In this paper, a control approach for reconfigurable parallel robots is designed. Based on it, controls in the vision-sensor, 3D and joint spaces are designed and implemented in target tracking tasks in a novel reconfigurable delta-type parallel robo...
It is a challenging task to track objects moving along an unknown trajectory. Conventional model-based controllers require detailed knowledge of a robot’s kinematics and the target’s trajectory. Tracking precision heavily relies on kinema...
To solve the trajectory planning problem of the flexible manipulator under various constraints such as end-camera attitude, drive space, and obstacles during video inspection along a continuous path in narrow three-dimensional space, this paper propo...
In this paper, a global-state-space visual servoing scheme is proposed for uncalibrated model-independent robotic manipulation. The scheme is based on robust Kalman filtering (KF), in conjunction with Elman neural network (ENN) learning techniques. T...
Hand-eye calibration and three-dimensional space target positioning are the keys to realize the automatic grasping of the manipulator. Aiming at the problems of a difficult camera manipulator calibration and poor real-time segmentation and positionin...
Recently, aerial manipulations are becoming more and more important for the practical applications of unmanned aerial vehicles (UAV) to choose, transport, and place objects in global space. In this paper, an aerial manipulation system consisting of a...
A hyper-redundant flexible manipulator is characterized by high degree(s) of freedom (DoF), flexibility, and environmental adaptability. It has been used for missions in complex and unknown spaces, such as debris rescue and pipeline inspection, where...
This paper presents the development of a hardware-in-the-loop ground testbed featuring active gravity compensation via software-in-the-loop integration, specially designed to support research in autonomous robotic removal of space debris. The testbed...
The calibration of kinematic parameters has been widely used to improve the pose (position and orientation) accuracy of the robot arm. Intelligent measuring equipment with high accuracy is usually provided for the industrial manipulator. Unfortunatel...
To solve the problems of poor working conditions and high labor intensity for artificially pruning jujube trees, a pruning scheme using a manipulator is put forward in the present paper. A pruning manipulator with five degrees of freedom for jujube t...
This paper aims to develop a visual servo control of a robotic manipulator for cherry tomato harvesting. In the robotic manipulator, an RGB-depth camera was mounted to the end effector to acquire the poses of the target cherry tomatoes in space. The...
Anthropomorphic robotic hands are designed to attain dexterous movements and flexibility much like human hands. Achieving human-like object manipulation remains a challenge especially due to the control complexity of the anthropomorphic robotic hand...
This paper aims to deal with the problem of robot tracking control in the presence of parametric uncertainties in kinematics and dynamics. We propose a simple and effective adaptive control scheme that includes adaptation laws for unknown constant ki...
In this paper, a Model Predictive Control (MPC)-based approach for vineyard spraying is presented, able to adapt to different vine row structures and suitable for real-time applications. In the presented approach, the mobile base moves along a row of...
The vision-guided robot is intensively embedded in modern industry, but it is still a challenge to track moving objects in real time accurately. In this paper, a hybrid adaptive control scheme combined with an Extreme Learning Machine (ELM) and propo...
3D sensors such as lidars, stereo cameras, time-of-flight cameras, and the Microsoft Kinect are increasingly found in a wide range of applications, including gaming, personal robotics, and space exploration. In some cases, pattern recognition algorit...
Marker-less hand–eye calibration permits the acquisition of an accurate transformation between an optical sensor and a robot in unstructured environments. Single monocular cameras, despite their low cost and modest computation requirements, pre...
Satellite capturing with free-floating space robots is still a challenging task due to the non-fixed base and unknown mass property issues. In this paper gyro and eye-in-hand camera data are adopted as an alternative choice for solving this problem....
In the current steel production process, occasional flaws within the billet are somewhat inevitable. Overlooking these flaws can compromise the quality of the resulting steel products. To address and mark these flaws for further handling, Magnetic Pa...
In this paper, we propose an active robotic 3D reconstruction methodology for achieving full object 3D reconstruction. Existing robotic 3D reconstruction approaches often struggle to cover the entire view space of the object or reconstruct occluded r...
An automatic system for cantaloupe flower pollination in greenhouses is proposed to meet the requirements of automatic pollination. The system consists of a mobile platform, robotic manipulator, and camera that reaches the flowers to detect and recog...
The proliferation of reusable space vehicles has fundamentally changed how assets are injected into the low earth orbit and beyond, increasing both the reliability and frequency of launches. Consequently, it has led to the rapid development and adopt...
A mill relining manipulator is key maintenance equipment for liners exchanged and operated by workers inside a grinding mill. To improve the operation efficiency and safety, real-time path planning and end deformation compensation should be performed...
Path planning for robotic manipulators has proven to be a challenging issue in industrial applications. Despite providing precise waypoints, the traditional path planning algorithm requires a predefined map and is ineffective in complex, unknown envi...
Red blood cell responses during a long-standing load were experimentally investigated. With a high-speed camera and a high-speed actuator, we were able to manipulate cells staying inside a microfluidic constriction, and each cell was compressed due t...
Traditional industry is seeing an increasing demand for more autonomous and flexible manufacturing in unstructured settings, a shift away from the fixed, isolated workspaces where robots perform predefined actions repetitively. This work presents a c...
In space missions, particularly in on-orbit servicing (OOS) missions, many tasks involve non-cooperative targets. To ensure the safety and precision of such missions, complete identification of the target’s inertia parameters is essential. This...
The paper presents issues associated with the experimental study of the vibration of a spot welding gun mounted on a robotic arm. The main aim of the study was to assess the vibration of the robot flange and the vibration of the mounted tool. Because...
Superheat degree (SD) is an important indicator for identifying the status of aluminum electrolytic cells. The fire hole video of the aluminum electrolytic cell captured by an industrial camera is an important basis for identifying SD. This article p...
Future space missions will include multi-robot systems, with greater autonomy and a large degree of heterogeneity for a wider range of task capabilities and redundancy. It is imperative that both software (learning models, parallelizing capabilities,...
Although many climate research experiments are providing valuable data, long-term measurements are not always affordable. In the last decades, several facilities have secured long-term experiments, but few studies have incorporated spatial and scale...