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Machines
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Design, Control and Application of Precision Robots
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Design, Control and Application of Precision Robots

A Special Issue of Machines (ISSN 2075-1702) belonging to the section "Robotics, Mechatronics and Intelligent Machines".

Deadline for manuscript submissions: closed (30 April 2026) | Viewed by 5960

Editor

Dr. Beichao Shi

E-Mail Website
Guest Editor
Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, School of Mechanical Engineering, Tianjin University, Tianjin 300354, China
Interests: mechanism design and precision manipulation

Special Issue Information

Dear Colleagues,

Precision robots integrate mechanics, control theory and AI to achieve micro/nano accuracy in complex environments. Their advanced design combines high-rigidity structures with flexible mechanisms for monolithic integration, complemented by encoders and vision sensors to minimize positioning errors. Control algorithms—from classical PID to adaptive neural networks—enable real-time compensation for dynamic disturbances. Applications include semiconductor wafer handling, robotic surgery and satellite assembly, where precision and reliability are critical. Recent advancements feature hybrid learning control frameworks and digital twin integration for predictive maintenance. Driven by Industry 4.0 demands, these robots are evolving toward human–robot collaboration with enhanced force/torque sensing. The field continues to advance in multi-objective optimization, fault-tolerant control and energy-efficient actuation.

Dr. Beichao Shi
Guest Editor

Manuscript Submission Information

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Keywords

  • precision robot
  • precision manipulation
  • intelligent sensing
  • signal process and control
  • mechanism design
  • modeling and simulation

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Published Papers (6 papers)

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Research

Jump to: Review

27 pages, 6666 KB  
Article
Redundancy Optimization for Robotic Grinding on Complex Surfaces via Hierarchical Dynamic Programming
by Changyu Yue, Boming Liu, Bokai Liu and Liwen Guan
Machines 2026, 14(5), 473; https://doi.org/10.3390/machines14050473 - 23 Apr 2026
Cited by 1 | Viewed by 547
Abstract
In robotic grinding of complex curved surfaces, the low stiffness of serial robots causes tool tip deflection and degrades surface quality. The axial symmetry of grinding discs introduces a free rotational parameter at each waypoint, converting a standard 6-DOF robot into a functionally [...] Read more.
In robotic grinding of complex curved surfaces, the low stiffness of serial robots causes tool tip deflection and degrades surface quality. The axial symmetry of grinding discs introduces a free rotational parameter at each waypoint, converting a standard 6-DOF robot into a functionally redundant system. However, this redundancy has not been systematically exploited for stiffness optimization along the trajectory. This paper proposes a hierarchical dynamic programming framework to optimize the redundancy angle sequence over the entire grinding trajectory. A kinematic transformation parameterizes the flange target by the redundancy angle, enabling enumeration of feasible candidate configurations over a discretized grid. A composite stiffness index that accounts for the normal, feed, and cross-feed grinding force components is formulated at the contact point. Hierarchical constraint filtering removes configurations that violate posture, singularity, velocity, acceleration, and stiffness constraints. The Viterbi algorithm then recovers the minimum-cost path that balances stiffness performance and joint motion smoothness. Finally, a post-processing step based on a cubic smoothing spline generates C2-continuous joint trajectories. Simulations on a UR5 robot grinding a curved surface evaluate the proposed framework against fixed-angle, greedy, and flange-stiffness baselines. The proposed method improves the mean composite stiffness by 31.7% and 17.9% over the fixed-angle and flange-stiffness baselines, respectively, and reduces the maximum joint jump by two orders of magnitude compared with the greedy strategy. Experimental validation on a UR5 robot confirms that the smoothed trajectory is accurately tracked while the stiffness threshold is preserved. A multi-trajectory analysis further shows that the stiffness threshold is maintained across all grinding trajectories. These results demonstrate the effectiveness of the proposed framework for redundancy optimization in robotic grinding with tool spin symmetry. Full article
(This article belongs to the Special Issue Design, Control and Application of Precision Robots)
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27 pages, 6278 KB  
Article
Obstacle Avoidance Trajectory Planning and ESO-MPC Tracking Control for a 6-DOF Manipulator in Constrained Environments
by Qiushi Hu, Kelong Zhao, Heng Li, Zhirong Wang and Lei Li
Machines 2026, 14(4), 442; https://doi.org/10.3390/machines14040442 - 16 Apr 2026
Viewed by 1024
Abstract
To address the challenges of constrained grid-like compartments, a motion framework integrating adaptive obstacle avoidance planning and active disturbance rejection control is proposed. First, an Adaptive Rapidly exploring Random Tree Star (Adaptive RRT*) algorithm based on multi-source state feedback is developed. Scaled-down model [...] Read more.
To address the challenges of constrained grid-like compartments, a motion framework integrating adaptive obstacle avoidance planning and active disturbance rejection control is proposed. First, an Adaptive Rapidly exploring Random Tree Star (Adaptive RRT*) algorithm based on multi-source state feedback is developed. Scaled-down model simulations show that, compared to conventional algorithms, its path length (374.28 mm), planning time (0.30 s), and node count (50.83) are reduced by at least 29.5%, 64.7%, and 28.6%, respectively, achieving a 100% planning success rate. Next, a control scheme based on Extended State Observer–Model Predictive Control (ESO-MPC) is designed. Simulations indicate that under nominal conditions, tracking errors are reduced by 5.78–84.35% compared to traditional MPC. Under a 20% link mass perturbation, the scheme effectively eliminates phase lag. Under complex scenarios involving parameter perturbation and a 0.6 N·m step torque disturbance, the tracking error reduction ranges from 25.27% to 87.59%, exhibiting excellent disturbance rejection robustness. Physical experiments conducted on a scaled-down experimental platform further verify that the maximum tracking errors of the manipulator end-effector along the x, y, and z axes under ESO-MPC are 0.88 mm, 0.85 mm, and 0.89 mm, respectively, significantly outperforming the 2.41 mm, 2.39 mm, and 2.47 mm observed with MPC. Finally, obstacle avoidance and trajectory-tracking simulations of an industrial manipulator in a full-scale ship compartment environment validate the engineering feasibility of the proposed framework. Full article
(This article belongs to the Special Issue Design, Control and Application of Precision Robots)
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32 pages, 12978 KB  
Article
Study on Convective Heat Transfer and Energy Efficiency Characteristics of a Vortex-Inducing–Microchannel Composite Structure for Machine Tool Thermal Control Plates
by Zhoujie Zhao, Chao Gao, Xu Zhou, Yuxuan Ran, Lingtao Weng and Weiguo Gao
Machines 2026, 14(4), 384; https://doi.org/10.3390/machines14040384 - 31 Mar 2026
Viewed by 954
Abstract
To realize high heat transfer capacity with low energy consumption in machine tool thermal control systems under high-flow-rate conditions, a vortex-inducing–microchannel composite enhanced thermal control plate is proposed. Numerical simulations combined with experimental validation are conducted to investigate the effects of vortex-inducing geometry [...] Read more.
To realize high heat transfer capacity with low energy consumption in machine tool thermal control systems under high-flow-rate conditions, a vortex-inducing–microchannel composite enhanced thermal control plate is proposed. Numerical simulations combined with experimental validation are conducted to investigate the effects of vortex-inducing geometry and microchannel configuration under unified boundary conditions. Heat transfer capacity, pressure drop, coefficient of performance (COP), and performance evaluation criterion (PEC) are employed for comprehensive assessment. The results show that vortex induction enhances fluid mixing and boundary layer renewal, while microchannels effectively suppress pressure loss and energy consumption. Their synergistic coupling enables a balanced optimization between heat transfer enhancement and flow resistance control. Compared with a conventional thermal control plate, the proposed composite structure achieves over 20% improvement in heat transfer capacity and more than 50% increase in COP within the tested operating range. Among the investigated configurations, circular and square vortex-inducing structures combined with microchannels exhibit superior overall performance, with the circular configuration reaching a maximum COP enhancement of 72% at a flow rate of 7 L/min. This study provides practical guidance for structural selection and parameter optimization of composite thermal control plates for machine tools. Full article
(This article belongs to the Special Issue Design, Control and Application of Precision Robots)
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22 pages, 3099 KB  
Article
Comprehensive Performance Modeling and Evaluation Method for Machine-Tool Thermal Control Plates Based on an Equivalent Thermal Resistance Network
by Zhao Zhoujie, Gao Chao, Zhou Xu, Ran Yuxuan, Weng Lingtao and Gao Weiguo
Machines 2026, 14(4), 378; https://doi.org/10.3390/machines14040378 - 30 Mar 2026
Viewed by 640
Abstract
To address the coupled challenge of heat-transfer enhancement and energy consumption in machine-tool temperature control plates under high-flow-rate conditions, a comprehensive performance evaluation method based on an equivalent thermal resistance network is developed. By introducing heat-transfer power, equivalent total thermal resistance, and a [...] Read more.
To address the coupled challenge of heat-transfer enhancement and energy consumption in machine-tool temperature control plates under high-flow-rate conditions, a comprehensive performance evaluation method based on an equivalent thermal resistance network is developed. By introducing heat-transfer power, equivalent total thermal resistance, and a coefficient of performance (COP), the thermal performance and energy cost are quantitatively characterized. Building upon established thermal resistance modeling approaches, the method provides a systematic framework for performance evaluation. The effects of inlet flow rate and heat-source temperature are investigated using CFD under consistent conditions, and experimental validation is conducted. The results show that increasing the flow rate enhances heat transfer but exhibits diminishing returns, while the rapidly increasing pressure drop reduces energy efficiency. Increasing the heat-source temperature mainly improves heat-transfer power by strengthening the temperature difference, with a limited impact on thermal resistance. Good agreement among theoretical, numerical, and experimental results confirms the validity and engineering applicability of the proposed method. Full article
(This article belongs to the Special Issue Design, Control and Application of Precision Robots)
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19 pages, 3735 KB  
Article
Trajectory Tracking of Underwater Hexapod Robot Based on Model Predictive Control
by Ruiwei Liu, Jieyu Zhu, Manjia Su, Xianyan Gu, Shuohao Fang, Dehui Zheng and Haoyu Yang
Machines 2026, 14(2), 171; https://doi.org/10.3390/machines14020171 - 2 Feb 2026
Viewed by 1122
Abstract
To achieve high-precision trajectory tracking control for an underwater hexapod robot, this paper proposes a hierarchical control architecture. Firstly, a multi-rigid-body dynamic model for the robot is established based on the Newton-Euler method and reasonably simplified. Secondly, a Central Pattern Generator (CPG) network [...] Read more.
To achieve high-precision trajectory tracking control for an underwater hexapod robot, this paper proposes a hierarchical control architecture. Firstly, a multi-rigid-body dynamic model for the robot is established based on the Newton-Euler method and reasonably simplified. Secondly, a Central Pattern Generator (CPG) network with the Hopf oscillator as its core is designed to generate stable and coordinated crawling gaits. By introducing a steering parameter, a kinematic model connecting the CPG output is constructed. Furthermore, based on this dynamic and kinematic model, an upper-layer Model Predictive Controller (MPC) is designed. The optimized control quantities output by the MPC are mapped into the rhythmic parameters of the CPG network via a transfer function established by fitting experimental data, thus forming the complete MPC-CPG controller. Finally, the proposed method is validated through simulations of circular trajectory tracking. The results show that even in the presence of initial errors, the controller can converge rapidly, with trajectory position error consistently maintained within −0.1 m~0.1 m, and heading angle error confined to the range of −15~15°. The experiments fully demonstrate the effectiveness of the proposed MPC-CPG controller in ensuring trajectory tracking accuracy, motion smoothness, and system stability. Full article
(This article belongs to the Special Issue Design, Control and Application of Precision Robots)
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Review

Jump to: Research

20 pages, 904 KB  
Review
Research on the Productization Design of Large-Stroke and High-Precision Non-Resonant Piezoelectric Actuators
by Jiaxin Hua, Zhuo Liu, Yimin Wang, Zhen Yang and Beichao Shi
Machines 2026, 14(3), 290; https://doi.org/10.3390/machines14030290 - 4 Mar 2026
Cited by 1 | Viewed by 1001
Abstract
Stick-slip actuators have emerged as a promising solution for precision positioning, which can help attain a nanometer-scale resolution and large stroke size. This review summarizes recent advances in the design, modeling, and performance enhancement of non-resonant stick-slip actuators systematically. Three fundamental actuation principles, [...] Read more.
Stick-slip actuators have emerged as a promising solution for precision positioning, which can help attain a nanometer-scale resolution and large stroke size. This review summarizes recent advances in the design, modeling, and performance enhancement of non-resonant stick-slip actuators systematically. Three fundamental actuation principles, including conventional, parasitic, and hybrid types, are reported, which highlight their respective mechanisms for stepwise motion generation. We examine the development of linear and rotational actuators and reveal the function of compliant amplification mechanisms, asymmetric stiffness configurations, and bio-inspired architectures in improving step consistency, load capacity, and compactness. We also examine the effects of step displacement optimization, active preload control, and advanced dynamic modeling on motion precision. We suggest that future development prioritize enhancing driving force, suppressing backward motion, improving dynamic response, and ensuring long-term reliability. Full article
(This article belongs to the Special Issue Design, Control and Application of Precision Robots)
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