This paper presents a Prescribed Performance Control (PPC) approach for robotic systems experiencing communication delay and disturbances. Under input and feedback delays, a state feedback controller is designed to maintain the output tracking error...
In response to the complex animal husbandry environment, wide livestock range, and labor shortage in Inner Mongolia grasslands, this study designed an intelligent control system for robotic vehicles used in natural grazing grassland environments. The...
Base stability for a wheeled robot while driving over rough terrain is a challenging issue. This paper proposes a novel base-stability control framework, consisting of an AVIC (adaptive variable-impedance control), AVIC-based tracking controller, and...
This paper proposes an original approach to improving the efficiency of technological processes based on collaborative robots, which differs from the existing ones by the possibility of intensifying the process of modeling the human factor when formi...
The robotic grinding system for a thin-walled workpiece is a multi-dimensional coupling system composed of a robot, a grinding spindle and the thin-walled workpiece. In the grinding process, a dynamic coupling effect is generated, while the thin-wall...
In human-centered robotic applications, safety, efficiency, and adaptability are critical for enabling effective interaction and performance. Incorporating electromagnetic continuously variable transmission (EM-CVT) systems into robotic designs enhan...
In vascular interventional surgery, surgeons operate guidewires and catheters to diagnose and treat patients with the assistance of the digital subtraction angiography (DSA). Therefore, the surgeon will be exposed to X-rays for extended periods. To p...
Ultrasound imaging is widely valued for its safety, non-invasiveness, and real-time capabilities but is often limited by operator variability, affecting image quality and reproducibility. Robot-assisted ultrasound may provide a solution by delivering...
This paper aims to describe modeling and control in what concerns advanced manufacturing technology running on a flexible assembly, disassembly and repair on a mechatronic line (A/D/RML) assisted by an Autonomous Robotic System (ARS), two robotic man...
Continuum robots represent a class of highly sensitive, multiple-degrees-of-freedom robots that are biologically inspired. Because of their flexibility and accuracy, these robots can be used in maxillary sinus surgery. The design of an effective proc...
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...
The idea of developing a robot controlled by iris movement to assist physically disabled individuals is, indeed, innovative and has the potential to significantly improve their quality of life. This technology can empower individuals with limited mob...
This study presents an optimized design and vision-guided control strategy for a multi-functional robotic gripper integrated into an automatic loading system for warehouse environments. The system adopts a modular architecture, including standardized...
We designed and manufactured a pneumatic-driven robotic passive gait training system (PRPGTS), providing the functions of body-weight support, postural support, and gait orthosis for patients who suffer from weakened lower limbs. The PRPGTS was desig...
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...
Robotization of production processes and the use of 3D vision systems are currently becoming more and more popular. It allows for more flexibility in the robotic process as well as expands the possibilities of process control, depending on changes in...
This article addresses the problem of cloud distributed control systems development for mobile robots. The authors emphasize the lack of a design methodology to guide the process of the development in accordance with specific technical and economic r...
Research on extreme environmental exploration using unmanned robots has recently attracted significant attention. In particular, unmanned robot exploration in vast areas such as Antarctica requires a system capable of remotely monitoring and controll...
The integration of intelligent robots in industrial production processes has the potential to significantly enhance efficiency and reduce human adversity. However, for such robots to effectively operate within human environments, it is critical that...
This paper presents a path planning and trajectory tracking system for a BlueBotics Shrimp III®, which is an articulate mobile robot for rough terrain navigation. The system includes a decentralized neural inverse optimal controller, an inverse kinem...
Traditional control of robotic systems relies on the availability of an exact model, which assumes complete knowledge of the robot’s parameters and all dynamic effects. However, this idealized scenario rarely holds in practice, as real-world in...
For legged robots, aerial motions are the only option to overpass obstacles that cannot be circumvented with standard locomotion gaits. In these cases, the robot must perform a leap to either jump onto the obstacle or fly over it. However, these move...
We focus on dual-user operation, where two users control a single remote robot equipped with a force sensor using haptic interface devices. We employ a cooperative work in which the two users control the remote robot to collaborate with remote robot...
Robotic systems have experienced exponential growth in their utilization for manufacturing applications over recent decades. Control systems responsible for executing desired robot motion planning face increasingly stringent performance requirements....
This work focuses on the challenges associated with autonomous robot guidance, navigation, and control in multi-robot systems. This study provides an affordable solution by utilizing a group of small unmanned ground vehicles and quadrotors that colla...
Humanoid robotics is a field of a great research interest nowadays. This work implements a low-cost teleoperated system to control a humanoid robot, as a first step for further development and study of human motion and walking. A human suit is built,...
Robotic manipulators are widely used in industrial applications, and their rigidity and flexibility are very important factors during their deployment. However, their usage is not limited to repetitive point-to-point tasks and can be used for more re...
One of the most important challenges in robotics is the development of a Multi-Robot-based control system in which the robot can make intelligent decisions in a changing environment. This paper proposes a robot-based control approach for dynamically...
This paper presents an overview on applications of artificial neural networks (ANNs) to robot control systems and outlines the contributions of ANNs. Adaptive neurocontrol architectures are introduced and compared to traditional adaptive control meth...
In response to the rehabilitation needs of stroke patients who are unable to benefit from conventional rehabilitation due to the COVID-19 epidemic, this paper designs a robot that combines on-site and telerehabilitation. The objective is to assist th...
This paper describes an innovative wireless mobile robotics control system based on speech recognition, where the ESP32 microcontroller is used to control motors, facilitate Bluetooth communication, and deploy an Android application for the real-time...
The number of actuators of an underactuated robot is less than its degree of freedom. In other words, underactuated robots can be designed with fewer actuators than fully actuated ones. Although an underactuated robot is more complex than a fully act...
System stability control in resource allocation is a critical issue in group robot systems. Against this backdrop, this study investigates the nonlinear dynamics and chaotic phenomena that arise during pricing games among finitely rational group robo...
Robots have poor adaptive ability in terms of formation control and obstacle avoidance control in unknown complex environments. To address this problem, in this paper, we propose a new motion planning method based on flocking control and reinforcemen...
The emergence of large language models (LLMs), such as GPT (Generative Pre-trained Transformer), has had a profound impact and brought about significant changes across various sectors of human society. Integrating GPT-3.5 into a multi-robot control s...
In recent years, myoelectric control systems have emerged for upper limb wearable robotic exoskeletons to provide movement assistance and/or to restore motor functions in people with motor disabilities and to augment human performance in able-bodied...
This paper focuses on the formation control of multi-robot systems with leader–follower network structure in directed topology to guide a system composed of multiple mobile robot agents to achieve global path navigation with a desired formation...
Movement–process collaborative compound robots are an important part of intelligent factory logistics systems, and they usually have two control systems located in the movement platform and the process platform. Interaction between the two plat...
As critical infrastructure, hydropower dams require efficient and accurate detection of underwater structural surface defects to ensure their safety. This paper presents the design and implementation of a robotic control system specifically developed...
Vascular interventional surgery is a typical method for diagnosing and treating cardio-cerebrovascular diseases. However, a surgeon is exposed to significant X-radiation exposure when the operation is conducted for a long period of time. A vascular i...
This study suggests a control Lyapunov-based optimal integral terminal sliding mode control (ITSMC) technique for tracker design of asymmetric nonholonomic robotic systems in the existence of external disturbances. The design procedure is based on th...
This study designed an adaptive neural network (NN) control method for a category of multi-robotic systems with parametric uncertainties. In practical engineering applications, systems commonly face design challenges due to uncertainties in their par...
A predefined-time adaptive fuzzy cooperative controller with event triggering is proposed for multi-robot systems that takes into account external disturbances, input saturation, and model uncertainties in this paper. First, based on the asymmetric t...
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...
Robot-assisted technology is often used to perform endovascular catheterization surgeries, which generally depend on the flexible operability and the accurate force feedback of a robotic system. In this paper, an endovascular catheterization robotic...
In this paper, a hybrid flying robot that utilizes water thrust and aerial propeller actuation is proposed and analyzed, with the aim of applications in hazardous tasks in the marine field, such as firefighting, ship inspections, and search and rescu...
In order to solve the problem of constant force control in the robot grinding process of a centrifugal pump housing a circular inner surface, this study used the force–position hybrid control mode based on a pneumatic servo system to realize th...
Industrial robot speed control remains a critical aspect for efficient operations, especially given the challenges of nonlinearity and multivariable characteristics inherent to servo motor control systems, as well as energy inefficiencies due to a la...
This study investigates the radiation damage and radiation reinforcement of the control and sensing systems of nuclear robots. Radiation experiments were conducted on key electronic devices to study their radiation resistance, and a shielding structu...
In this paper, we investigated the cascade controller of a motor-driven deep-sea robot cable system (MDRCS), which consists of the outer loop system and the inner loop system connected by a motor thrust with unknown factors, typically forming a cruci...
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