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A systematic review of current and emergent manipulator control approaches

Syed Ali AJWAD,Jamshed IQBAL,Muhammad Imran ULLAH,Adeel MEHMOOD

Frontiers of Mechanical Engineering 2015, Volume 10, Issue 2,   Pages 198-210 doi: 10.1007/s11465-015-0335-0

Abstract: This recent trend is further justified by the fact that the robotic manipulators have complex nonlinearcomprehensive review of the state-of-the-art control techniques that find enormous potential in controlling manipulatorsit is anticipated that the review will act as a first-hand reference for researchers, engineers and industrial-internsto realize the control laws for multi-degree of freedom (DOF) manipulators.

Keywords： robot control     robust and nonlinear control     adaptive control     intelligent control     industrial manipulators    

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Singularity and workspace analysis of three isoconstrained parallel manipulators with schoenflies motion

Po-Chih LEE, Jyh-Jone LEE

Frontiers of Mechanical Engineering 2012, Volume 7, Issue 2,   Pages 163-187 doi: 10.1007/s11465-012-0324-5

Abstract:

This paper presents the analysis of three parallel manipulators with Schoenflies-motion.The three isoconstrained parallel manipulators have the structures denoted as CuuUwHw-//-CvvUwHw

Keywords： parallel manipulator     schoenflies motion     kinematics     singularity     workspace     performance index    

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Tracking control of robot manipulators via output feedback linearization

FEI Yue-nong, Wu Qing-hua

Frontiers of Mechanical Engineering 2006, Volume 1, Issue 3,   Pages 329-335 doi: 10.1007/s11465-006-0034-y

Abstract: This paper presents a robot manipulator tracking controller based on output feedback linearization. A sliding mode perturbation observer (SPO) is designed to estimate unmeasurable states and system perturbations that involve system nonlinearities, disturbances and unmodelled dynamics. The use of SPO allows to input/output linearize and decouple the strongly coupled nonlinear robot manipulator system merely by the feedback of joint angles. The controller design does not need an accurate model of the robot manipulator. Simulation studies are undertaken based on a two-link robot manipulator to evaluate the proposed approach. The simulation results show that the proposed controller has more superior tracking control performance, with payload changing in a wide range, in comparison with a sliding mode controller (SMC) designed based on state feedback linearization with full states available.

Keywords： available     comparison     unmeasurable     nonlinear     perturbation observer    

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Fuzzy force control of constrained robot manipulators based on impedance model in an unknown environment

LIU Hongyi, WANG Fei, WANG Lei

Frontiers of Mechanical Engineering 2007, Volume 2, Issue 2,   Pages 168-174 doi: 10.1007/s11465-007-0028-4

Abstract: To precisely implement the force control of robot manipulators in an unknown environment, a control strategy

Keywords： predictive     tracking     corresponding     stiffness     algorithm    

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Output tracking control of mobile manipulators based on dynamical sliding-mode control

WUYuxiang, FENG Ying, HU Yueming

Frontiers of Mechanical Engineering 2007, Volume 2, Issue 1,   Pages 110-115 doi: 10.1007/s11465-007-0019-5

Abstract: A dynamical sliding-mode controller is devised to track the output of mobile manipulators.firstly a reduced dynamic model considering the dynamics of the driving motor is developed for mobile manipulatorsdesign method of the dynamical sliding-mode controller that is applied to the output tracking of mobile manipulators

Keywords： lower-dimensional     nonlinear     trajectory     tracking     diffeomorphism    

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Design and analysis of a class of redundant collaborative manipulators with 2-dimension large rotational

Xiaodong JIN, Yuefa FANG, Dan ZHANG, Xueling LUO

Frontiers of Mechanical Engineering 2020, Volume 15, Issue 1,   Pages 66-80 doi: 10.1007/s11465-019-0570-x

Abstract: 2R1T (R: Rotation; T: Translation) parallel spindle heads and the corresponding collaborative 5-axis manipulatorsThe corresponding 5-axis collaborative manipulators are presented by constructing a 2-DOF series translationalThe results show that these manipulators have large 2D rotational angles than the traditional A3/Z3 heads

Keywords： parallel mechanism     redundant mechanism     large rotational angles     machine tools     2R1T spindle head     collaborative manipulator    

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LARM PKM solutions for torso design in humanoid robots

Marco CECCARELLI

Frontiers of Mechanical Engineering 2014, Volume 9, Issue 4,   Pages 308-316 doi: 10.1007/s11465-014-0318-6

Abstract:

Human-like torso features are essential in humanoid robots. In this paper problems for design and operation of solutions for a robotic torso are discussed by referring to experiences and designs that have been developed at Laboratory of Robotics and Mechatronics (LARM) in Cassino, Italy. A new solution is presented with conceptual views as waist-trunk structure that makes a proper partition of the performance for walking and arm operations as sustained by a torso.

Keywords： humanoid robots     torso design     parallel manipulators (PKM)     conceptual design    

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A distributed variable density path search and simplification method for industrial manipulators with Research Article

Jin WANG, Shengjie LI, Haiyun ZHANG, Guodong LU, Yichang FENG, Peng WANG, Jituo LI,dwjcom@zju.edu.cn

Frontiers of Information Technology & Electronic Engineering 2023, Volume 24, Issue 4,   Pages 536-552 doi: 10.1631/FITEE.2200353

Abstract: In many robot operation scenarios, the end-effector’s of movement are indispensable for the task process, such as robotic welding, spraying, handling, and stacking. Meanwhile, the inverse kinematics, collision detection, and space search are involved in the procedure under , making it difficult to achieve satisfactory efficiency and effectiveness in practice. To address these problems, we propose a distributed variable density method with (DVDP-AC) for . First, a position– reconstruction (PACR) approach is proposed in the inverse kinematic solution. Then, the (DSDF) model with single-step safety sphere (SSS) is designed to improve the efficiency of collision detection. Based on this, the variable density path search method is adopted in the Cartesian space. Furthermore, a novel forward sequential (FSPS) approach is proposed to adaptively eliminate redundant path points considering path accessibility. Finally, experimental results verify the performance and effectiveness of the proposed DVDP-AC method under end-effector’s , and its characteristics and advantages are demonstrated by comparison with current mainstream methods.

Keywords： Path planning     Industrial robots     Distributed signed-distance-field     Attitude constraints     Path simplification    

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Feasible workspace regions for general two-revolute manipulator

Conghui LIANG, Marco CECCARELLI

Frontiers of Mechanical Engineering 2011, Volume 6, Issue 4,   Pages 397-408 doi: 10.1007/s11465-011-0228-9

Abstract:

In this paper, a topology is presented for feasible workspace regions in general two-revolute manipulatorscases are analyzed in details to characterize workspace design capabilities for general two-revolute manipulators

Keywords： workspace     two-revolute manipulators     topology analysis     design    

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Conservation and adaptive reuse of industrial heritage in Shanghai

ZHANG Song

Frontiers of Structural and Civil Engineering 2007, Volume 1, Issue 4,   Pages 481-490 doi: 10.1007/s11709-007-0065-4

Abstract: This paper takes a retrospective review of the evolution of the conservation of industrial heritage inurban Shanghai since the 1990s within the context of the international industrial heritage conservation

Keywords： evolution     industrial     international industrial     retrospective     Shanghai    

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Conservation and adaptive-reuse of historical industrial building in China in the post-industrial era

WANG Jianguo, JIANG Nan

Frontiers of Structural and Civil Engineering 2007, Volume 1, Issue 4,   Pages 474-480 doi: 10.1007/s11709-007-0064-5

Abstract: The conservation and adaptive-reuse of historical industrial building is one of the most important issuesthis paper, the necessity and academic meaning of the conservation and adaptive-reuse of historical industrial, and the basic contents of the implementation of the conservation and adaptive-reuse of historical industrialprinciples and relevant core technical specifications based on the empirical researches on the historical industrial

Keywords： historical industrial     industrial building     implementation     adaptive-reuse     empirical    

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Can industrial intelligence promote industrial transformation? ––Case of mining enterprises

Anlin SHAO

Frontiers of Engineering Management 2017, Volume 4, Issue 3,   Pages 375-378 doi: 10.15302/J-FEM-2017108

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Industrial water treatment and industrial marine outfalls: Achieving the right balance

Adrian W. K. Law,Chunyan Tang

Frontiers of Chemical Science and Engineering 2016, Volume 10, Issue 4,   Pages 472-479 doi: 10.1007/s11705-016-1592-0

Abstract: Industrial water treatment and industrial marine outfalls both function together to reduce the pollutantsynergistic nature, marine outfalls are now commonly used for the disposal of partially treated domestic and industrialWe also discuss the end-of-the-pipe and mixing zone approaches for industrial effluents, and give some

Keywords： industrial effluent treatment     industrial marine outfalls     economic and environmental considerations    

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Industrial solid waste flow analysis of eco-industrial parks: implications for sustainable waste management

Yongpeng Lü, Kai YANG, Yue CHE, Zhaoyi SHANG, Jun TAI, Yun JIAN

Frontiers of Environmental Science & Engineering 2012, Volume 6, Issue 4,   Pages 575-587 doi: 10.1007/s11783-011-0344-0

Abstract: Sustainable waste management in the industrial ecology perspective brings enormous challenges to theexisting methodology of waste analysis at the industrial park (IP) scale.In this study, a four-step method was proposed for industrial solid waste (ISW) flow analysis of eco-industrialAccording to a park-wide census of 619 industrial enterprises and 105 questionnaires by a survey from14001 certification, the efficiencies of the ISW management systems have yet to be improved in the industrial

Keywords： industrial solid waste     waste flow analysis     eco-industrial parks     sustainable waste management     “not in    

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Forecasting industrial emissions: a monetary approach

Yang DONG, Yi LIU, Jining CHEN, Yebin DONG, Benliang QU

Frontiers of Environmental Science & Engineering 2012, Volume 6, Issue 5,   Pages 734-742 doi: 10.1007/s11783-012-0451-6

Abstract: Forecasts of industrial emissions provide a basis for impact assessment and development planning.To date, most studies have assumed that industrial emissions are simply coupled to production value atThis article develops a land use-based environmental performance index (L-EPI) that treats the industrialThe basic assumption of the method is that at a planning level, industrial land use change can representthe change in industrial structure and production yield.

Keywords： industrial emissions     environmental performance index     spatial planning     industrial land use    

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Title Author Date Type Operation

A systematic review of current and emergent manipulator control approaches

Syed Ali AJWAD,Jamshed IQBAL,Muhammad Imran ULLAH,Adeel MEHMOOD

Journal Article

Singularity and workspace analysis of three isoconstrained parallel manipulators with schoenflies motion

Po-Chih LEE, Jyh-Jone LEE

Journal Article

Tracking control of robot manipulators via output feedback linearization

FEI Yue-nong, Wu Qing-hua

Journal Article

Fuzzy force control of constrained robot manipulators based on impedance model in an unknown environment

LIU Hongyi, WANG Fei, WANG Lei

Journal Article

Output tracking control of mobile manipulators based on dynamical sliding-mode control

WUYuxiang, FENG Ying, HU Yueming

Journal Article

Design and analysis of a class of redundant collaborative manipulators with 2-dimension large rotational

Xiaodong JIN, Yuefa FANG, Dan ZHANG, Xueling LUO

Journal Article

LARM PKM solutions for torso design in humanoid robots

Marco CECCARELLI

Journal Article

A distributed variable density path search and simplification method for industrial manipulators with

Jin WANG, Shengjie LI, Haiyun ZHANG, Guodong LU, Yichang FENG, Peng WANG, Jituo LI,dwjcom@zju.edu.cn

Journal Article

Feasible workspace regions for general two-revolute manipulator

Conghui LIANG, Marco CECCARELLI

Journal Article

Conservation and adaptive reuse of industrial heritage in Shanghai

ZHANG Song

Journal Article

Conservation and adaptive-reuse of historical industrial building in China in the post-industrial era

WANG Jianguo, JIANG Nan

Journal Article

Can industrial intelligence promote industrial transformation? ––Case of mining enterprises

Anlin SHAO

Journal Article

Industrial water treatment and industrial marine outfalls: Achieving the right balance

Adrian W. K. Law,Chunyan Tang

Journal Article

Industrial solid waste flow analysis of eco-industrial parks: implications for sustainable waste management

Yongpeng Lü, Kai YANG, Yue CHE, Zhaoyi SHANG, Jun TAI, Yun JIAN

Journal Article

Forecasting industrial emissions: a monetary approach

Yang DONG, Yi LIU, Jining CHEN, Yebin DONG, Benliang QU

Journal Article