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…
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.
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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…
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.
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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…
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.
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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…
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.
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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…
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.
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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.
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.