With the growing demand for industrial robots in the aerospace manufacturing process, the lack of positioning accuracy has become a critical factor limiting their broad application in precision manufacturing. To enhance robot positioning accuracy, on...
The six-degree-of-freedom parallel robots is crucial for intelligent manufacturing, motion simulation, aerospace and other fields. Their trajectory performance level directly affects the reliable application of high-precision operation scenarios. How...
Robotic positioning accuracy is paramount in complex tasks. This accuracy is influenced by both geometric and non-geometric factors, making error prediction a significant challenge. To address this, this paper introduces two key contributions. First,...
The current trend in machining with robotic arms involves leveraging Industry 4.0 technologies to propose solutions that reduce path deviation errors. This approach presents significant challenges alongside promising advancements, as well as a substa...
Robotic belt finishing of turbine-blade edges is difficult to control because local edge radius, contact compliance, and the incoming profile state jointly affect the final residual profile error. This study develops a sensor-derived, mechanism-infor...
This paper presents a new method, a fast prediction method based on the Cartesian stiffness model and equivalent spring stiffness (FPM-CSES), to calculate displacement errors of deformation caused by low stiffness for industrial robot. First, the Car...
In addressing the limited absolute positioning accuracy of industrial robots, which stems from the discrepancy between the nominal kinematic model and the physical entity, this paper proposes a novel paradigm for online compensation based on data-dri...
Trajectory prediction is critical for safe robot navigation, yet standard deep learning models predominantly rely on the Mean Squared Error (MSE) criterion. While effective under ideal conditions, MSE-based optimization is inherently fragile to non-G...
Maintenance is the technology of continuously monitoring the conditions of equipment and predicting the timing of maintenance for equipment. Particularly in the field of semiconductor manufacturing, where processes are automated, various methods are...
Robot dynamics and its parameter identification are of great significance to the realization of optimal control and human–machine interaction. The objective of this research is to address the shortcomings of establishing and identifying the sel...
The automation industry faces the challenge of avoiding interference with obstacles, estimating the next move of a robot, and optimizing its path in various environments. Although researchers have predicted the next move of a robot in linear and non-...
In the field of multi-robot cooperative localization and task planning, traditional filtering algorithms encounter synchronization and consistency issues during multi-source data fusion. These challenges result in cumulative localization errors and i...
In the navigation of underwater robots, large ocean current disturbance often causes significant tracking errors. To better resist ocean current disturbance, the hydrodynamic characteristics of the spherical underwater robot are studied, and a model...
In real-world robotic navigation, some ambiguous environments contain symmetrical or featureless areas that may cause the perceptual aliasing of external sensors. As a result of that, the uncorrected localization errors will accumulate during the loc...
The application of robots is growing in most countries, occupying a relevant place in everyday environments. Robots are still affected by errors due to their limitations, which may compromise the final performance. Accurate trajectories and positioni...
This paper addresses the problem of motion prediction and tracking control for cloud robotic systems with time-varying delays in measurements. A novel method using an observer-based structure for position and velocity prediction is developed to estim...
This study presents an integrated stiffness modeling and evaluation framework for an orthopedic surgical robot, aiming to enhance cutting accuracy and operational stability. A comprehensive stiffness model is developed, incorporating the stiffness of...
Robotics is increasingly used in higher education laboratories, but most commercial robots are costly and designed for industrial use. This paper presents the design, modeling, and experimental evaluation of a low-cost four-degree-of-freedom (DOF) SC...
This paper presents an approach to compensate for the effect of thermal expansion on the structure of an industrial robot and thus to reduce the repeatability difference of the robot in cold and warm conditions. In contrast to previous research in th...
Recently, model predictive control (MPC) is increasingly applied to path tracking of mobile devices, such as mobile robots. The characteristics of these MPC-based controllers are not identical due to the different approaches taken during design. Acco...
The flexibility of the joint drive system of an industrial robot can cause vibration at the end part, which can lead to motion errors. A method to predict the vibration during the motion of the robot arm is proposed considering the robot joint flexib...
Aiming to address the problem of accuracy degradation in Delta robots caused by machining accuracy, assembly precision, etc., this paper corrects the robot’s driving angles to achieve error compensation and designs a compensation algorithm base...
Touch can have a strong effect on interactions between people, and as such, it is expected to be important to the interactions people have with robots. In an earlier work, we showed that the intensity of tactile interaction with a robot can change ho...
Differential tracked robots play a crucial role in various modernized work scenarios such as smart industry, agriculture, and transportation. However, these robots frequently encounter substantial challenges in trajectory tracking, attributable to su...
The application of robotic milling manipulators demonstrates a promising method for the efficient manufacturing of large-scale structures. However, the cutting accuracy and efficiency of milling robots are predominantly subjected to their low stiffne...
In this article, a fuzzy payload compensation algorithm is proposed. In the context of simulating a machine vision model reconstruction, the target object is regarded as a cylinder to obtain the corresponding geometric size data. The first fuzzy mass...
Pose accuracy is one of the most important problems in the application of parallel robots. In order to adhere to strict pose error bounds, a new kinematic calibration method is proposed, which includes a new pose error model with 60 error parameters...
This paper describes the theoretical and practical foundations for remote control of a mobile robot for nonlinear trajectory tracking using an external localisation sensor. It constitutes a classical networked control system, whereby event-based tech...
Aiming at the robotization of the grinding process in the steel bar finishing process, the steel bar grinding robot can achieve the goal of fast, efficient, and accurate online grinding operation, a multi-layer forward propagating deep neural network...
Given the continual rise in mission diversity and environmental complexity, the adept integration of a robot’s aerial and terrestrial locomotion modes to address diverse application scenarios has evolved into a formidable challenge. In this pap...
Dual humanoid robot collaborative control systems possess better flexibility and adaptability in complex environments due to their similar structures to humans. This paper adopts a distributed model predictive controller based on the leader–fol...
Studies on autonomous underwater vehicles (AUVs) have gained momentum in recent years, and a special type of AUV, the robotic fish, has become a significant topic, with a superior maneuverability to traditional AUVs. In this paper, a prediction strat...
Although integrated joint torque sensors in robots dispel the need for external force/torque sensors at the wrist to measure interactions, an inherent challenge is that they also measure the robot’s intrinsic dynamics. This is especially proble...
The predictive brain hypothesis suggests that perception can be interpreted as the process of minimizing the error between predicted perception tokens generated via an internal world model and actual sensory input tokens. When implementing working ex...
The remarkable human ability to predict others’ intent during physical interactions develops at a very early age and is crucial for development. Intent prediction, defined as the simultaneous recognition and generation of human–human inte...
Autonomous Underwater Vehicle (AUV) has become a hotspot in the field of robot in recent years. As a special kind of AUV, the robotic fish can achieve better propulsion efficiency and maneuverability than traditional AUVs. Studies show that robotic f...
In this paper, a parameter estimation method is proposed to predict the simultaneous joint dynamics of a surgical robotic arm that is tracking trajectories. It mainly deals with the design, modeling, prototyping and control of a serial robotic arm fo...
Robotic milling offers significant advantages for machining large aerospace components due to its low cost and high flexibility. However, compared to computerized numerical control (CNC) machine tools, robot systems exhibit lower stiffness, leading t...
In the evolving field of mobile robotics, enhancing localization robustness in dynamic environments remains a critical challenge, particularly for ROS 2-based systems where sensor fusion plays a pivotal role. This study evaluates an AI-driven approac...
Reliable navigation in GPS-denied environments remains a critical challenge for autonomous vehicles (AVs), particularly in complex indoor and urban settings. GPS-based localization systems often fail under these conditions, highlighting the need for...
In order to achieve effective physical human–robot interaction, human dynamic characteristics needs to be considered in admittance control. This paper proposes a variable admittance control method for physical human–robot interaction based on traject...
Parallel robots, including cable-driven parallel robots (CDPRs), are widely used due to their high stiffness, precision, and high dynamic performance. However, their multi-chain closed-loop architecture brings nonlinear, multi-degree-of-freedom coupl...
To address the issue of low positioning accuracy of mobile robots in trellis kiwifruit orchards with weak signal environments, this study investigated an outdoor integrated positioning method based on ultra-wideband (UWB), light detection and ranging...
Visual simultaneous localization and mapping is a widely used technology for mobile robots to carry out precise positioning in the environment of GNSS technology failure. However, as the robot moves around indoors, its position accuracy will graduall...
Lower limb exoskeleton robots have shown significant research value due to their capabilities of providing assistance to wearers and improving physical motion functions. As a type of robotic technology, wearable robots are directly in contact with th...
Cable-driven minimally invasive surgical robots suffer from significant motion inaccuracies due to nonlinear transmission effects such as friction, elasticity, and hysteresis. These factors lead to strong nonlinear and direction-dependent behaviors,...
Industrial robots offer flexibility and cost advantages in machining applications but suffer from limited structural stiffness and dynamic instability, leading to significant positional errors. This study presents a simulation-driven framework for au...
This study proposes a model predictive control (MPC)-based Assist-as-Needed (AAN) strategy for upper-limb rehabilitation robots, with particular emphasis on mitigating motor slacking. In conventional error-based AAN approaches, robotic assistance is...
Autonomous cleaning robots operating in semi-structured dynamic environments must execute task-oriented motions while safely interacting with surrounding agents. These agents include pedestrians, vehicles, and other robots. In such environments (e.g....
This paper deals with the problem of determining a useful energy budget for a mobile robot in a given environment without having to carry out experimental measures for every possible exploration task. The proposed solution uses machine learning model...
of 10