with lateral piecewise variable thickness under axial crashing and the influence of the tube parameters on energy absorption.

Design/methodology/approach

In this work, the energy absorption properties of the thin-walled square tube were analyzed by theoretical, numerical and experimental approach. The numerical results are obtained based on the finite element method. The explicit formulation for predicting the mean crushing force of the tube with lateral piecewise variable thickness was derived based on Super Folding Element method. The limitation of the prediction formulation was analyzed by numerical calculation. The numerical calculation was also used to compare the energy absorption between the tube with lateral piecewise variable thickness and other tubes, and to carry out the parametric analysis.

Findings

Results indicate that the thin-walled tube with lateral piecewise variable thickness has higher energy absorption properties than the uniform thickness tubes and the tubes with lateral linear variable thickness. The thickness of the corner is the key factor for the energy absorption of the tubes. The thickness of the non-corner region is the secondary factor. Increasing the corner thickness and decreasing the non-corner thickness can make the energy absorption improved. It is also found that the prediction formulation of the mean crushing force given in this paper can quickly and accurately predict the energy absorption of the square tube.

Originality/value

The outcome of the present research provides a design idea to improve the energy absorption of thin-walled tube by designing cross-section thickness and gives an explicit formulation for predicting the mean crushing force quickly and accurately.

Details

Engineering Computations, vol. 36 no. 8
Type: Research Article
ISSN: 0264-4401

Keywords

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Article
Publication date: 15 June 2010

Qianjin Dong, Xueshan Ai, Guangjing Cao, Yanmin Zhang and Xianjia Wang

The purpose of this paper is to obtain risk indicators of water security of drought periods in which the indices of reliability, resiliency, and vulnerability are integrated.

722

Abstract

Purpose

The purpose of this paper is to obtain risk indicators of water security of drought periods in which the indices of reliability, resiliency, and vulnerability are integrated.

Design/methodology/approach

It is not reasonable that weight coefficients of different risk indices are often determined subjectively in conventional procedures, so the entropy weight method is introduced and chosen to solve the problem. Entropy weight method can get the weight coefficients of different risk indices objectively and is valid from the case study.

Findings

The feasibility and validity of entropy weight methods to determine weight coefficients of different risk indices objectively are recognized.

Research limitations/implications

Accessibility and availability of data are the main limitations.

Practical implications

The paper provides a more objective risk indicator of water security of drought periods for water resources managers.

Originality/value

This paper determines the weight coefficients of different risk indices for risk assessment of water security of drought periods based on hazard entropy. The paper is aimed at water resources managers and relative researchers, especially those who deal with risk assessment of water security of drought periods.

Details

Kybernetes, vol. 39 no. 6
Type: Research Article
ISSN: 0368-492X

Keywords

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