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A robot fuzzy motion planning approach in unknown environments
FU Yi-li, JIN Bao, LI Han, WANG Shu-guo
《机械工程前沿(英文)》 2006年 第1卷 第3期 页码 336-340 doi: 10.1007/s11465-006-0033-z
关键词: manipulator repelling influence manipulator configuration three-degree industrial simulation
Vibration suppression of speed-controlled robots with nonlinear control
Paolo BOSCARIOL,Alessandro GASPARETTO
《机械工程前沿(英文)》 2016年 第11卷 第2期 页码 204-212 doi: 10.1007/s11465-016-0380-3
In this paper, a simple nonlinear control strategy for the simultaneous position tracking and vibration damping of robots is presented. The control is developed for devices actuated by speed-controlled servo drives. The conditions for the asymptotic stability of the closed-loop system are derived by ensuring its passivity. The capability of achieving improved trajectory tracking and vibration suppression is shown through experimental tests conducted on a three-axis Cartesian robot. The control is aimed to be compatible with most industrial applications given the simplicity of implementation, the reduced computational requirements, and the use of joint position as the only measured signal.
关键词: industrial robot nonlinear control vibration damping model-free control motion control
Qingmeng TAN, Yifei TONG, Shaofeng WU, Dongbo LI
《机械工程前沿(英文)》 2020年 第15卷 第1期 页码 1-11 doi: 10.1007/s11465-019-0563-9
关键词: cyber physical system robot assembly multiagent system architecture
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
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
Review of human–robot coordination control for rehabilitation based on motor function evaluation
《机械工程前沿(英文)》 2022年 第17卷 第2期 doi: 10.1007/s11465-022-0684-4
关键词: human–robot coupling lower limb rehabilitation exoskeleton robot motor assessment dynamical model perception
《机械工程前沿(英文)》 2022年 第17卷 第4期 doi: 10.1007/s11465-022-0687-1
关键词: masticatory robot cable-driven linear actuator parallel robot stiffness analysis
Terrain classification and adaptive locomotion for a hexapod robot Qingzhui
Yue ZHAO, Feng GAO, Qiao SUN, Yunpeng YIN
《机械工程前沿(英文)》 2021年 第16卷 第2期 页码 271-284 doi: 10.1007/s11465-020-0623-1
关键词: terrain classification hexapod robot legged robot adaptive locomotion gait control
Design and modeling of continuum robot based on virtual-center of motion mechanism
《机械工程前沿(英文)》 2023年 第18卷 第2期 doi: 10.1007/s11465-022-0739-6
关键词: VCM mechanism continuum robot flexural joint pseudo-rigid body model cable-driven
Strategy for robot motion and path planning in robot taping
Qilong YUAN,I-Ming CHEN,Teguh Santoso LEMBONO,Simon Nelson LANDÉN,Victor MALMGREN
《机械工程前沿(英文)》 2016年 第11卷 第2期 页码 195-203 doi: 10.1007/s11465-016-0390-1
Covering objects with masking tapes is a common process for surface protection in processes like spray painting, plasma spraying, shot peening, etc. Manual taping is tedious and takes a lot of effort of the workers. The taping process is a special process which requires correct surface covering strategy and proper attachment of the masking tape for an efficient surface protection. We have introduced an automatic robot taping system consisting of a robot manipulator, a rotating platform, a 3D scanner and specially designed taping end-effectors. This paper mainly talks about the surface covering strategies for different classes of geometries. The methods and corresponding taping tools are introduced for taping of following classes of surfaces: Cylindrical/extended surfaces, freeform surfaces with no grooves, surfaces with grooves, and rotational symmetrical surfaces. A collision avoidance algorithm is introduced for the robot taping manipulation. With further improvements on segmenting surfaces of taping parts and tape cutting mechanisms, such taping solution with the taping tool and the taping methodology can be combined as a very useful and practical taping package to assist humans in this tedious and time costly work.
关键词: robot taping path planning robot manipulation 3D scanning
A new efficient optimal path planner for mobile robot based on Invasive Weed Optimization algorithm
Prases K. MOHANTY,Dayal R. PARHI
《机械工程前沿(英文)》 2014年 第9卷 第4期 页码 317-330 doi: 10.1007/s11465-014-0304-z
Planning of the shortest/optimal route is essential for efficient operation of autonomous mobile robot or vehicle. In this paper Invasive Weed Optimization (IWO), a new meta-heuristic algorithm, has been implemented for solving the path planning problem of mobile robot in partially or totally unknown environments. This meta-heuristic optimization is based on the colonizing property of weeds. First we have framed an objective function that satisfied the conditions of obstacle avoidance and target seeking behavior of robot in partially or completely unknown environments. Depending upon the value of objective function of each weed in colony, the robot avoids obstacles and proceeds towards destination. The optimal trajectory is generated with this navigational algorithm when robot reaches its destination. The effectiveness, feasibility, and robustness of the proposed algorithm has been demonstrated through series of simulation and experimental results. Finally, it has been found that the developed path planning algorithm can be effectively applied to any kinds of complex situation.
关键词: mobile robot obstacle avoidance Invasive Weed Optimization navigation
An autonomous miniature wheeled robot based on visual feedback control
CHEN Haichu
《机械工程前沿(英文)》 2007年 第2卷 第2期 页码 197-200 doi: 10.1007/s11465-007-0033-7
关键词: measuring distance autonomous locomotion advantage navigation
Analytical dynamic solution of a flexible cable-suspended manipulator
Mahdi BAMDAD
《机械工程前沿(英文)》 2013年 第8卷 第4期 页码 350-359 doi: 10.1007/s11465-013-0271-9
Cable-suspended manipulators are used in large scale applications with, heavy in weight and long in span cables. It seems impractical to maintain cable assumptions of smaller robots for large scale manipulators. The interactions among the cables, platforms and actuators can fully evaluate the coupled dynamic analysis. The structural flexibility of the cables becomes more pronounced in large manipulators. In this paper, an analytic solution is provided to solve cable vibration. Also, a closed form solution can be adopted to improve the dynamic response to flexibility. The output is provided by the optimal torque generation subject to the actuator limitations in a mechatronic sense. Finally, the performance of the proposed algorithm is examined through simulations.
Different manipulation mode analysis of a radial symmetrical hexapod robot with leg–arm integration
《机械工程前沿(英文)》 2022年 第17卷 第1期 页码 8-8 doi: 10.1007/s11465-021-0664-0
关键词: leg–arm integration hexapod robot fixed coordinated manipulation mobile manipulation
Longitudinal and lateral slip control of autonomous wheeled mobile robot for trajectory tracking
Hamza KHAN,Jamshed IQBAL,Khelifa BAIZID,Teresa ZIELINSKA
《信息与电子工程前沿(英文)》 2015年 第16卷 第2期 页码 166-172 doi: 10.1631/FITEE.1400183
关键词: Robot modeling Robot navigation Slip and skid control Wheeled mobile robots
标题 作者 时间 类型 操作
A robot fuzzy motion planning approach in unknown environments
FU Yi-li, JIN Bao, LI Han, WANG Shu-guo
期刊论文
Vibration suppression of speed-controlled robots with nonlinear control
Paolo BOSCARIOL,Alessandro GASPARETTO
期刊论文
Towards a next-generation production system for industrial robots: A CPS-based hybrid architecture for
Qingmeng TAN, Yifei TONG, Shaofeng WU, Dongbo LI
期刊论文
A systematic review of current and emergent manipulator control approaches
Syed Ali AJWAD,Jamshed IQBAL,Muhammad Imran ULLAH,Adeel MEHMOOD
期刊论文
Review of human–robot coordination control for rehabilitation based on motor function evaluation
期刊论文
Development of a masticatory robot using a novel cable-driven linear actuator with bidirectional motion
期刊论文
Terrain classification and adaptive locomotion for a hexapod robot Qingzhui
Yue ZHAO, Feng GAO, Qiao SUN, Yunpeng YIN
期刊论文
Strategy for robot motion and path planning in robot taping
Qilong YUAN,I-Ming CHEN,Teguh Santoso LEMBONO,Simon Nelson LANDÉN,Victor MALMGREN
期刊论文
A new efficient optimal path planner for mobile robot based on Invasive Weed Optimization algorithm
Prases K. MOHANTY,Dayal R. PARHI
期刊论文
Different manipulation mode analysis of a radial symmetrical hexapod robot with leg–arm integration
期刊论文