Robots in hazardous environments demand precise and advanced motion control, making extensive simulations crucial for verifying the safety of motion planning. This paper presents a simulation system that enables interactive path editing, allowing for...
A digital twin (DT) is a virtual/digital model of any physical object (physical twin), interconnected through data exchange. In the context of Industry 4.0, DTs are integral to intelligent automation driving innovation at scale by providing significa...
This study investigated the application of Covariant Hamiltonian Optimization for Motion Planning (CHOMP) in the MATLAB programming environment to an industrially relevant Universal Robots UR5e six-DOF manipulator. The parameters were set to be equal...
17 September 2019
We evaluate the outcomes and processes of a video and web-based worksite exercise intervention for sedentary office workers in China, in a 2-arm cluster-randomised wait-list control trial (n = 282: intervention (INT) n = 196 and wait-list control (WL...
Assembling a welded steel structure with robots requires deciding whether an entire assembly—dozens of parts, each needing a collision-free pick-up, press-fit placement, and welding—is executable at all, and under which positioning of the...
This work focuses on improving a camera system for sensing a workspace in which dynamic obstacles need to be detected. The currently available state-of-the-art solution (MoveIt!) processes data in a centralized manner from cameras that have to be reg...
In this study, a vision-based remote and synchronized control scheme is proposed for the double six-DOF robotic manipulators. Using an Intel RealSense D435 depth camera and MediaPipe skeletal image feature technique, the operator’s 3D hand pose...
It is worthwhile to calculate the execution cost of a manipulator for selecting a planning algorithm to generate trajectories, especially for an agricultural robot. Although there are various off-the-shelf trajectory planning methods, such as pursuin...
Currently, fastener installation within the narrow, confined space of a wing box must be performed manually, as existing robotic systems are unable to adequately meet the internal assembly requirements. To address this problem, a new robot with one p...
Individuals with reduced mobility, including the growing elderly demographic and those with spinal cord injuries, often face significant challenges in daily activities, leading to a dependence on assistance. To enhance their independence, we propose...
The working environment of a picking robot is complex, and the motion-planning algorithm of the picking manipulator will directly affect the obstacle avoidance effect and picking efficiency of the manipulator. In this study, a time-optimal rapidly-ex...
This paper presents the potential of combining ROS (Robot Operating System), its state-of-art software, and EtherCAT technologies to design real-time robot control architecture for human–robot collaboration. For this, the advantages of an ROS framewo...
This paper presents a lightweight end-effector quick-change control system for robotic arms, designed for scenarios such as workpiece assembly that require rapid switching between multiple end-effectors. The system utilizes a proprietary quick-change...
Surgical robot navigation in a restricted pelvic workspace requires accurate target localization, directional consistency and robot-feasible execution. This study proposes a physically constrained dual-branch front-end network (PCD-Net) for DDH-orien...
The increasing application of industrial robots in modern production systems contrasts with a persistently high programming complexity that requires specialized know-how and creates substantial entry barriers. This work addresses this problem by intr...
In modern robot applications, there is often a need to manipulate previously unknown objects in an unstructured environment. The field of grasp-planning deals with the task of finding grasps for a given object that can be successfully executed with a...