Background: Safety is the very necessary issue that must be considered during human-robot collaboration in the same workspace or area. Methods: In this manuscript, a nonlinear autoregressive model with an exog-enous inputs neural network (NARXNN) is...
Our study presents a novel design for a cable-driven robotic arm, emphasizing low cost, low inertia movement, and long-term cable durability. The robotic arm shares similar specifications with the UR5 robotic arm, featuring a total of six degrees of...
In this paper, an axial slot-less permanent magnet synchronous motor (ASFPMSM) was designed to increase the power density. The iron core of the stator was replaced with block coils, and the stator back yoke was removed because 3D printing can provide...
To address the shortcomings of existing robot collision detection algorithms that use six-dimensional force sensors, a force compensation algorithm based on Kane’s dynamics is proposed, along with a collision detection algorithm that uses the s...
Aiming at the characteristics of high efficiency and smoothness in the motion process of collaborative robot, a multi-objective trajectory planning method is proposed. Firstly, the kinematics model of the collaborative robot is established, and the t...
We describe a method for robotic cell optimization by changing the placement of the robot manipulator within the cell in applications with a fixed end-point trajectory. The goal is to reduce the overall robot joint wear and to prevent uneven joint we...
In general, the joints of collaborative robots are equipped with reducers that exhibit inherent elasticity rather than pure rigidness. Consequently, for joint control in robotic systems, the speed fluctuation observed on the motor side does not fully...
Collaborative robots are used in scenarios requiring interaction with humans. In order to improve the safety and adaptability of collaborative robots during human–robot interaction, this paper proposes a modular wire-actuated robotic arm with s...
Double-arm picking robots are widely used in agricultural production for their high collaborative efficiency. While picking, area planning and collision detection between the mechanical arms is a crucial challenge for the double-arm robot, which need...
Aiming to address challenges in the motion coordination of dual-arm robot engineering applications, a comprehensive set of planning methods is devised. This paper takes a dual-arm system composed of two six-degrees-of-freedom industrial robots as the...
In order to realize robot-assisted spinal laminectomy surgery and meet the clinical needs of the robot workspace, including accuracy in human–robot collaboration, an asymmetrical 3-DOF spatial translational robot is proposed, which can realize...
Accurate dynamic model is critical for collaborative robots to achieve satisfactory performance in model-based control or other applications such as dynamic simulation and external torque estimation. Such dynamic models are frequently restricted to i...
The spread of cobotsin common industrial practice has led constructors to prefer the development of collaborative features that are necessary to prevent injuries to operators over the realization of simple kinematic structures for which the joints-to...
This paper presents a universal approach to shaping the mechanical properties of the interaction between a collaborative robot and its environment through an end-effector Cartesian compliance shaping. More specifically, the focus is on the class of k...
This article deals with the design of a methodology for vibration and noise measurement on a six-axis collaborative robotic arm. A vibration and noise measurement methodology is proposed for six robot positions. In each position, measurements were pe...
Human-robot collaboration combines the extended capabilities of humans and robots to create a more inclusive and human-centered production system in the future. However, human safety is the primary concern for manufacturing industries. Therefore, rea...
Musculoskeletal disorders caused by poor work posture are a serious concern in the industry since they lead to absenteeism and medical leave from work. In the context of human–robot collaboration, this issue can be mitigated if collaborative ro...
This paper presents a comparison between two different 6R articulated robot architectures, one with a spherical wrist and the other with a non-spherical wrist and three consecutive parallel axes, which are found mainly in collaborative arms. The perf...
This article proposes an innovative joint vibration suppression method for six-axis collaborative robots. A permanent magnet synchronous motor (PMSM) and harmonic reducer are considered as a whole system in the design. A novel active disturbance reje...
The expression of robot arm morphology is a critical foundation for achieving effective motion planning and collision avoidance in robotic systems. Traditional geometry-based approaches usually suffer from the contradiction between the high demand fo...
Parameter identification of the dynamic model of collaborative robots is the basis of the development of collaborative robot motion state control, path tracking, state monitoring, fault diagnosis, and fault tolerance systems, and is one of the core c...
Human–robot interaction (HRI) is a key technology in the field of humanoid robotics, and motion imitation is one of the most direct ways to achieve efficient HRI. However, due to significant differences in structure, range of motion, and joint...
Dynamic parameters are crucial for the definition of high-fidelity models of industrial manipulators. However, since they are often partially unknown, a mathematical model able to identify them is discussed and validated with the UR3 and the UR5 coll...
In human–robot collaboration (HRC) scenarios with direct physical contact, accurately estimating human intentions and adjusting robot behaviors based on multimodal information is the core factors that restrict the efficiency and precision of cu...
The integration of robots into collaborative environments, where they physically interact with humans, requires systems capable of ensuring both safety and performance. This work introduces the development of a Variable Stiffness Impact Testing Devic...
Industry standards pertaining to Human-Robot Collaboration (HRC) impose strict safety requirements to protect human operators from danger. When a robot is equipped with dangerous tools, moves at a high speed or carries heavy loads, the current safety...
In wearable robots, the application of surface electromyography (sEMG) signals in motion intention recognition is a hot research issue. To improve the viability of human–robot interactive perception and to reduce the complexity of the knee join...
Digital twins of industrial and collaborative robots are widely used to evaluate and predict the behavior of manipulators under different control strategies. However, these digital twins often employ simplified mathematical models that do not fully d...
Digital models of industrial and collaborative manipulators are widely used for several applications, such as power-efficient trajectory definition, human–robot cooperation safety improvement, and prognostics and health management (PHM) algorit...
Bio-inspired joints play a pivotal role in legged robots, directly determining their motion capabilities and overall system performance. While shape memory alloy (SMA) actuators present superior power density and silent operation compared to conventi...
Heavy-load collaborative robots are increasingly used in fields such as industrial handling and precision assembly. With the increase in the end load of the robotic arm and the acceleration of its movement speed, after the robotic arm completes a pre...
As the use of construction robots continues to increase, ensuring safety and productivity while working alongside human workers becomes crucial. To prevent collisions, robots must recognize human behavior in close proximity. However, single, or RGB-d...
The construction industry faces significant challenges due to the physically demanding and hazardous nature of tasks such as manual filling of expansion joints with mastic. Automating mastic filling presents additional difficulties due to the variabi...
Due to the elasticity of their joints, collaborative robots are seldom used in applications with force control. Besides, the industrial robot controllers are closed and do not allow the user to access the motor torques and other parameters, hindering...
To solve the issue of inconvenient and dangerous manual operation during the installation and removal of the main pipe plugging plate in the steam generator in nuclear power plants, a ten-degree-of-freedom plugging robot was designed in the present s...
This article presents a multiplatform application for the tele-operation of a robot hand using virtualization in Unity 3D. This approach grants usability to users that need to control a robotic hand, allowing supervision in a collaborative way. This...
Workpiece placement plays a crucial role when performing complex surface machining task robotically. If the feasibility of a robotic task needs to be guaranteed, the maximum available capabilities should be higher than the joint capabilities required...
Pollination for indoor agriculture is hampered by environmental conditions, requiring farmers to pollinate manually. This increases the musculoskeletal illness risk of workers. A potential solution involves Human–Robot Collaboration (HRC) using...
Collaborative robots (or cobots) are robots that are capable of safely operating in a shared environment or interacting with humans. In recent years, cobots have become increasingly common. Compliant actuators are critical in the design of cobots. In...
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...
To address the collaborative optimization of efficiency, stability, and energy consumption in container part-handling operations of material-handling robots, this paper proposes a multi-objective trajectory-planning method. First, the kinematic and d...
With the growing demand for personalized and flexible production, human–robot collaboration technology receives increasing attention. However, enabling robots to accurately perceive and align with human motion intentions remains a significant c...
Enabling robots to work safely close to humans requires both adherence to safety standards and the development of appropriate strategies to plan and control robot movements in accordance with human movements. Collaboration between humans and robots i...
The latest development of multi-robot collaborative systems has put forward higher requirements for multi-sensor fusion localization. Current position methods mainly focus on the fusion of the carrier’s own sensor information, and how to fully...
In the process of human–robot collaborative assembly, robots need to recognize and predict human behaviors accurately, and then perform autonomous control and work route planning in real-time. To support the judgment of human intervention behav...
As industrial automation evolves towards human-centric, adaptable solutions, collaborative robots must overcome challenges in unstructured, dynamic environments. This paper extends our previous work on developing a digital shadow for industrial robot...
As manufacturing progresses, the demand for precision inspection of complex parts has intensified. To guarantee functionality and sensory performance, high-efficiency 3D shape measurement is required. In this paper, a collaborative robot-based approa...
Robots with flexible joints are gaining importance in areas such as collaborative robots (cobots), exoskeletons, and prostheses. They are meant to directly interact with humans, and the emphasis in their construction is not on precision but rather on...
To protect operators and conform to safety standards for human–machine interactions, the design of collaborative robot arms often incorporates flexible mechanisms and force sensors to detect and absorb external impact forces. However, this appr...
In order to effectively detect the contact state between the operator and the collaborative robot, a sensor with excellent external force detection performance is needed. The existing force/torque sensor and joint torque sensor, which are the two mai...
of 3