To enhance the operational performance of mobile manipulators in textile workshops and address the difficulty of inverse kinematics (IK) for this class of redundant manipulators, this paper leverages the robot’s structural symmetries and propos...
The trajectory planning of an aerial robotic manipulator system is studied using Hybrid Particle Swarm Optimization (HPSO). The aerial robotic manipulator is composed of an unmanned aerial vehicle (UAV) base and a robotic manipulator. The robotic man...
This work is aimed to demonstrate a multi-objective joint trajectory generation algorithm for a 7 degree of freedom (DoF) robotic manipulator using swarm intelligence (SI)—product of exponentials (PoE) combination. Given a priori knowledge of t...
The industry heavily relies on robotic manipulators at present. Despite their age, recent methodologies have significantly advanced their functionality, integrating them into daily life. Rescue robots are popular. However, their precision and reactio...
This paper presents a control method for the problem of trajectory jitter and poor tracking performance of the end of a three-joint rigid manipulator. The control is based on a high-order particle swarm optimization algorithm with an improved sliding...
To achieve time–energy–impact multi-objective optimization in the trajectory control of underwater manipulators, this paper proposes a Fast Non-Dominated Sorting Tuna Swarm Optimization algorithm (FNS-TSO). The algorithm integrates a fast...
In this paper, a particle swarm optimizer that integrates self-organizing maps and k-means clustering (SK-PSO) is proposed. This optimizer generates an asymmetric Cartesian space from random joint configurations when addressing the inverse kinematics...
This paper presents an improved methodology for characterizing task-oriented optimal manipulator configuration, tested on a case study of selective spraying in vineyards. It compares the current approach for optimizing manipulator configurations, whi...
With the advancement of deep-sea exploration, the demand for underwater manipulators capable of long-duration heavy-duty operations has intensified. Water-hydraulic systems exhibit less viscosity variation with increasing depth than oil-based systems...
In the control of robot manipulators, input torque constraints and system nonlinearities present significant challenges for precise trajectory tracking. However, fuzzy adaptive logic control (FALC) often fails to generate the optimal membership funct...
Mobile manipulator robots have an increasing number of applications in industry because they extend the workspace of a fixed base manipulator mounted on a mobile platform, making it important to further investigate their control and optimization. Thi...
Inverse kinematics is a fundamental problem in manipulator robotics: a set of joint angles must be calculated so that the robot arm can be manipulated to the corresponding desired end effector position and orientation (also known as “pose&rdquo...
This work introduces a unified Artificial Intelligence-based framework for the optimal tuning of gains in a neural discrete-time sliding mode controller (SMC) applied to a two-degree-of-freedom robotic manipulator. The novelty lies in combining surro...
Stable, efficient and lossless fruit picking has always been a difficult problem, perplexing the development of fruit automatic picking technology. In order to effectively solve this technical problem, this paper establishes a multi-objective traject...
This work presents a comprehensive comparative analysis of four prominent swarm intelligence (SI) optimization algorithms: Ant Lion Optimizer (ALO), Bat Algorithm (BA), Grey Wolf Optimizer (GWO), and Moth Flame Optimization (MFO). When compared under...
Improved energy usage efficiency is a common goal for economic and environmental reasons. In this manuscript, we present a new approach for the execution of a point-to-point robot motion. The energy efficiency of an industrial or collaborative robot...
This study investigates the motion characteristics of soft alginate microrobots in complex fluidic environments utilizing wireless magnetic fields for actuation. The aim is to explore the diverse motion modes that arise due to shear forces in viscoel...
Mosquitoes represent the major arthropod vectors of human disease worldwide transmitting malaria, lymphatic filariasis, and arboviruses such as dengue virus and Zika virus. Unfortunately, no treatment (in the form of vaccines or drugs) is available f...
For a robotic swarm system composed of autonomous mobile robots, controlling and using asymmetric global geometric states promotes the task performance of the swarm. This paper presents a systematic method for estimating asymmetric global geometric s...
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...
Swarming robotic systems, which stem from insect swarms in nature, exhibit a high level of environmental adaptability and enhanced tasking capabilities for targeted delivery and micromanipulation. Here, we present a strategy that reconfigures paramag...
The limb-driving force mutation of the modular combination parallel manipulator (MCPM) affects the alignment process of optical axis. In this paper, a novel optimization method based on the force mutation penalty term is proposed to solve the problem...
This study aims to contribute academically valuable insights into energy-efficient drives for the positioning control of flexible structures. It focuses on the point-to-point (PTP) motion control of a flexible manipulator to suppress residual vibrati...
Microscopic swarms consisting of, e.g., active colloidal particles or microorganisms, display emergent behaviors not seen in equilibrium systems. They represent an emerging field of research that generates both fundamental scientific interest and pra...
Aiming at the problems of grab failure and manipulator damage, this paper proposes a dynamic gangue trajectory planning method for the manipulator synchronous tracking under multi-constraint conditions. The main reason for the impact load is that the...
Evolutionary computation algorithms (EC) and swarm intelligence have been widely used to solve global optimization problems. The optimal solution for an optimization problem is called by different terms in EC and swarm intelligence. It is called indi...
This study aimed to evaluate pilot manipulation comfort in different flight scenarios under different ambient temperatures. To achieve this goal, we designed a test plan to devise the physiological indexes used in the evaluation of pilot manipulation...
This paper demonstrates a manipulation of snowman-shaped soft microrobots under a uniform rotating magnetic field. Each microsnowman robot consists of two biocompatible alginate microspheres with embedded magnetic nanoparticles. The soft microsnowmen...
In recent years, high-quality surfaces with large areas and curvatures have been increasingly used in engineering, but the precision machining and inspection of such surfaces is a particular challenge. Surface machining equipment needs to have a larg...
Accurate kinematic parameter identification is essential for space manipulators to attain millimeter-level positioning accuracy and robust motion control. This study develops a universal strategy for comprehensive parameter identification by establis...
In this paper, a structural design and controller optimization process for a five-bar planar manipulator are studied using three different population-based optimization techniques: particle swarm optimization, genetic algorithm, and differential evol...
In situations of a confined workplace with a lot of obstacles and a complicated required trajectory of the endpoint of an industrial or collaborative robot, it may be impossible to find a suitable robot and its position within the workplace to fulfil...
In order to meet security requirements of space on orbit service, an obstacle avoidance trajectory planning method using improved particle swarm optimization had been presented in this paper. On the basis of the actual overall structure of 7 degrees...
Underwater soft manipulators are increasingly used for grasping underwater organisms and cultural relics due to their compliance and ability to protect delicate objects. Unlike rigid manipulators, these soft manipulators feature underwater soft bendi...
This work introduces a comprehensive vision-based framework for autonomous space debris removal using robotic manipulators. A real-time debris detection module is built upon the YOLOv8 architecture, ensuring reliable target localization under varying...
In response to the limitations of vibration suppression performance caused by the difficulty in accurately modeling nonlinear friction during robotic manipulator dynamics parameter identification, this paper proposes a hybrid identification method ba...
High-precision identification of dynamic parameters is crucial for the on-orbit performance of space manipulators. This paper investigates dynamic modeling and parameter identification under special environmental conditions such as microgravity and v...
Intelligent fruit-picking robots have emerged as a promising solution to labor shortages and the increasing costs of manual harvesting. This review provides a systematic and critical overview of recent advances in three core domains: (i) vision-based...
This paper addresses the parameter identification of a one-link flexible manipulator based on the experimental measurement of the inputs/outputs, the finite element model, and the application of evolutionary algorithms. A novel approach is proposed t...
Large-scale explosive ordnance disposal (EOD) robotic manipulators can replace manual EOD tasks, offering higher efficiency and better safety. This study focuses on the control strategies and response speeds of EOD robotic manipulators. Using Adams t...
This paper presents the identification of the inverse kinematics of a cylindrical manipulator using identification techniques of Least Squares (LS), Recursive Least Square (RLS), and a dynamic parameter identification algorithm based on Particle Swar...
Industrial robots were modified over the years. The benefit of robots is making production systems more efficient. Most methods of controlling robots have some limitations, such as stopping the robots. The robot stops by various reasons, such as coll...
Deepfakes are digital audio, video, or images manipulated using machine learning algorithms. These manipulated media files can convincingly depict individuals doing or saying things they never actually did. Deepfakes pose significant risks to our liv...
Technologies based on non-equilibrium, low-temperature plasmas are ubiquitous in today’s society. Plasma modeling plays an essential role in their understanding, development and optimization. An accurate description of electron and ion collisions wit...
This paper presents a concept of the non-stationary filtering network with reduced transient response consisting of the first-order digital elements with time-varying parameters. The digital filter section is based on the analog system. In order to d...
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...
This paper proposes a calibration algorithm to improve the positional accuracies of an industrial XY-linear stage. Precision positioning of these linear stages is required to maintain highly accurate object handling and manipulation. However, due to...
The inverse kinematics of robotic manipulators involves determining an appropriate joint configuration to achieve a specified end-effector position. This problem is challenging because the inverse kinematics of manipulators are highly nonlinear and c...
The rapid advancement of deepfake technology presents significant challenges in detecting highly convincing fake videos, posing risks such as misinformation, identity theft, and privacy violations. In response, this paper proposes an innovative appro...
To solve the problem that the robot often collides with the obstacles such as branches around the fruit during picking due to its inability to adapt to the fruit growing environment, this paper proposes an apple-picking robot picking path planning al...
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