Robotic Systems and Applications最新文献

Researching low frequency vibration of automobile-robot 汽车-机器人低频振动研究

Robotic Systems and Applications Pub Date : 2024-06-06 DOI: 10.21595/rsa.2024.23851

Yujie Jia, Vanliem Nguyen

{"title":"Researching low frequency vibration of automobile-robot","authors":"Yujie Jia, Vanliem Nguyen","doi":"10.21595/rsa.2024.23851","DOIUrl":"https://doi.org/10.21595/rsa.2024.23851","url":null,"abstract":"Automobile-robot (self-driving automobile) is being researched and developed vigorously. When the automobile-robot is moving on the road surface, the low frequency vibration excitation not only influences the ride comfort of the automobile-robot but also strongly affects the durability of the vehicle’s structures. To research the automobile-robot’s vibration in the low frequency region, a dynamic model of the vehicle is established to calculate the vibration equations in the time region. Based on the theory of the Laplace transfer function, the automobile-robot’s vibration equations in the time region are transformed and converted to the vibration equations in the frequency region. Then, the effect of the design parameters and operation parameters on the characteristic of the automobile-robot’s acceleration-frequency is simulated and analyzed to evaluate the ride comfort as well as the durability of the automobile-robot’s structures in the frequency region. The research results show that the design parameters of the stiffness, mass, and road wavelength remarkably affect the characteristic of the automobile-robot’s acceleration-frequency. To reduce the resonant amplitude of the acceleration-frequency in the vertical and pitching direction of the automobile-robot, the stiffness parameters of the automobile-robot's and tires should be reduced while the mass of the automobile-robot’s body should be increased. Additionally, the road’s roughness also needs to be decreased or the road’s quality needs to be enhanced to reduce the resonant amplitude of the automobile-robot’s acceleration-frequency.","PeriodicalId":349478,"journal":{"name":"Robotic Systems and Applications","volume":"7 11","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141380387","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Feedback hybrid force and position control of an upper limb exoskeleton to support human movement 上肢外骨骼的力和位置反馈混合控制，支持人体运动

Robotic Systems and Applications Pub Date : 2023-11-19 DOI: 10.21595/rsa.2023.23623

Thang Cao Nguyen, Anh Dong Nguyen, M. Parnichkun, MyTien Phan

引用次数: 0

Applications of collaborative robots in agile manufacturing: a review 协同机器人在敏捷制造中的应用综述

Robotic Systems and Applications Pub Date : 2023-06-26 DOI: 10.21595/rsa.2023.23238

Siddhant Kakade, B. Patle, A. Umbarkar

{"title":"Applications of collaborative robots in agile manufacturing: a review","authors":"Siddhant Kakade, B. Patle, A. Umbarkar","doi":"10.21595/rsa.2023.23238","DOIUrl":"https://doi.org/10.21595/rsa.2023.23238","url":null,"abstract":"Collaborative robots are machines that work hand in hand with humans; or as the name suggests, collaborate with them in a specific workspace. These robots are not enclosed in confined safety zones like traditional robots, as they interact very closely with humans. Though this is the case, appropriate measures are captivated while designing these robots considering human safety. These robots are well-versed in adapting to changes and frequent upgrades. They are flexible enough to carry out complex tasks. Due to these abilities, they become a significant asset in the manufacturing field. It’s been many years now since cobots are introduced in the industry sector. So, this is the right time to review various applications of cobots in manufacturing. First, the paper starts with a brief introduction followed by an extensive literature review which was structured after reviewing 76 research papers and articles. It ends with some essential conclusions. This paper discusses the diverse applications of cobots used in the manufacturing sector and their advantages. Further, it highlights the future of cobots and how they will be a boon for a technology-driven world.","PeriodicalId":349478,"journal":{"name":"Robotic Systems and Applications","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126831777","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

A review on path planning ai techniques for mobile robots 移动机器人路径规划人工智能技术综述

Robotic Systems and Applications Pub Date : 2023-06-25 DOI: 10.21595/rsa.2023.23090

Shrinivas Deshpande, A. Kashyap, B. Patle

{"title":"A review on path planning ai techniques for mobile robots","authors":"Shrinivas Deshpande, A. Kashyap, B. Patle","doi":"10.21595/rsa.2023.23090","DOIUrl":"https://doi.org/10.21595/rsa.2023.23090","url":null,"abstract":"An Industrial Robot is used in industries for transporting, assembly, manufacturing and many more applications. Industrial robots include manufacturing robots, material handling robots, robotic arm and manipulator, mobile robots, assembly robots, etc. In this paper, Mobile Robots are further being discussed. One of the tools that a Mobile Robot uses to function is all with the help of Artificial Intelligence (AI) for performing several tasks autonomously. AI works as the intelligence of the human body for robots. AI is the technology that made it possible for robots to be capable of being totally autonomous. AI marks its presence in the Manufacturing Industry with the 4th Industrial Revolution. AI has several algorithms that help in collecting and analyzing data in order to help robots to function in specific ways. These techniques include Fuzzy Logic, Genetic Algorithm, Neural Network, etc. In this paper, the role of these algorithms in Mobile Robots is discussed. Based on the review of 74 papers and articles, it is observed that there are no review papers discussing the role of nature-based and conventional algorithms used for navigation in Mobile Robots. The use of different AI techniques for specific applications has been discussed in tabular form in this paper.","PeriodicalId":349478,"journal":{"name":"Robotic Systems and Applications","volume":"273 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132904836","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

Supplementation of synthetic object replicas for increasing precision of microrobot trajectory keypoints 补充合成目标复制品，提高微机器人轨迹关键点的精度

Robotic Systems and Applications Pub Date : 2023-06-21 DOI: 10.21595/rsa.2023.23128

Modris Laizans, Jānis Ārents, Oskars Vismanis, V. Bučinskas, Andrius Dzedzickis, M. Greitans

{"title":"Supplementation of synthetic object replicas for increasing precision of microrobot trajectory keypoints","authors":"Modris Laizans, Jānis Ārents, Oskars Vismanis, V. Bučinskas, Andrius Dzedzickis, M. Greitans","doi":"10.21595/rsa.2023.23128","DOIUrl":"https://doi.org/10.21595/rsa.2023.23128","url":null,"abstract":"Artificial neural networks are becoming more popular with the development of artificial intelligence. These networks require large amounts of data to function effectively, especially in the field of computer vision. The quality of an object detector is primarily determined by its architecture, but the quality of the data it uses is also important. In this study, we explore the use of novel data set enhancement technique to improve the performance of the YOLOv5 object detector. Overall, we investigate three methods: first, a novel approach using synthetic object replicas to augment the existing real data set without changing the size of the data set; second - rotation augmentation data set propagating technique and their symbiosis, third, only one required class is supplemented. The solution proposed in this article improves the data set with a help of supplementation and augmentation. Lower the influence of the imbalanced data sets by data supplementation with synthetic yeast cell replicas. We also determine the average supplementation values for the data set to determine how many percent of the data set is most effective for the supplementation.","PeriodicalId":349478,"journal":{"name":"Robotic Systems and Applications","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127742441","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Improving ride comfort and road friendliness of heavy truck using semi-active suspension system 利用半主动悬架系统提高重型卡车的乘坐舒适性和道路友好性

Robotic Systems and Applications Pub Date : 2023-03-13 DOI: 10.21595/rsa.2023.23021

Hao Li, V. Nguyen

{"title":"Improving ride comfort and road friendliness of heavy truck using semi-active suspension system","authors":"Hao Li, V. Nguyen","doi":"10.21595/rsa.2023.23021","DOIUrl":"https://doi.org/10.21595/rsa.2023.23021","url":null,"abstract":"To enhance the ride comfort and improve the road friendliness of the heavy truck, based on the dynamic model of the heavy truck, the semi-active suspension system of the vehicle is proposed and controlled based on the fuzzy logic control and Matlab/Simulink software. The efficiency of the semi-active suspension system is then evaluated based on the indexes of the root mean square acceleration of the driver’s seat, the root mean square acceleration of the cab's pitching angle, and the dynamic load coefficient of the wheel axles. The results show that with the semi-active suspension system of the heavy truck controlled by the fuzzy logic control, the acceleration responses of the heavy truck and the dynamic forces of the wheel axles are greatly reduced in comparison with the passive suspension system under various operating conditions of the loads and speeds. Especially, with the semi-active suspension system controlled by the fuzzy logic control, the root mean square accelerations of the driver’s seat and cab pitch angle; and the dynamic load coefficient at 2nd axle of the wheel are clearly reduced by 23.7 %, 27.2 %, and 20.9 % in comparison with the passive suspension system, respectively. Thus, both ride comfort and road friendliness of the heavy truck are improved by the semi-active suspension system. In addition, the vehicle load insignificantly affects ride comfort. However, it greatly affects the road damage, especially with the half load condition of the vehicle. Thus, to improve road friendliness, the full load condition of the vehicle should be used.","PeriodicalId":349478,"journal":{"name":"Robotic Systems and Applications","volume":"406 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131651928","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Designing and controlling a self-balancing platform mechanism based on 3-RCC spherical parallel manipulator 基于3-RCC球面并联机器人的自平衡平台机构设计与控制

Robotic Systems and Applications Pub Date : 2023-03-02 DOI: 10.21595/rsa.2023.23015

Yen Jung Chen, W. Tung, Wei-Rui Lee, Brijesh Patel, V. Bučinskas, M. Greitans, P. Lin

{"title":"Designing and controlling a self-balancing platform mechanism based on 3-RCC spherical parallel manipulator","authors":"Yen Jung Chen, W. Tung, Wei-Rui Lee, Brijesh Patel, V. Bučinskas, M. Greitans, P. Lin","doi":"10.21595/rsa.2023.23015","DOIUrl":"https://doi.org/10.21595/rsa.2023.23015","url":null,"abstract":"Motion control platforms have various applications in the manufacturing and automation industries. Different literature provides multiple issues related to the kinematics and dynamics of self-guided robots for transportation regarding platform balancing. Self-balancing platforms are utilized in many deliveries, stabilization, and transportation systems, and they are especially well suited for outdoor activities when the ground surface is not flat or structured. This paper describes developing a control technique for a self-balancing platform using the 3-RCC spherical parallel manipulator. This mechanism was designed to support an AGV (Automated Guided Vehicle) for transporting and lifting heavy weights for industrial applications. The AGV carries a robotic arm on top for different tasks. When the AGV encounters a steep slope or a rough surface, the AGV tilts, and the robotic arm’s performance is significantly affected. So, this study gives a solution to avoid these circumstances with a novel approach for the platform’s self-balancing mechanism consisting of a 3-RCC spherical parallel manipulator. Real-time stabilization and kinematics analysis methods are used to achieve the self-balancing system of the platform. When both methods are observed through different tilting angles for automation stability, Kinematic analysis performs more efficiently with less time duration when compared with the real-time stabilization method.","PeriodicalId":349478,"journal":{"name":"Robotic Systems and Applications","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128117092","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 2

Research of the dynamical properties of mechatronic prosthesis 机电一体化假体动力学特性研究

Robotic Systems and Applications Pub Date : 2022-12-31 DOI: 10.21595/rsa.2022.22678

Justas Tamošiūnas, V. Bučinskas

引用次数: 0

Robotic micromanipulation: b) grippers for biological objects 机器人微操作:b)生物物体的抓手

Robotic Systems and Applications Pub Date : 2022-03-19 DOI: 10.21595/rsa.2022.22324

V. Bučinskas, Jurga Subaciute-Zemaitiene, Andrius Dzedzickis, E. Šutinys, I. Morkvėnaitė-Vilkončienė

引用次数: 2

Construction and benchmark of an autonomous tracked mobile robot system 自主履带式移动机器人系统的构建与基准测试

Robotic Systems and Applications Pub Date : 2022-01-31 DOI: 10.21595/rsa.2022.22336

Jānis Ārents, Vaibhav Ahluwalia, Aly Oraby, M. Greitans

引用次数: 1