International Journal of Advanced Robotic Systems最新文献_第6页

Stick–slip in hand guidance of palletizing robot as collaborative robot 作为协作机器人的码垛机器人的手滑引导

IF 2.3 4区计算机科学

International Journal of Advanced Robotic Systems Pub Date : 2022-09-01 DOI: 10.1177/17298806221131138

Yun-Ju Chuang, H. Chang, Yin-Tung Sun, T. Tsung

{"title":"Stick–slip in hand guidance of palletizing robot as collaborative robot","authors":"Yun-Ju Chuang, H. Chang, Yin-Tung Sun, T. Tsung","doi":"10.1177/17298806221131138","DOIUrl":"https://doi.org/10.1177/17298806221131138","url":null,"abstract":"Stick–slip is a challenging problem in palletizing robots and constitutes one of the main problems in precision positioning control. This study analyzed the stick–slip of a four-degree-of-freedom ceiling-mounted hand-guiding collaborative robot in a working space. A brief perspective on the focus of the experimental design is presented on the stick–slip friction of a palletizing robot’s hand guidance as a collaborative robot. The palletizing robot typically has a simple mechanical structure but possesses over 16 bearings to constrain the motion of the dual-parallelogram linkage mechanism. First, the hand-guiding force was successfully measured. Second, an image model was built based on the obtained measurement results. Third, the stick–slip results for the working space were analyzed using an image model. Finally, related conclusions and recommendations are provided for precision positioning control. A significant aspect of this study is identifying the hand-guiding force in the working space of a ceiling-mounted collaborative robot. Stick–slip in hand guiding is a critical issue and is therefore important for collaborative robot users. The main contribution of this study is developing a feasible method for helping researchers understand where stick–slip occurs.","PeriodicalId":50343,"journal":{"name":"International Journal of Advanced Robotic Systems","volume":" ","pages":""},"PeriodicalIF":2.3,"publicationDate":"2022-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"41810111","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 2

A jump point search improved ant colony hybrid optimization algorithm for path planning of mobile robot 基于跳点搜索改进蚁群混合优化算法的移动机器人路径规划

IF 2.3 4区计算机科学

International Journal of Advanced Robotic Systems Pub Date : 2022-09-01 DOI: 10.1177/17298806221127953

Tao Chen, Suifan Chen, Kuoran Zhang, Guoting Qiu, Qipeng Li, Xinmin Chen

引用次数: 7

Fault-tolerant motion planning for a hexapod robot with single-leg failure using a foot force control method 基于足力控制的单腿故障六足机器人容错运动规划

IF 2.3 4区计算机科学

International Journal of Advanced Robotic Systems Pub Date : 2022-09-01 DOI: 10.1177/17298806221121070

B. You, Yaojin Fan, Dawei Liu

{"title":"Fault-tolerant motion planning for a hexapod robot with single-leg failure using a foot force control method","authors":"B. You, Yaojin Fan, Dawei Liu","doi":"10.1177/17298806221121070","DOIUrl":"https://doi.org/10.1177/17298806221121070","url":null,"abstract":"Hexapod robots are widely used for resource exploration, post-disaster rescue, and military equipment. They typically travel on rugged and complex roads. The robot itself has a high probability of failure owing to mechanical failure, driving motor failure, or external environmental interference. To improve the adaptability of the robot to a complex environment, a motion control method for fault-tolerant gait was designed. The trajectory generator based on zero-moment point information can generate a smooth desired trajectory for the body’s center of mass, thereby improving the robot’s zero-moment point trajectory tracking effect and motion stability. The force-distribution algorithm based on torque optimization selects the minimum square sum of the driving force as the objective function and reduces the number of constraint equations through QR decomposition to increase the speed at which the expected contact force at the foot is calculated. A CoppeliaSim and MATLAB/Gurobi joint simulation platform were built to simulate and verify the fault-tolerant motion planning of the hexapod robot and foot contact force control algorithm. The feasibility and effectiveness of the fault-tolerant motion planning and foot force control algorithm applied to a hexapod robot with a single-foot failure are verified.","PeriodicalId":50343,"journal":{"name":"International Journal of Advanced Robotic Systems","volume":" ","pages":""},"PeriodicalIF":2.3,"publicationDate":"2022-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44384406","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

3D trajectory planning based on the Rapidly-exploring Random Tree–Connect and artificial potential fields method for unmanned aerial vehicles 基于快速探索随机树连接和人工势场方法的无人机三维轨迹规划

IF 2.3 4区计算机科学

International Journal of Advanced Robotic Systems Pub Date : 2022-09-01 DOI: 10.1177/17298806221118867

Lijia Cao, Lin Wang, Yang Liu, Shiyuan Yan

{"title":"3D trajectory planning based on the Rapidly-exploring Random Tree–Connect and artificial potential fields method for unmanned aerial vehicles","authors":"Lijia Cao, Lin Wang, Yang Liu, Shiyuan Yan","doi":"10.1177/17298806221118867","DOIUrl":"https://doi.org/10.1177/17298806221118867","url":null,"abstract":"This research proposes a multifaceted approach of three-dimensional trajectory planning based on the combination of Rapidly-exploring Random Tree–Connect algorithm and artificial potential field method to improve the path search ability and dynamic obstacles avoidance capability of unmanned aerial vehicles. Firstly, an improved method of the target gravity is developed by controlling the sampling range to reduce invalid sampling and speed up the convergence speed of the algorithm so as to lessen the restriction of low efficiency and random sampling of the Rapidly-exploring Random Tree–Connect algorithm. Moreover, the regulation factor is introduced into the artificial potential field method to deal with the problem of target unreachable in the trajectory planning. Then the improved Rapidly-exploring Random Tree–Connect algorithm is implemented to plan the global path in a complex environment. This step is carried out via selecting the local target point on the global path found in the global plan, dividing the complex environment into simple environment and utilizing the artificial potential field method to achieve the effect of avoiding unknown dynamic obstacles in the simple environment. Finally, cubic B-spline is employed to smoothing of the planned trajectory. The simulation results demonstrate that the combination of two improved algorithms improves the path search ability and dynamic barrier avoidance capability of the unmanned aerial vehicles.","PeriodicalId":50343,"journal":{"name":"International Journal of Advanced Robotic Systems","volume":" ","pages":""},"PeriodicalIF":2.3,"publicationDate":"2022-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"41801979","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 4

Estimator and command filtering-based neural network control for flexible-joint robotic manipulators driven by electricity 基于估计和命令滤波的电驱动柔性关节机器人神经网络控制

IF 2.3 4区计算机科学

International Journal of Advanced Robotic Systems Pub Date : 2022-09-01 DOI: 10.1177/17298806221127101

Qu Wen, Li Yang

{"title":"Estimator and command filtering-based neural network control for flexible-joint robotic manipulators driven by electricity","authors":"Qu Wen, Li Yang","doi":"10.1177/17298806221127101","DOIUrl":"https://doi.org/10.1177/17298806221127101","url":null,"abstract":"The article proposes an estimator and command filtering-based adaptive neural network controller for the electrically driven flexible-joint robotic manipulators with output constraints under the circumstance of matched and mismatched disturbances in system dynamics. The presented method is designed based on electrically driven model of the n-link flexible-joint robotic manipulators, which introduces more uncertainties and increases the dimensionality of the system but is more in line with practical. In view of the properties of fast convergence speed and great estimation performance in radial basis function neural network, radial basis function neural network is used to approximate the internal uncertain dynamic parameters of the system. An observer-based estimator is introduced for estimating the matched and mismatched disturbances in flexible-joint robotic manipulator dynamics. As to the differential explosion problem in backstepping control design, this article utilizes second-order command filters to overcome it. This article also adopts barrier Lyapunov functions for implementing output constraint to consider security issues in practical use. For demonstrating the effectiveness of the proposed controller, numerical simulations on two-link flexible-joint robotic manipulators are conducted. On the basis of the comparisons among estimator and command filtering-based adaptive neural network controller and other advanced controllers, the superiorities of estimator and command filtering-based adaptive neural network controller in several areas are proved.","PeriodicalId":50343,"journal":{"name":"International Journal of Advanced Robotic Systems","volume":" ","pages":""},"PeriodicalIF":2.3,"publicationDate":"2022-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"43514984","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

Kinematics and dynamics analysis of a six-degree of freedom parallel manipulator 六自由度并联机械臂的运动学与动力学分析

IF 2.3 4区计算机科学

International Journal of Advanced Robotic Systems Pub Date : 2022-09-01 DOI: 10.1177/17298806221132077

Wenhao Wang, Na Wang, Xiaoyong Wu

引用次数: 3

Precise torques and sliding mode compensation for trajectory tracking of manipulator with uncertainty 不确定机械臂轨迹跟踪的精确力矩和滑模补偿

IF 2.3 4区计算机科学

International Journal of Advanced Robotic Systems Pub Date : 2022-09-01 DOI: 10.1177/17298806221121212

Guizhi Lyu, Peng Wang, Guohong Li, F. Lu, Shenglong Dai

{"title":"Precise torques and sliding mode compensation for trajectory tracking of manipulator with uncertainty","authors":"Guizhi Lyu, Peng Wang, Guohong Li, F. Lu, Shenglong Dai","doi":"10.1177/17298806221121212","DOIUrl":"https://doi.org/10.1177/17298806221121212","url":null,"abstract":"The control based on dynamic model could improve the dynamic performance of manipulators and obtain better control effects than the control based on kinematic model. As manipulators are complex online multivariable systems, there are various uncertainties in different environments and working conditions. Accurate dynamic parameters are difficult to obtain in practical engineering applications. In this article, a controller is designed by combining the precise control torques obtained by the analytical dynamics method with the compensation control torques obtained by sliding mode method for trajectory tracking of the manipulator with bounded uncertainty. Precise control torques obtained from the Udwadia–Kalaba modeling method could be applied for the control of the ideal manipulator tracking the desired trajectory. Compensation control torques obtained from the sliding mode concept and the Lyapunov stability theory could be applied to compensate the uncertainties of parameters and external disturbances, thus enhancing the robustness of the system. By combining precise control torques with compensation control torques, the end point of the manipulator with uncertainty could track the end of the ideal manipulator and then track the desired trajectory. The simulation results of the three-link manipulator with uncertainty show that the control method can make the controlled target approach the desired trajectory in relatively small torque ranges and obtain high stability accuracy, and the chattering is effectively reduced at the stage of approaching the sliding mode surface.","PeriodicalId":50343,"journal":{"name":"International Journal of Advanced Robotic Systems","volume":" ","pages":""},"PeriodicalIF":2.3,"publicationDate":"2022-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45472585","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Dynamic stability analyzes for a parallel–serial legged quadruped robot 并联-串联四足机器人的动态稳定性分析

IF 2.3 4区计算机科学

International Journal of Advanced Robotic Systems Pub Date : 2022-09-01 DOI: 10.1177/17298806221132081

J.-H. Fu, F. Gao

引用次数: 4

A mutual positioning relay method of multiple robots for monitoring indoor environments 一种用于室内环境监测的多机器人相互定位中继方法

IF 2.3 4区计算机科学

International Journal of Advanced Robotic Systems Pub Date : 2022-09-01 DOI: 10.1177/17298806221129842

Takumi Matsuda, Y. Kuroda, Ren Fukatsu, Takumi Karasawa, Marika Takasago, Kanta Morishita

{"title":"A mutual positioning relay method of multiple robots for monitoring indoor environments","authors":"Takumi Matsuda, Y. Kuroda, Ren Fukatsu, Takumi Karasawa, Marika Takasago, Kanta Morishita","doi":"10.1177/17298806221129842","DOIUrl":"https://doi.org/10.1177/17298806221129842","url":null,"abstract":"This article proposes a mutual positioning relay method that enables multiple robots to monitor indoor environments. Here, robots refer to a small number of parent robots with high positioning performance and a large number of child robots with minimal positioning performance. The parent robot can estimate its state accurately by itself. In comparison, the child robots have position errors that accumulate with time as they use only odometry information for positioning. Each robot can recognize other robots in its field of view by using a depth camera. It then performs relative positioning and estimates its position of itself or that of other robots on the map. The uncertainty of the position estimation is compared with each other, and the robot with a certain position becomes a positioning reference for the robot with an uncertain position. In this way, both the parent and child robots relay relative positioning with each other, following which all the robots accurately estimate their positions. In this study, six robots based on Roomba were used. The performance of the proposed method was verified based on experimental data of autonomous navigation tests. Our results showed that the proposed method could realize an accuracy that was four to five times better than that performed independently by a child robot. Our findings also revealed that the proposed method can recover the failure of the state estimation of the parent robot.","PeriodicalId":50343,"journal":{"name":"International Journal of Advanced Robotic Systems","volume":" ","pages":""},"PeriodicalIF":2.3,"publicationDate":"2022-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"43289797","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

Innovative self-adaptive gripper design, functional simulation, and testing prototype 创新的自适应夹具设计、功能仿真和测试原型

IF 2.3 4区计算机科学

International Journal of Advanced Robotic Systems Pub Date : 2022-07-01 DOI: 10.1177/17298806221119345

Cezar-Ioan Frincu, I. Stroe, I. Starețu

{"title":"Innovative self-adaptive gripper design, functional simulation, and testing prototype","authors":"Cezar-Ioan Frincu, I. Stroe, I. Starețu","doi":"10.1177/17298806221119345","DOIUrl":"https://doi.org/10.1177/17298806221119345","url":null,"abstract":"This article presents the design, functional simulation, and prototype of an innovative adaptive jaw gripper. First, based on the comparative analysis of several types of anthropomorphic finger grippers and adaptive jaw grippers, to avoid their disadvantages, the structural scheme of a gripper module based on a polycontour mechanism, comprising a guided parallelogram contour, was established to obtain a parallel translational movement of the elements of the jaw holders and therefore of the jaws. Then the structural analysis is briefly made to verify the correct operation of the mechanism of the gripping module, and details of the kinematic analysis and of the design of the components in the CATIA software are given. After obtaining the 3D version of the gripping module, its functional simulation and ADAMS analysis is performed. The sensory system used at the level of the jaws is also described and then the gripper assembly is obtained including a base plate and five gripper modules and as a result an adaptive gripper with five jaw holder elements is created. Next is the functional simulation of the adaptive gripper for gripping several types of parts. The prototype made and the test are presented for gripping five types of parts and we show the prospects of continuing this research with practical applicability by mounting on a robot and implementing in a robotic line for gripping and handling a series of parts of various shapes and sizes.","PeriodicalId":50343,"journal":{"name":"International Journal of Advanced Robotic Systems","volume":" ","pages":""},"PeriodicalIF":2.3,"publicationDate":"2022-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42590869","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0