March 2021 - 51 articles
Typically, humans interact with a humanoid robot with apprehension. This lack of trust can seriously affect the effectiveness of a team of robots and humans. We can create effective interactions that generate trust by augmenting robots with an explan...
Fast and precise robot motion is needed in many industrial applications. Most industrial robot motion controllers allow externally commanded motion profiles, but the trajectory tracking performance is affected by the robot dynamics and joint servo co...
This paper describes the results of dynamic tests performed to study the robustness of a dynamics model of an industrial manipulator. The tests show that the joint friction changes during the robot operation. The variation can be identified in a doub...
Motion control in dynamic environments is one of the most important problems in using mobile robots in collaboration with humans and other robots. In this paper, the motion control of a four-Mecanum-wheeled omnidirectional mobile robot (OMR) in dynam...
Traditionally, advances in robotic technology have been in the manufacturing industry due to the need for collaborative robots. However, this is not the case in the service sectors, especially in the healthcare sector. The lack of emphasis put on the...
Advances in machine learning technologies in recent years have facilitated developments in autonomous robotic systems. Designing these autonomous systems typically requires manually specified models of the robotic system and world when using classica...
Since cobots are designed to be flexible, they are frequently repositioned to change the production line according to the needs; hence, their working area (user frame) needs to be often calibrated. Therefore, it is important to adopt a fast and intui...
Nowadays, the wire harness assembly process is still manually performed due to the process complexity and product variability (e.g., wires of different kind, size and length). The Wire cobots project, in which this work was conceived, aims at improvi...
Human–robot collaboration (HRC) provides the opportunity to enhance the physical abilities of severely and multiply disabled people thus allowing them to work in industrial workplaces on the primary labour market. In order to assist this target group...
Dynamic programming techniques have proven much more flexible than calculus of variations and other techniques in performing redundancy resolution through global optimization of performance indices. When the state and input spaces are discrete, and t...
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