Next Article in Journal
Thermal Lattice Boltzmann Simulation of Evaporating Thin Liquid Film for Vapor Generation
Previous Article in Journal
Experimental Study on Radiation Noise Frequency Characteristics of a Centrifugal Pump with Various Rotational Speeds
Article Menu
Issue 5 (May) cover image

Export Article

Version is current.

Open AccessArticle
Appl. Sci. 2018, 8(5), 797;

Design of Demonstration-Driven Assembling Manipulator

State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China
Author to whom correspondence should be addressed.
Received: 26 March 2018 / Revised: 6 May 2018 / Accepted: 10 May 2018 / Published: 16 May 2018
Full-Text   |   PDF [3363 KB, uploaded 16 May 2018]   |  


Currently, a mechanical arm or manipulator needs to be programmed by humans in advance to define its motion trajectory before practical use. However, the programming is tedious and high-cost, which renders such manipulators unable to perform various different tasks easily and quickly. This article focuses on the design of a vision-guided manipulator without explicit human programming. The proposed demonstration-driven system mainly consists of a manipulator, control box, and camera. Instead of programming of the detailed motion trajectory, one only needs to show the system how to perform a given task manually. Based on internal object recognition and motion detection algorithms, the camera can capture the information of the task to be performed and generate the motion trajectories for the manipulator to make it copy the human demonstration. The movement of the joints of the manipulator is given by a trajectory planner in the control box. Experimental results show that the system can imitate humans easily, quickly, and accurately for common tasks such as sorting and assembling objects. Teaching the manipulator how to complete the desired motion can help eliminate the complexity of programming for motion control. View Full-Text
Keywords: automatic control of manipulator; identification of target object; assembly system; manipulator learning; robotic imitation learning automatic control of manipulator; identification of target object; assembly system; manipulator learning; robotic imitation learning

Graphical abstract

This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).

Share & Cite This Article

MDPI and ACS Style

Wei, Q.; Yang, C.; Fan, W.; Zhao, Y. Design of Demonstration-Driven Assembling Manipulator. Appl. Sci. 2018, 8, 797.

Show more citation formats Show less citations formats

Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Related Articles

Article Metrics

Article Access Statistics



[Return to top]
Appl. Sci. EISSN 2076-3417 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
Back to Top