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A systematic review of current and emergent manipulator control approaches

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

《机械工程前沿（英文）》 2015年第10卷第2期页码 198-210 doi: 10.1007/s11465-015-0335-0

摘要：

Pressing demands of productivity and accuracy in today’s robotic applications have highlighted an urge to replace classical control strategies with their modern control counterparts. This recent trend is further justified by the fact that the robotic manipulators have complex nonlinear dynamic structure with uncertain parameters. Highlighting the authors’ research achievements in the domain of manipulator design and control, this paper presents a systematic and comprehensive review of the state-of-the-art control techniques that find enormous potential in controlling manipulators to execute cutting-edge applications. In particular, three kinds of strategies, i.e., intelligent proportional-integral-derivative (PID) scheme, robust control and adaptation based approaches, are reviewed. Future trend in the subject area is commented. Open-source simulators to facilitate controller design are also tabulated. With a comprehensive list of references, it is anticipated that the review will act as a first-hand reference for researchers, engineers and industrial-interns to realize the control laws for multi-degree of freedom (DOF) manipulators.

关键词： robot control robust and nonlinear control adaptive control intelligent control industrial manipulators robotic arm

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

Po-Chih LEE, Jyh-Jone LEE

《机械工程前沿（英文）》 2012年第7卷第2期页码 163-187 doi: 10.1007/s11465-012-0324-5

摘要：

This paper presents the analysis of three parallel manipulators with Schoenflies-motion. Each parallel manipulator possesses two limbs in structure and the end-effector has three DOFs (degree of freedom) in the translational motion and one DOF in rotational motion about a given direction axis with respect to the world coordinate system. The three isoconstrained parallel manipulators have the structures denoted as CuuUwHw-//-CvvUwHw, CuRuuUhw-//-CvRvvUhwand CuPuUhw-//- CvPvUhw. The kinematic equations are first introduced for each manipulator. Then, Jacobian matrix, singularity, workspace, and performance index for each mechanism are subsequently derived and analysed for the first time. The results can be helpful for the engineers to evaluate such kind of parallel robots for possible application in industry where pick-and-place motion is required.

关键词： 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

《机械工程前沿（英文）》 2006年第1卷第3期页码 329-335 doi: 10.1007/s11465-006-0034-y

摘要： 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.

关键词： 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

《机械工程前沿（英文）》 2007年第2卷第2期页码 168-174 doi: 10.1007/s11465-007-0028-4

摘要： To precisely implement the force control of robot manipulators in an unknown environment, a control strategy based on fuzzy prediction of the reference trajectory in the impedance model is developed. The force tracking experiments are executed in an open-architecture control system with different tracking velocities, different desired forces, different contact stiffnesses and different surface figurations. The corresponding force control results are compared and analyzed. The influences of unknown parameters of the environment on the contact force are analyzed based on experimental data, and the tunings of predictive scale factors are illustrated. The experimental results show that the desired trajectory in the impedance model is predicted exactly and rapidly in the cases that the contact surface is unknown, the contact stiffness changes, and the fuzzy force control algorithm has high adaptability to the unknown environment.

关键词： 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

《机械工程前沿（英文）》 2007年第2卷第1期页码 110-115 doi: 10.1007/s11465-007-0019-5

摘要： A dynamical sliding-mode controller is devised to track the output of mobile manipulators. During the investigation, firstly a reduced dynamic model considering the dynamics of the driving motor is developed for mobile manipulators. Then, the system is decomposed into four lower-dimensional subsystems by means of diffeomorphism and nonlinear input transformation. Moreover, a design method of the dynamical sliding-mode controller that is applied to the output tracking of mobile manipulators is proposed. The simulation results indicate that the dynamical sliding-mode controller can not only track the given trajectory correctly but also reduce the chattering of sliding-mode control system considerably.

关键词： 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

《机械工程前沿（英文）》 2020年第15卷第1期页码 66-80 doi: 10.1007/s11465-019-0570-x

摘要： The parallel spindle heads with high rotational capability are demanded in the area of multi-axis machine tools and 3D printers. This paper focuses on designing a class of 2R1T (R: Rotation; T: Translation) parallel spindle heads and the corresponding collaborative 5-axis manipulators with 2-dimension (2D) large rotational angles. In order to construct 2D rotational degrees of freedom (DOF), a platform with 2-dimension revolute joints is proposed first. Based on the constraint screw theory, the feasible limbs that can be connected in the platform are synthesized. In order to provide constant rotational axis for the platform, a class of redundant limbs are designed. A class of redundant 2R1T parallel spindle heads is obtained by connecting the redundant limbs with the platform and the redundant characteristics are verified by the modified Grübler-Kutzbach criterion. The corresponding 5-axis collaborative manipulators are presented by constructing a 2-DOF series translational bottom moving platform. The inverse kinematics and the orientation workspace as well as the decoupling characteristics of this type of 2R1T parallel spindle heads are analyzed. The results show that these manipulators have large 2D rotational angles than the traditional A3/Z3 heads and can be potentially used in the application of multi-axis machine tools and the 3D printers.

关键词： 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

《机械工程前沿（英文）》 2014年第9卷第4期页码 308-316 doi: 10.1007/s11465-014-0318-6

摘要：

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.

关键词： humanoid robots torso design parallel manipulators (PKM) conceptual design

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一种满足末端姿态约束的工业机械臂分布式变密度路径搜索与简化方法 Research Article

王进1,2,厉圣杰1,2,张海运3,陆国栋1,2,冯奕畅1,2,王鹏1,2,李基拓1,2

《信息与电子工程前沿（英文）》 2023年第24卷第4期页码 536-552 doi: 10.1631/FITEE.2200353

摘要：在许多机器人操作场景中，末端执行器的运动姿态约束是机器人完成焊接、喷涂、搬运、码垛等常见任务必不可少的。同时，姿态约束下的路径规划过程中涉及到逆运动学、碰撞检测和空间搜索等关键问题，在实际应用中难以兼顾令人满意的效率和约束效果。针对这些问题，提出一种带末端约束的工业机器人分布式变密度路径规划方法（DVDP-AC）。首先，针对运动学逆解提出位置–姿态约束重构（PACR）方法。然后，设计了具有单步安全球（SSS）的分布式有向距离场（DSDF）模型，以提高碰撞检测的效率。在此基础上，在笛卡尔空间中采用变密度路径搜索方法，并进一步提出一种考虑路径可达性的前向路径简化方法（FSPS），以自适应地快速消除冗余的路径点。最后，实验结果验证了所提出的DVDP-AC方法在末端执行器姿态约束下的性能和有效性，并与目前主流路径规划方法进行比较，说明了该方法的特点和优势。

关键词：路径规划；工业机器人；分布式有向距离场；姿态约束；路径简化

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Feasible workspace regions for general two-revolute manipulator

Conghui LIANG, Marco CECCARELLI

《机械工程前沿（英文）》 2011年第6卷第4期页码 397-408 doi: 10.1007/s11465-011-0228-9

摘要：

In this paper, a topology is presented for feasible workspace regions in general two-revolute manipulators. The design problem and concept of feasible workspace regions have been discussed as linked to each other. Design equations are formulated by arbitrarily prescribing four workspace boundary points. The so-called feasible workspace regions are the intersection of three different sub-regions, which are given by constraint curves as function of the relative positions of three workspace boundary points. By using a parametric study, all topologies for three sub-regions are figured out. Corresponding areas in cross section plane are determined for prescribing the position of a feasible workspace point as function of the topology for sub-regions. A classification has been proposed to determine and to characterize the combination of the topologies for those sub-regions. All topologies for feasible workspace regions are figured out and they are discussed as a design tool. Three general cases are analyzed in details to characterize workspace design capabilities for general two-revolute manipulators.

关键词： workspace two-revolute manipulators topology analysis design

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Conservation and adaptive reuse of industrial heritage in Shanghai

ZHANG Song

《结构与土木工程前沿（英文）》 2007年第1卷第4期页码 481-490 doi: 10.1007/s11709-007-0065-4

摘要： This paper takes a retrospective review of the evolution of the conservation of industrial heritage in urban Shanghai since the 1990s within the context of the international industrial heritage conservation movement, with the emph

关键词： 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

《结构与土木工程前沿（英文）》 2007年第1卷第4期页码 474-480 doi: 10.1007/s11709-007-0064-5

摘要： The conservation and adaptive-reuse of historical industrial building is one of the most important issues to be solved in today s urban development and construction in China. In this paper, the necessity and academic meaning of the conservation and adaptive-reuse of historical industrial building were discussed by reviewing its development rend both at home and abroad, and the basic contents of the implementation of the conservation and adaptive-reuse of historical industrial building in China with specific cases provided were analyzed. It is the central task for China to put forward the restructuring and design methods, assessment principles and relevant core technical specifications based on the empirical researches on the historical industrial building and site.

关键词： historical industrial industrial building implementation adaptive-reuse empirical

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

Anlin SHAO

《工程管理前沿（英文）》 2017年第4卷第3期页码 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

《化学科学与工程前沿（英文）》 2016年第10卷第4期页码 472-479 doi: 10.1007/s11705-016-1592-0

摘要： Industrial water treatment and industrial marine outfalls both function together to reduce the pollutant concentrations in the effluent and mitigate the potential impact on the environment. The former uses environmental treatment technology with energy and material cost considerations, while the latter utilizes the natural assimilation potential of the coastal water environment achievable at the outfall location. Because of their synergistic nature, marine outfalls are now commonly used for the disposal of partially treated domestic and industrial effluents in many coastal cities around the world, with many successful examples of low and acceptable risks to the environment. The objective of this paper is to review their balance from both environmental and economic considerations. We also discuss the end-of-the-pipe and mixing zone approaches for industrial effluents, and give some recommendations particularly for developing countries. Finally, we emphasize that a compulsory and vigorous monitoring program is essential regardless of how the balance is achieved.

关键词： 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

《环境科学与工程前沿（英文）》 2012年第6卷第4期页码 575-587 doi: 10.1007/s11783-011-0344-0

摘要： Sustainable waste management in the industrial ecology perspective brings enormous challenges to the existing 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-industrial parks (EIPs) and applied to two IPs in eastern China. According to a park-wide census of 619 industrial enterprises and 105 questionnaires by a survey from 2006 to 2008, the results indicated that: 1) at the enterprise scale, more than 60% of enterprises were small-ISW-generation enterprises which encountered great difficulties on effective waste management; 2) at the IP scale, though the two IPs have set up their own environmental management systems and passed the ISO 14001 certification, the efficiencies of the ISW management systems have yet to be improved in the industrial ecology perspective; and 3) at the regional scale, more than 97% of ISW flowed within the provincial region, indicating that the provincial governments prevented the wastes from flowing into their own “back yard”. Effective waste management should be placed in a broader perspective. Approaches to sustainable waste management may include wastes exchange, efficient waste and information flow, virtual EIP, waste minimization clubs and regionalization of waste management.

关键词： industrial solid waste waste flow analysis eco-industrial parks sustainable waste management “not in my back yard”

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Forecasting industrial emissions: a monetary approach

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

《环境科学与工程前沿（英文）》 2012年第6卷第5期页码 734-742 doi: 10.1007/s11783-012-0451-6

摘要： 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 at a given stage of technical progress. It has been argued that the monetary method tends to overestimate pollution loads because it is highly influenced by market prices and fails to address spatial development schemes. This article develops a land use-based environmental performance index (L-EPI) that treats the industrial land areas as a dependent variable for pollution emissions. The basic assumption of the method is that at a planning level, industrial land use change can represent the change in industrial structure and production yield. This physical metric provides a connection between the state-of-the-art and potential impacts of future development and thus avoids the intrinsic pitfalls of the industrial Gross Domestic Product-based approach. Both methods were applied to examine future industrial emissions at the planning area of Dalian Municipality, North-west China, under a development scheme provided by the urban master plan. The results suggested that the L-EPI method is highly reliable and applicable for the estimation and explanation of the spatial variation associated with industrial emissions.

关键词： industrial emissions environmental performance index spatial planning industrial land use