Industrial Robot-The International Journal of Robotics Research and Application最新文献

{"title":"Hybrid-disturbance-observer-based interaction control for a fully actuated UAV with tether-based positioning system","authors":"Ran Jiao, Yongfeng Rong, Mingjie Dong, Jianfeng Li","doi":"10.1108/IR-11-2022-0277","DOIUrl":"https://doi.org/10.1108/IR-11-2022-0277","url":null,"abstract":"","PeriodicalId":54987,"journal":{"name":"Industrial Robot-The International Journal of Robotics Research and Application","volume":"1 1","pages":"740-752"},"PeriodicalIF":1.8,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"89546229","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}

{"title":"Multi-pyramid-based hierarchical template matching for 6D pose estimation in industrial grasping task","authors":"Ziqi Chai, Chao-yuan Liu, Z. Xiong","doi":"10.1108/IR-08-2022-0220","DOIUrl":"https://doi.org/10.1108/IR-08-2022-0220","url":null,"abstract":"","PeriodicalId":54987,"journal":{"name":"Industrial Robot-The International Journal of Robotics Research and Application","volume":"37 1","pages":"659-672"},"PeriodicalIF":1.8,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90096439","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}

{"title":"Event-triggered aperiodic intermittent sliding-mode control for master-slave bilateral teleoperation robotic systems","authors":"Hang Gao, Chao Ma","doi":"10.1108/ir-10-2022-0250","DOIUrl":"https://doi.org/10.1108/ir-10-2022-0250","url":null,"abstract":"\u0000Purpose\u0000The purpose of this paper is to propose a novel event-triggered aperiodic intermittent sliding-mode control (ETAI-SMC) algorithm for master–slave bilateral teleoperation robotic systems to further save communication resources while maintaining synchronization precision.\u0000\u0000\u0000Design/methodology/approach\u0000By using the Lyapunov theory, a new event-triggered aperiodic intermittent sliding-mode controller is designed to synchronize master–slave robots in a discontinuous method. Unlike traditional periodic time-triggered continuous control strategy, a new ETAI condition is discussed for less communication pressure. Then, the exponential reaching law is adopted to accelerate sliding-mode variables convergence, which has a significant effect on synchronization performance. In addition, the authors use quantizers to make their algorithm have obvious progress in saving communication resources.\u0000\u0000\u0000Findings\u0000The proposed control algorithm performance is validated by an experiment developed on a practical bilateral teleoperation system with two PHANToM Omni robotic devices. As a result, the synchronization error is limited within a small range and the control frequency is evidently reduced. Compared with a conventional control algorithm, the experimental results illustrate that the proposed control algorithm is more sensitive to system states changes and it can further save communication resources while guaranteeing the system synchronization accuracy, which is more practical for real bilateral teleoperation robotic systems.\u0000\u0000\u0000Originality/value\u0000A novel ETAI-SMC for bilateral teleoperation robotic systems is proposed to find a balance between reducing the control frequency and synchronization control precision. Combining the traditional sliding-mode control algorithm with the periodic intermittent control strategy and the event-triggered control strategy has produced obvious effect on our control performance. The proposed ETAI-SMC algorithm helps the controller be more sensitive to system states changes, which makes it possible to achieve precise control with lower control frequency. Moreover, we design an environment contact force feedback algorithm for operators to improve the perception of the slave robot working environment. In addition, quantizers and the exponential convergence law are adopted to help the proposed algorithm perform better in saving communication resources and improving synchronization precision.\u0000","PeriodicalId":54987,"journal":{"name":"Industrial Robot-The International Journal of Robotics Research and Application","volume":"94 1","pages":"467-482"},"PeriodicalIF":1.8,"publicationDate":"2022-12-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83936010","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}

{"title":"A systematic review of technological advancements in signal sensing, actuation, control and training methods in robotic exoskeletons for rehabilitation","authors":"Meby Mathew, Mervin Joe Thomas, M. G. Navaneeth, S. Sulaiman, A. Amudhan, A. Sudheer","doi":"10.1108/ir-09-2022-0239","DOIUrl":"https://doi.org/10.1108/ir-09-2022-0239","url":null,"abstract":"Purpose\u0000The purpose of this review paper is to address the substantial challenges of the outdated exoskeletons used for rehabilitation and further study the current advancements in this field. The shortcomings and technological developments in sensing the input signals to enable the desired motions, actuation, control and training methods are explained for further improvements in exoskeleton research.\u0000\u0000\u0000Design/methodology/approach\u0000Search platforms such as Web of Science, IEEE, Scopus and PubMed were used to collect the literature. The total number of recent articles referred to in this review paper with relevant keywords is filtered to 143.\u0000\u0000\u0000Findings\u0000Exoskeletons are getting smarter often with the integration of various modern tools to enhance the effectiveness of rehabilitation. The recent applications of bio signal sensing for rehabilitation to perform user-desired actions promote the development of independent exoskeleton systems. The modern concepts of artificial intelligence and machine learning enable the implementation of brain–computer interfacing (BCI) and hybrid BCIs in exoskeletons. Likewise, novel actuation techniques are necessary to overcome the significant challenges seen in conventional exoskeletons, such as the high-power requirements, poor back drivability, bulkiness and low energy efficiency. Implementation of suitable controller algorithms facilitates the instantaneous correction of actuation signals for all joints to obtain the desired motion. Furthermore, applying the traditional rehabilitation training methods is monotonous and exhausting for the user and the trainer. The incorporation of games, virtual reality (VR) and augmented reality (AR) technologies in exoskeletons has made rehabilitation training far more effective in recent times. The combination of electroencephalogram and electromyography-based hybrid BCI is desirable for signal sensing and controlling the exoskeletons based on user intentions. The challenges faced with actuation can be resolved by developing advanced power sources with minimal size and weight, easy portability, lower cost and good energy storage capacity. Implementation of novel smart materials enables a colossal scope for actuation in future exoskeleton developments. Improved versions of sliding mode control reported in the literature are suitable for robust control of nonlinear exoskeleton models. Optimizing the controller parameters with the help of evolutionary algorithms is also an effective method for exoskeleton control. The experiments using VR/AR and games for rehabilitation training yielded promising results as the performance of patients improved substantially.\u0000\u0000\u0000Research limitations/implications\u0000Robotic exoskeleton-based rehabilitation will help to reduce the fatigue of physiotherapists. Repeated and intention-based exercise will improve the recovery of the affected part at a faster pace. Improved rehabilitation training methods like VR/AR-based technologies help in motivating the su","PeriodicalId":54987,"journal":{"name":"Industrial Robot-The International Journal of Robotics Research and Application","volume":"31 1","pages":"432-455"},"PeriodicalIF":1.8,"publicationDate":"2022-12-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73334624","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}

{"title":"M³LVI: a multi-feature, multi-metric, multi-loop, LiDAR-visual-inertial odometry via smoothing and mapping","authors":"Jiaxiang Hu, Xiaojun Shi, Chunyun Ma, Xin Yao, Yingxin Wang","doi":"10.1108/ir-05-2022-0143","DOIUrl":"https://doi.org/10.1108/ir-05-2022-0143","url":null,"abstract":"\u0000Purpose\u0000The purpose of this paper is to propose a multi-feature, multi-metric and multi-loop tightly coupled LiDAR-visual-inertial odometry, M3LVI, for high-accuracy and robust state estimation and mapping.\u0000\u0000\u0000Design/methodology/approach\u0000M3LVI is built atop a factor graph and composed of two subsystems, a LiDAR-inertial system (LIS) and a visual-inertial system (VIS). LIS implements multi-feature extraction on point cloud, and then multi-metric transformation estimation is implemented to realize LiDAR odometry. LiDAR-enhanced images and IMU pre-integration have been used in VIS to realize visual odometry, providing a reliable initial guess for LIS matching module. Location recognition is performed by a dual loop module combined with Bag of Words and LiDAR-Iris to correct accumulated drift. M³LVI also functions properly when one of the subsystems failed, which greatly increases the robustness in degraded environments.\u0000\u0000\u0000Findings\u0000Quantitative experiments were conducted on the KITTI data set and the campus data set to evaluate the M3LVI. The experimental results show the algorithm has higher pose estimation accuracy than existing methods.\u0000\u0000\u0000Practical implications\u0000The proposed method can greatly improve the positioning and mapping accuracy of AGV, and has an important impact on AGV material distribution, which is one of the most important applications of industrial robots.\u0000\u0000\u0000Originality/value\u0000M3LVI divides the original point cloud into six types, and uses multi-metric transformation estimation to estimate the state of robot and adopts factor graph optimization model to optimize the state estimation, which improves the accuracy of pose estimation. When one subsystem fails, the other system can complete the positioning work independently, which greatly increases the robustness in degraded environments.\u0000","PeriodicalId":54987,"journal":{"name":"Industrial Robot-The International Journal of Robotics Research and Application","volume":"93 1","pages":"483-495"},"PeriodicalIF":1.8,"publicationDate":"2022-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80483390","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}

{"title":"An inchworm-inspired soft robot with combined functions of omni-directional steering and obstacle surmounting","authors":"Jiang Ding, Hanfei Su, Weihang Nong, Chang-Yan Huang","doi":"10.1108/ir-09-2022-0224","DOIUrl":"https://doi.org/10.1108/ir-09-2022-0224","url":null,"abstract":"\u0000Purpose\u0000Soft rod-climbing robots have been known to have great potential in a wide variety of working conditions, including cable inspection and pipeline maintenance. However, one of the most notable issues preventing their popular adoption is their inability to effectively cross obstacles or transfer between rods. To overcome these difficulties, this paper aims to propose an inchworm-inspired soft robot with omni-directional steering.\u0000\u0000\u0000Design/methodology/approach\u0000Theoretical models are first established to analyze the telescopic deformation, bending, steering and climbing ability of the soft robot. The main modes of movement the soft robot is expected to encounter is then determined through controlled testing so to verify their effectiveness (those being rod climbing, steering and obstacle surmounting).\u0000\u0000\u0000Findings\u0000The soft robot demonstrated a capability to cross obstacles 1.3 times its own width and bend 120° omni-directionally, evidencing outstanding abilities in both omni-directional steering and obstacle surmounting. In addition, the soft robot also exhibited acceptable climbing performance in a variety of working conditions such as climbing along vertical rods, transferring between rods with differing diameters or friction surfaces and bearing a payload.\u0000\u0000\u0000Originality/value\u0000The soft robot proposed in this paper possesses abilities that are both exceptional and crucial for practical use, specifically with regard to its omni-directional steering and obstacle surmounting.\u0000","PeriodicalId":54987,"journal":{"name":"Industrial Robot-The International Journal of Robotics Research and Application","volume":"20 1","pages":"456-466"},"PeriodicalIF":1.8,"publicationDate":"2022-12-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73290049","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}

{"title":"The role of machine learning in robotics","authors":"R. Bogue","doi":"10.1108/ir-11-2022-0279","DOIUrl":"https://doi.org/10.1108/ir-11-2022-0279","url":null,"abstract":"\u0000Purpose\u0000This paper aims to illustrate the growing role of machine learning techniques in robotics.\u0000\u0000\u0000Design/methodology/approach\u0000Following an introduction which includes a brief historical perspective, this paper provides a short introduction to machine learning techniques. It then provides examples of robotic machine learning applications in agriculture, waste management, warehouse automation and exoskeletons. This is followed by a short consideration of applications in future generations of self-driving vehicles. Finally, brief conclusions are drawn.\u0000\u0000\u0000Findings\u0000Machine learning is a branch of artificial intelligence and the topic of extensive academic study. Recent years have seen machine learning techniques being applied successfully to a diversity of robotic systems, most of which involve machine vision. They have imparted these with a range of unique or greatly improved operational capabilities, allowing them to satisfy all manner of new applications.\u0000\u0000\u0000Originality/value\u0000This provides a detailed insight into how machine learning is being applied to robotics.\u0000","PeriodicalId":54987,"journal":{"name":"Industrial Robot-The International Journal of Robotics Research and Application","volume":"68 1","pages":"197-202"},"PeriodicalIF":1.8,"publicationDate":"2022-12-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88211749","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}

{"title":"A fully actuated aerial manipulator system for industrial contact inspection applications","authors":"Shuang Hao, G. Song, Juzheng Mao, Y.-L. Gu, Aiguo Song","doi":"10.1108/ir-07-2022-0184","DOIUrl":"https://doi.org/10.1108/ir-07-2022-0184","url":null,"abstract":"\u0000Purpose\u0000This paper aims to present a fully actuated aerial manipulator (AM) with a robust motion/force hybrid controller for conducting contact-typed inspection tasks in industrial plants.\u0000\u0000\u0000Design/methodology/approach\u0000An AM is designed based on a hexarotor with tilted rotors and a rigidly attached end effector. By tilting the rotors, the position and attitude of the AM can be controlled independently, and the AM can actively exert forces on industrial facilities through the rigidly attached end effector. A motion/force hybrid controller is proposed to perform contact-typed inspection tasks. The contact-typed inspection task is divided into the approach phase and the contact phase. In the approach phase, the AM automatically approaches the contact surface. In the contact phase, a motion/force hybrid controller is used for contact-typed inspection. Finally, a disturbance observer (DOB) is used to estimate external disturbances and used as feedforward compensation.\u0000\u0000\u0000Findings\u0000The proposed AM can slowly approach the contact surface without significant impact in the contact phase. It can realize constant force control in the direction normal to the contact surface in the contact phase, whereas the motion of the remaining directions can be controlled by the operator. The use of the DOB ensures the robustness of the AM in the presence of external wind disturbances.\u0000\u0000\u0000Originality/value\u0000A fully actuated AM system with a robust motion/force hybrid controller is proposed. The effectiveness of the proposed AM system for conducting contact-typed industrial inspection tasks is validated by practical experiments.\u0000","PeriodicalId":54987,"journal":{"name":"Industrial Robot-The International Journal of Robotics Research and Application","volume":"18 1","pages":"421-431"},"PeriodicalIF":1.8,"publicationDate":"2022-12-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77669708","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}

{"title":"A novel dual-stage shape memory alloy actuated gripper","authors":"Xiaozheng Li, Shutian Liu, L. Tong, Renjing Gao","doi":"10.1108/ir-04-2022-0114","DOIUrl":"https://doi.org/10.1108/ir-04-2022-0114","url":null,"abstract":"\u0000Purpose\u0000The paper aims to propose a novel dual-stage shape memory alloy (SMA) actuated gripper (DAG), of which the grasp performance is improved through primary and secondary actuation.\u0000\u0000\u0000Design/methodology/approach\u0000This paper presents a method of integrating the design of dual-stage actuation modules based on the SMA bias actuation principle to enhance the grasping shape adaptability and force modulation of a DAG. The actuation angle range and grasping performance of the DAG are investigated by thermomechanical analysis and the finite element method based numerical simulation.\u0000\u0000\u0000Findings\u0000The results of present experiments and simulations indicate that the actuation angle scope of the DAG is about 20° under no load, which enables the grasping space occupied by an object in the DAG from 60 mm to 120 mm. The grasping force adjusted by changing the input power of the primary main actuation module and secondary fine-tuning actuation module can reach a maximum of 2 N, which is capable of grasping objects of various sizes, weights, shapes, etc.\u0000\u0000\u0000Originality/value\u0000The contribution of this paper is to design a DAG based on SMA, and establish the solution methods for the primary main actuation module and secondary fine-tuning actuation module, respectively. It lays a foundation for the research of lightweight and intelligent robotic grippers.\u0000","PeriodicalId":54987,"journal":{"name":"Industrial Robot-The International Journal of Robotics Research and Application","volume":"67 1","pages":"326-336"},"PeriodicalIF":1.8,"publicationDate":"2022-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87014235","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}

{"title":"A review of indoor-orbital electrical inspection robots in substations","authors":"Lijun Dong, Naichao Chen, Jiawen Liang, Tingting Li, Zhanlin Yan, Bing Zhang","doi":"10.1108/ir-06-2022-0162","DOIUrl":"https://doi.org/10.1108/ir-06-2022-0162","url":null,"abstract":"\u0000Purpose\u0000The purpose of this study is to provide an in-depth understanding about the indoor-orbital electrical inspection robot, which is useful for motivating the further investigation on the inspection of electrical equipment. Currently, electric energy has a strong correlation with the economic development of the country. Intelligent substations play an important role in the transmission and distribution of the electricity; the maintenance of the substation has attracted intensive attention due to the requirement of reliability and safety. The indoor-orbital electrical inspection robot has increasingly become the main tool to realize the unmanned. Hence, a systematic review is conducted systematically reviewing the current technical status of the indoor-orbital electrical inspection robot and discuss the existed problems.\u0000\u0000\u0000Design/methodology/approach\u0000In this paper, the most essential achievements in the field of indoor-orbital electrical inspection robots were reported to present the current status, and the mechanical structures and key inspective technologies were also discussed.\u0000\u0000\u0000Findings\u0000Four recommendations are provided from the analyzed review, which have made constructive comments on the overall structural design, functionality, intelligence and future development direction of the indoor-orbital electrical inspection robot, respectively.\u0000\u0000\u0000Originality/value\u0000To the best of the authors’ knowledge, this is the first systematic review study on indoor-orbital electrical inspection robots; it fills the theoretical gap and proffers design ideas and directions for the development of the indoor-orbital electrical inspection robot.\u0000","PeriodicalId":54987,"journal":{"name":"Industrial Robot-The International Journal of Robotics Research and Application","volume":"85 1","pages":"337-352"},"PeriodicalIF":1.8,"publicationDate":"2022-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"91105453","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}