A novel robot capable of performing maintenance and inspection tasks for railway bridges is proposed in this paper. Termed CMBOT (climbing manipulator robot), the robot is a combination of a five-degrees-of-freedom (5-Dof) biped climbing robot with 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...
This article presents a system for the autonomous operation of a manipulator of a mobile robot. The aim of the research was to develop a system for a robot to operate a panel with switches. The manipulator should position itself autonomously and perf...
Impedance control is an important method in robot–environment interaction. In traditional impedance control, the damping force is regarded as a linear viscoelastic model, which limits the description of the dynamic model of the impedance system...
Robot manipulator trajectory planning is one of the core robot technologies, and the design of controllers can improve the trajectory accuracy of manipulators. However, most of the controllers designed at this stage have not been able to effectively...
Industrial robotics is a continuously developing domain, as industrial robots have demonstrated to possess benefits with regard to robotic automation solutions in the industrial automation field. In this article, a new robotic deburring methodology f...
With the rapid development of artificial intelligence (AI) technology and an increasing demand for redundant robotic systems, robot control systems are becoming increasingly complex. Although forward kinematics (FK) and inverse kinematics (IK) equati...
Robotic manipulators with diverse structures find widespread use in both industrial and medical applications. Therefore, designing an appropriate controller is of utmost importance when utilizing such robots. In this research, we present a robust dat...
Due to the complex growth positions of dragon fruit and the difficulty in robotic picking, this paper proposes a six degrees of freedom dragon fruit picking robot and investigates the manipulator’s motion characteristics to address the adaptive...
Impedance control is widely applied in contact force control for robot manipulators. The traditional impedance model is linear, and has limitations in describing the actual impedance force. In addition, time-varying and dynamic coupling characteristi...
In recent years, legged (quadruped) robots have been subject of technological study and continuous development. These robots have a leading role in applications that require high mobility skills in complex terrain, as is the case of Search and Rescue...
Differential evolution is a popular algorithm for solving global optimization problems. When tested, it has reportedly outperformed both robotic problems and benchmarks. However, it may have issues with local optima or premature convergence. In this...
The tracking of a predefined trajectory with less error, system-settling time, system, and overshoot is the main challenge with the robot-manipulator controller. In this regard, this paper introduces a new design for the robot-manipulator controller...
The jumping motion of legged robots is an effective way to overcome obstacles in the rugged microgravity planetary exploration environment. At the same time, a quadruped robot with a manipulator can achieve operational tasks during movement, which is...
The robotic manipulator is considered one of the complex systems that include multi-input, multi-output, non-linearity, and highly coupled. The uncertainty in the parameters and external disturbances have a negative influence on the performance of th...
This paper introduces an innovative algorithm aimed at enhancing robot learning using dynamic trajectory modeling and time-dependent state analysis. By integrating reinforcement learning (RL) and trajectory planning, the proposed approach enhances th...
In this paper, we propose an optimized differential evolution algorithm based on kinematic limitations and structural complexity constraints to solve the trajectory tracking problem for a mobile manipulator robot. The traditional method mainly involv...
Achieving the highest levels of repeatability and precision, especially in robot manipulators applied in automation manufacturing, is a practical pose-recognition problem in robotics. Deviations from nominal robot geometry could produce substantial e...
The development of serial or parallel manipulator robots is constantly increasing due to the need for faster productivity and higher accuracy. Therefore, researchers have turned to combining both mechanisms, sharing the advantage from serial to paral...
A vision-based three degree-of-freedom translational parallel manipulator (TPM) was developed. The developed TPM has the following characteristics. First, the TPM is driven by three rodless pneumatic actuators and is designed as a horizontal structur...
This paper presents the results of a motion planning algorithm that has been used in an intelligent citrus-picking robot consisting of a six-link manipulator. The real-time performance of a motion planning algorithm is urgently required by the pickin...
Studying the interactions between biological organisms and their environment provides engineers with valuable insights for developing complex mechanical systems and fostering the creation of novel technological innovations. In this study, we introduc...
To maintain the safe operation and acceptable performance of robot manipulators when faults occur inside the system, fault-tolerant control must deal differently uncertainties and disturbances, especially with the occurrence of loss-effective faults....
In this paper, two finite-time active fault-tolerant controllers for a robot manipulator, which combine a synchronous terminal sliding mode control with an extended state observer, are proposed. First, an extended state observer is adopted to estimat...
In this paper, an optimized kinematic modeling method to accurately describe the actual structure of a mobile manipulator robot with a manipulator similar to the universal robot (UR5) is developed, and an improved self-collision detection technology...
In the present work, we develop an adaptive dynamic controller based on monocular vision for the tracking of objects with a three-degrees of freedom (DOF) Scara robot manipulator. The main characteristic of the proposed control scheme is that it cons...
This manuscript presents an efficient algorithm for solving the inverse kinematics problem of a 6R robot manipulator to be deployed on embedded control hardware. The proposed method utilizes the geometric relationship between the end-effector and the...
In the era of digital OT (Operating Theatre), the developments in Robot-Assisted Surgery (RAS) can greatly benefit the medical field. RAS is a method of technological advancement that uses surgical robots to assist complicated surgeries. Its implemen...
In this paper, a graphics simulator that allows for characterizing the kinematic and dynamic behavior of redundant planar manipulator robots is presented. This graphics simulator is implemented using the Solidworks software and the SimMechanics Toolb...
Crack monitoring in concrete structures is essential to maintaining structural integrity. Therefore, this paper proposes a mobile ground robot equipped with a 2-DoF manipulator and stereo vision sensors for autonomous crack monitoring and mapping. To...
High-precision industrial manipulators are essential components in advanced manufacturing. Model-based feedforward is the key to realizing the high-precision control of industrial robot manipulators. However, traditional feedforward control approache...
A new image-based robot visual servo control strategy based on a third-order sliding-mode observer (TOSM) model predictive control is proposed in this study. This new control strategy solves the problem of robot visual servo control with system const...
The process of controlling a Flexible Joint Robot Manipulator (FJRM) requires additional sensors for measuring the state variables of flexible joints. Therefore, taking the elasticity into account adds a lot of complexity as all the additional sensor...
This paper aims to highlight the critical role of robot manipulators in industrial applications and elucidate the challenges associated with achieving high-precision control. In particular, the detrimental effects of nonlinear friction on manipulator...
This paper introduces an adaptive impedance control strategy for robotic manipulators, developed through the extremum seeking technique. A model-based disturbance observer (DOB) is employed to estimate contact forces, removing the dependency on torqu...
In cooperative tasks, the ability to keep a kinematic relationship between the robots involved is essential. The main goal in this work is to design a synchronization control law for mobile manipulator robots (MMRs) considering a (2,0) differential m...
This paper presents an innovative control strategy for robot arm manipulators, utilizing an adaptive sliding mode control with stochastic gradient descent (ASMCSGD). The ASMCSGD controller significant improvements in robustness, chattering eliminatio...
This paper presents a detailed design of a skid-steering mobile platform with four wheels, along with a Cartesian serial (PPP) manipulator. The aim of this design is to enable the platform to perform various tasks in the agricultural process. The par...
To accommodate the contact force between a robot and its environment, this paper presents an adaptive control framework for the impedance control of a manipulator with time delay estimation (TDE). To simplify the complex system model and yield adapti...
In contemporary warehouse logistics, the demand for efficient and precise inventory management is increasingly critical, yet traditional Radio Frequency Identification (RFID)-based systems often falter due to static antenna configurations that limit...
Wind energy represents the dominant share of renewable energies. The rotor blades of a wind turbine are typically made from composite material, which withstands high forces during rotation. The huge dimensions of the rotor blades complicate the inspe...
The torque sensor is used to measure the joint torque of a robot manipulator. Previous research showed that the sensitivity and the stiffness of torque sensors have trade-off characteristics. Stiffness has to be sacrificed to increase the sensitivity...
This study derives a learning algorithm for a quaternion neural network using the steepest descent method extended to quaternion numbers. This applies the generalised Hamiltonian–Real calculus to obtain derivatives of a real–valued cost f...
This article focuses on the output feedback control of single-link flexible-joint robot manipulators (SFJRMs) with matched disturbances and parametric uncertainties. Formally, four sensing elements are required to design the controller for single-lin...
Robotic manipulation refers to how robots intelligently interact with the objects in their surroundings, such as grasping and carrying an object from one place to another. Dexterous manipulating skills enable robots to assist humans in accomplishing...
Aerial manipulators have seen a rapid uptake for multiple applications, including inspection tasks and aerial robot–human interaction in building and construction. Whilst single degree of freedom (DoF) and multiple DoF rigid link manipulators (...
Advances in Robotics are leading to a new generation of assistant robots working in ordinary, domestic settings. This evolution raises new challenges in the tasks to be accomplished by the robots. This is the case for object manipulation where the de...
In our study a robot was used to deliver objects for measurement into the Equator gauging system. To investigate the robot’s manipulation influence on dimensional measurements, the robot’s tasks were divided into basic functions. Based on these basic...
The use of collaborative robots (or cobots) in rehabilitation therapies is aimed at assisting and shortening the patient’s recovery after neurological injuries. Cobots are inherently safe when interacting with humans and can be programmed in di...
Robotic manipulators may be subject to different types of disturbances such as unknown payloads, unmodeled dynamics, and environment interaction forces. Observing these unknown disturbances in robotic manipulators is fundamental in many robotic appli...
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