Industrial RobotTable of Contents for Industrial Robot. List of articles from the current issue, including Just Accepted (EarlyCite)https://www.emerald.com/insight/publication/issn/0143-991X/vol/51/iss/2?utm_source=rss&utm_medium=feed&utm_campaign=rss_journalLatestIndustrial RobotEmerald Publishing LimitedIndustrial RobotIndustrial Robothttps://www.emerald.com/insight/proxy/containerImg?link=/resource/publication/journal/4f74d343f26bbd58a8cbbad2cab6a704/urn:emeraldgroup.com:asset:id:binary:ir.cover.jpghttps://www.emerald.com/insight/publication/issn/0143-991X/vol/51/iss/2?utm_source=rss&utm_medium=feed&utm_campaign=rss_journalLatestPolitical tensions and technological innovation driving the military robot businesshttps://www.emerald.com/insight/content/doi/10.1108/IR-11-2023-0289/full/html?utm_source=rss&utm_medium=feed&utm_campaign=rss_journalLatestThe purpose of this paper is to provide a detailed insight into the global military robot industry with an emphasis on products and their applications. Following an introduction which includes a brief historical account, this provides an industry overview, including various market dimensions and a discussion of the geopolitical and technological factors driving market development. The three following sections provide details of land, airborne and marine robots, their capabilities and deployments in recent conflicts. Finally, brief conclusions are drawn. Military robots which operate on land, in the air and at sea constitute a multi-billion dollar industry which is growing rapidly. It is being driven by geopolitical tensions, notably the military-technology arms race between China and the USA and the conflict in Ukraine, together with technological progress, particularly in AI. Many robots possess multi-functional capabilities, and the leading application is presently intelligence, surveillance and reconnaissance. An increasing number of heavily armed robots are being developed, and AI has the potential to impart these with the capacity to deliver lethal force without human intervention. Although heavily criticised in some quarters, this capability has probably already been deployed on the battlefield. With ever-growing military budgets, escalating political tensions and technological innovations, robots will play an increasingly significant role in future conflicts. This provides a detail account of military robots and their role in modern warfare.Political tensions and technological innovation driving the military robot business
Robert Bogue
Industrial Robot, Vol. 51, No. 2, pp.189-195

The purpose of this paper is to provide a detailed insight into the global military robot industry with an emphasis on products and their applications.

Following an introduction which includes a brief historical account, this provides an industry overview, including various market dimensions and a discussion of the geopolitical and technological factors driving market development. The three following sections provide details of land, airborne and marine robots, their capabilities and deployments in recent conflicts. Finally, brief conclusions are drawn.

Military robots which operate on land, in the air and at sea constitute a multi-billion dollar industry which is growing rapidly. It is being driven by geopolitical tensions, notably the military-technology arms race between China and the USA and the conflict in Ukraine, together with technological progress, particularly in AI. Many robots possess multi-functional capabilities, and the leading application is presently intelligence, surveillance and reconnaissance. An increasing number of heavily armed robots are being developed, and AI has the potential to impart these with the capacity to deliver lethal force without human intervention. Although heavily criticised in some quarters, this capability has probably already been deployed on the battlefield. With ever-growing military budgets, escalating political tensions and technological innovations, robots will play an increasingly significant role in future conflicts.

This provides a detail account of military robots and their role in modern warfare.

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Political tensions and technological innovation driving the military robot business10.1108/IR-11-2023-0289Industrial Robot2023-12-12© 2023 Emerald Publishing LimitedRobert BogueIndustrial Robot5122023-12-1210.1108/IR-11-2023-0289https://www.emerald.com/insight/content/doi/10.1108/IR-11-2023-0289/full/html?utm_source=rss&utm_medium=feed&utm_campaign=rss_journalLatest© 2023 Emerald Publishing Limited
LiDAR-based SLAM for robotic mapping: state of the art and new frontiershttps://www.emerald.com/insight/content/doi/10.1108/IR-09-2023-0225/full/html?utm_source=rss&utm_medium=feed&utm_campaign=rss_journalLatestIn recent decades, the field of robotic mapping has witnessed widespread research and development in light detection and ranging (LiDAR)-based simultaneous localization and mapping (SLAM) techniques. This paper aims to provide a significant reference for researchers and engineers in robotic mapping. This paper focused on the research state of LiDAR-based SLAM for robotic mapping as well as a literature survey from the perspective of various LiDAR types and configurations. This paper conducted a comprehensive literature review of the LiDAR-based SLAM system based on three distinct LiDAR forms and configurations. The authors concluded that multi-robot collaborative mapping and multi-source fusion SLAM systems based on 3D LiDAR with deep learning will be new trends in the future. To the best of the authors’ knowledge, this is the first thorough survey of robotic mapping from the perspective of various LiDAR types and configurations. It can serve as a theoretical and practical guide for the advancement of academic and industrial robot mapping.LiDAR-based SLAM for robotic mapping: state of the art and new frontiers
Xiangdi Yue, Yihuan Zhang, Jiawei Chen, Junxin Chen, Xuanyi Zhou, Miaolei He
Industrial Robot, Vol. 51, No. 2, pp.196-205

In recent decades, the field of robotic mapping has witnessed widespread research and development in light detection and ranging (LiDAR)-based simultaneous localization and mapping (SLAM) techniques. This paper aims to provide a significant reference for researchers and engineers in robotic mapping.

This paper focused on the research state of LiDAR-based SLAM for robotic mapping as well as a literature survey from the perspective of various LiDAR types and configurations.

This paper conducted a comprehensive literature review of the LiDAR-based SLAM system based on three distinct LiDAR forms and configurations. The authors concluded that multi-robot collaborative mapping and multi-source fusion SLAM systems based on 3D LiDAR with deep learning will be new trends in the future.

To the best of the authors’ knowledge, this is the first thorough survey of robotic mapping from the perspective of various LiDAR types and configurations. It can serve as a theoretical and practical guide for the advancement of academic and industrial robot mapping.

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LiDAR-based SLAM for robotic mapping: state of the art and new frontiers10.1108/IR-09-2023-0225Industrial Robot2024-01-02© 2023 Emerald Publishing LimitedXiangdi YueYihuan ZhangJiawei ChenJunxin ChenXuanyi ZhouMiaolei HeIndustrial Robot5122024-01-0210.1108/IR-09-2023-0225https://www.emerald.com/insight/content/doi/10.1108/IR-09-2023-0225/full/html?utm_source=rss&utm_medium=feed&utm_campaign=rss_journalLatest© 2023 Emerald Publishing Limited
UDS-SLAM: real-time robust visual SLAM based on semantic segmentation in dynamic sceneshttps://www.emerald.com/insight/content/doi/10.1108/IR-08-2023-0190/full/html?utm_source=rss&utm_medium=feed&utm_campaign=rss_journalLatestExisting Simultaneous Localization and Mapping (SLAM) algorithms have been relatively well developed. However, when in complex dynamic environments, the movement of the dynamic points on the dynamic objects in the image in the mapping can have an impact on the observation of the system, and thus there will be biases and errors in the position estimation and the creation of map points. The aim of this paper is to achieve more accurate accuracy in SLAM algorithms compared to traditional methods through semantic approaches. In this paper, the semantic segmentation of dynamic objects is realized based on U-Net semantic segmentation network, followed by motion consistency detection through motion detection method to determine whether the segmented objects are moving in the current scene or not, and combined with the motion compensation method to eliminate dynamic points and compensate for the current local image, so as to make the system robust. Experiments comparing the effect of detecting dynamic points and removing outliers are conducted on a dynamic data set of Technische Universität München, and the results show that the absolute trajectory accuracy of this paper's method is significantly improved compared with ORB-SLAM3 and DS-SLAM. In this paper, in the semantic segmentation network part, the segmentation mask is combined with the method of dynamic point detection, elimination and compensation, which reduces the influence of dynamic objects, thus effectively improving the accuracy of localization in dynamic environments.UDS-SLAM: real-time robust visual SLAM based on semantic segmentation in dynamic scenes
Jun Liu, Junyuan Dong, Mingming Hu, Xu Lu
Industrial Robot, Vol. 51, No. 2, pp.206-218

Existing Simultaneous Localization and Mapping (SLAM) algorithms have been relatively well developed. However, when in complex dynamic environments, the movement of the dynamic points on the dynamic objects in the image in the mapping can have an impact on the observation of the system, and thus there will be biases and errors in the position estimation and the creation of map points. The aim of this paper is to achieve more accurate accuracy in SLAM algorithms compared to traditional methods through semantic approaches.

In this paper, the semantic segmentation of dynamic objects is realized based on U-Net semantic segmentation network, followed by motion consistency detection through motion detection method to determine whether the segmented objects are moving in the current scene or not, and combined with the motion compensation method to eliminate dynamic points and compensate for the current local image, so as to make the system robust.

Experiments comparing the effect of detecting dynamic points and removing outliers are conducted on a dynamic data set of Technische Universität München, and the results show that the absolute trajectory accuracy of this paper's method is significantly improved compared with ORB-SLAM3 and DS-SLAM.

In this paper, in the semantic segmentation network part, the segmentation mask is combined with the method of dynamic point detection, elimination and compensation, which reduces the influence of dynamic objects, thus effectively improving the accuracy of localization in dynamic environments.

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UDS-SLAM: real-time robust visual SLAM based on semantic segmentation in dynamic scenes10.1108/IR-08-2023-0190Industrial Robot2024-01-22© 2024 Emerald Publishing LimitedJun LiuJunyuan DongMingming HuXu LuIndustrial Robot5122024-01-2210.1108/IR-08-2023-0190https://www.emerald.com/insight/content/doi/10.1108/IR-08-2023-0190/full/html?utm_source=rss&utm_medium=feed&utm_campaign=rss_journalLatest© 2024 Emerald Publishing Limited
SLAM-RAMU: 3D LiDAR-IMU lifelong SLAM with relocalization and autonomous map updating for accurate and reliable navigationhttps://www.emerald.com/insight/content/doi/10.1108/IR-09-2023-0223/full/html?utm_source=rss&utm_medium=feed&utm_campaign=rss_journalLatestAutonomous mobile robots (AMRs) play a crucial role in industrial and service fields. The paper aims to build a LiDAR-based simultaneous localization and mapping (SLAM) system used by AMRs to overcome challenges in dynamic and changing environments. This research introduces SLAM-RAMU, a lifelong SLAM system that addresses these challenges by providing precise and consistent relocalization and autonomous map updating (RAMU). During the mapping process, local odometry is obtained using iterative error state Kalman filtering, while back-end loop detection and global pose graph optimization are used for accurate trajectory correction. In addition, a fast point cloud segmentation module is incorporated to robustly distinguish between floor, walls and roof in the environment. The segmented point clouds are then used to generate a 2.5D grid map, with particular emphasis on floor detection to filter the prior map and eliminate dynamic artifacts. In the positioning process, an initial pose alignment method is designed, which combines 2D branch-and-bound search with 3D iterative closest point registration. This method ensures high accuracy even in scenes with similar characteristics. Subsequently, scan-to-map registration is performed using the segmented point cloud on the prior map. The system also includes a map updating module that takes into account historical point cloud segmentation results. It selectively incorporates or excludes new point cloud data to ensure consistent reflection of the real environment in the map. The performance of the SLAM-RAMU system was evaluated in real-world environments and compared against state-of-the-art (SOTA) methods. The results demonstrate that SLAM-RAMU achieves higher mapping quality and relocalization accuracy and exhibits robustness against dynamic obstacles and environmental changes. Compared to other SOTA methods in simulation and real environments, SLAM-RAMU showed higher mapping quality, faster initial aligning speed and higher repeated localization accuracy.SLAM-RAMU: 3D LiDAR-IMU lifelong SLAM with relocalization and autonomous map updating for accurate and reliable navigation
Bushi Chen, Xunyu Zhong, Han Xie, Pengfei Peng, Huosheng Hu, Xungao Zhong, Qiang Liu
Industrial Robot, Vol. 51, No. 2, pp.219-235

Autonomous mobile robots (AMRs) play a crucial role in industrial and service fields. The paper aims to build a LiDAR-based simultaneous localization and mapping (SLAM) system used by AMRs to overcome challenges in dynamic and changing environments.

This research introduces SLAM-RAMU, a lifelong SLAM system that addresses these challenges by providing precise and consistent relocalization and autonomous map updating (RAMU). During the mapping process, local odometry is obtained using iterative error state Kalman filtering, while back-end loop detection and global pose graph optimization are used for accurate trajectory correction. In addition, a fast point cloud segmentation module is incorporated to robustly distinguish between floor, walls and roof in the environment. The segmented point clouds are then used to generate a 2.5D grid map, with particular emphasis on floor detection to filter the prior map and eliminate dynamic artifacts. In the positioning process, an initial pose alignment method is designed, which combines 2D branch-and-bound search with 3D iterative closest point registration. This method ensures high accuracy even in scenes with similar characteristics. Subsequently, scan-to-map registration is performed using the segmented point cloud on the prior map. The system also includes a map updating module that takes into account historical point cloud segmentation results. It selectively incorporates or excludes new point cloud data to ensure consistent reflection of the real environment in the map.

The performance of the SLAM-RAMU system was evaluated in real-world environments and compared against state-of-the-art (SOTA) methods. The results demonstrate that SLAM-RAMU achieves higher mapping quality and relocalization accuracy and exhibits robustness against dynamic obstacles and environmental changes.

Compared to other SOTA methods in simulation and real environments, SLAM-RAMU showed higher mapping quality, faster initial aligning speed and higher repeated localization accuracy.

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SLAM-RAMU: 3D LiDAR-IMU lifelong SLAM with relocalization and autonomous map updating for accurate and reliable navigation10.1108/IR-09-2023-0223Industrial Robot2024-02-02© 2024 Emerald Publishing LimitedBushi ChenXunyu ZhongHan XiePengfei PengHuosheng HuXungao ZhongQiang LiuIndustrial Robot5122024-02-0210.1108/IR-09-2023-0223https://www.emerald.com/insight/content/doi/10.1108/IR-09-2023-0223/full/html?utm_source=rss&utm_medium=feed&utm_campaign=rss_journalLatest© 2024 Emerald Publishing Limited
Towards an obstacle detection system for robot obstacle negotiationhttps://www.emerald.com/insight/content/doi/10.1108/IR-09-2023-0210/full/html?utm_source=rss&utm_medium=feed&utm_campaign=rss_journalLatestTo solve the obstacle detection problem in robot autonomous obstacle negotiation, this paper aims to propose an obstacle detection system based on elevation maps for three types of obstacles: positive obstacles, negative obstacles and trench obstacles. The system framework includes mapping, ground segmentation, obstacle clustering and obstacle recognition. The positive obstacle detection is realized by calculating its minimum rectangle bounding boxes, which includes convex hull calculation, minimum area rectangle calculation and bounding box generation. The detection of negative obstacles and trench obstacles is implemented on the basis of information absence in the map, including obstacles discovery method and type confirmation method. The obstacle detection system has been thoroughly tested in various environments. In the outdoor experiment, with an average speed of 22.2 ms, the system successfully detected obstacles with a 95% success rate, indicating the effectiveness of the detection algorithm. Moreover, the system’s error range for obstacle detection falls between 4% and 6.6%, meeting the necessary requirements for obstacle negotiation in the next stage. This paper studies how to solve the obstacle detection problem when the robot obstacle negotiation.Towards an obstacle detection system for robot obstacle negotiation
Han Wang, Quan Zhang, Zhenquan Fan, Gongcheng Wang, Pengchao Ding, Weidong Wang
Industrial Robot, Vol. 51, No. 2, pp.236-245

To solve the obstacle detection problem in robot autonomous obstacle negotiation, this paper aims to propose an obstacle detection system based on elevation maps for three types of obstacles: positive obstacles, negative obstacles and trench obstacles.

The system framework includes mapping, ground segmentation, obstacle clustering and obstacle recognition. The positive obstacle detection is realized by calculating its minimum rectangle bounding boxes, which includes convex hull calculation, minimum area rectangle calculation and bounding box generation. The detection of negative obstacles and trench obstacles is implemented on the basis of information absence in the map, including obstacles discovery method and type confirmation method.

The obstacle detection system has been thoroughly tested in various environments. In the outdoor experiment, with an average speed of 22.2 ms, the system successfully detected obstacles with a 95% success rate, indicating the effectiveness of the detection algorithm. Moreover, the system’s error range for obstacle detection falls between 4% and 6.6%, meeting the necessary requirements for obstacle negotiation in the next stage.

This paper studies how to solve the obstacle detection problem when the robot obstacle negotiation.

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Towards an obstacle detection system for robot obstacle negotiation10.1108/IR-09-2023-0210Industrial Robot2024-02-06© 2024 Emerald Publishing LimitedHan WangQuan ZhangZhenquan FanGongcheng WangPengchao DingWeidong WangIndustrial Robot5122024-02-0610.1108/IR-09-2023-0210https://www.emerald.com/insight/content/doi/10.1108/IR-09-2023-0210/full/html?utm_source=rss&utm_medium=feed&utm_campaign=rss_journalLatest© 2024 Emerald Publishing Limited
Robotic arm tracking control through smooth switching LPV controller based on LPV modeling and torque approximationhttps://www.emerald.com/insight/content/doi/10.1108/IR-07-2023-0142/full/html?utm_source=rss&utm_medium=feed&utm_campaign=rss_journalLatestThis paper aims to propose a new linear parameter varying (LPV) controller for the robot tracking control problem. Using the identification of the robot dynamics in different work space points about modeling trajectory based on the least square of error algorithm, an LPV model for the robotic arm is extracted. Parameter set mapping based on parameter component analysis results in a reduced polytopic LPV model that reduces the complexity of the implementation. An approximation of the required torque is computed based on the reduced LPV models. The state-feedback gain of each zone is computed by solving some linear matrix inequalities (LMIs) to sufficiently decrease the time derivative of a Lyapunov function. A novel smoothing method is used for the proposed controller to switch properly in the borders of the zones. The polytopic set of the resulting gains creates the smooth switching polytopic LPV (SS-LPV) controller which is applied to the trajectory tracking problem of the six-degree-of-freedom PUMA 560 robotic arm. A sufficient condition ensures that the proposed controller stabilizes the polytopic LPV system against the torque estimation error. Smoothing of the switching LPV controller is performed by defining some tolerances and creating some quasi-zones in the borders of the main zones leading to the compressed main zones. The proposed torque estimation is not a model-based technique; so the model variation and other disturbances cannot destroy the performance of the suggested controller. The proposed control scheme does not have any considerable computational load, because the control gains are obtained offline by solving some LMIs, and the torque computation is done online by a simple polytopic-based equation. In this paper, a new SS-LPV controller is addressed for the trajectory tracking problem of robotic arms. Robot workspace is zoned into some main zones in such a way that the number of models in each zone is almost equal. Data obtained from the modeling trajectory is used to design the state-feedback control gain.Robotic arm tracking control through smooth switching LPV controller based on LPV modeling and torque approximation
Ali Fazli, Mohammad Hosein Kazemi
Industrial Robot, Vol. 51, No. 2, pp.246-257

This paper aims to propose a new linear parameter varying (LPV) controller for the robot tracking control problem. Using the identification of the robot dynamics in different work space points about modeling trajectory based on the least square of error algorithm, an LPV model for the robotic arm is extracted.

Parameter set mapping based on parameter component analysis results in a reduced polytopic LPV model that reduces the complexity of the implementation. An approximation of the required torque is computed based on the reduced LPV models. The state-feedback gain of each zone is computed by solving some linear matrix inequalities (LMIs) to sufficiently decrease the time derivative of a Lyapunov function. A novel smoothing method is used for the proposed controller to switch properly in the borders of the zones.

The polytopic set of the resulting gains creates the smooth switching polytopic LPV (SS-LPV) controller which is applied to the trajectory tracking problem of the six-degree-of-freedom PUMA 560 robotic arm. A sufficient condition ensures that the proposed controller stabilizes the polytopic LPV system against the torque estimation error.

Smoothing of the switching LPV controller is performed by defining some tolerances and creating some quasi-zones in the borders of the main zones leading to the compressed main zones. The proposed torque estimation is not a model-based technique; so the model variation and other disturbances cannot destroy the performance of the suggested controller. The proposed control scheme does not have any considerable computational load, because the control gains are obtained offline by solving some LMIs, and the torque computation is done online by a simple polytopic-based equation.

In this paper, a new SS-LPV controller is addressed for the trajectory tracking problem of robotic arms. Robot workspace is zoned into some main zones in such a way that the number of models in each zone is almost equal. Data obtained from the modeling trajectory is used to design the state-feedback control gain.

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Robotic arm tracking control through smooth switching LPV controller based on LPV modeling and torque approximation10.1108/IR-07-2023-0142Industrial Robot2024-01-31© 2024 Emerald Publishing LimitedAli FazliMohammad Hosein KazemiIndustrial Robot5122024-01-3110.1108/IR-07-2023-0142https://www.emerald.com/insight/content/doi/10.1108/IR-07-2023-0142/full/html?utm_source=rss&utm_medium=feed&utm_campaign=rss_journalLatest© 2024 Emerald Publishing Limited
Design and experimental research of a rolling-adsorption wall-climbing robothttps://www.emerald.com/insight/content/doi/10.1108/IR-08-2023-0194/full/html?utm_source=rss&utm_medium=feed&utm_campaign=rss_journalLatestWith the popularity of high-rise buildings, wall inspection and cleaning are becoming more difficult and associated with danger. The best solution is to replace manual work with wall-climbing robots. Therefore, this paper proposes a design method for a rolling-adsorption wall-climbing robot (RWCR) based on vacuum negative pressure adsorption of the crawler. It can improve the operation efficiency while solving the safety problems. The pulleys and tracks are used to form a dynamic sealing chamber to improve the dynamic adsorption effect and motion flexibility of the RWCR. The mapping relationship between the critical minimum adsorption force required for RWCR downward slip, longitudinal tipping and lateral overturning conditions for tipping and the wall inclination angle is calculated using the ultimate force method. The pressure and gas flow rate distribution of the negative pressure chamber under different slit heights of the negative pressure mechanism is analysed by the fluid dynamics software to derive the minimum negative pressure value that the fan needs to provide. Simulation and test results show that the load capacity of the RWCR can reach up to 6.2 kg on the smooth glass wall, and the maximum load in the case of lateral movement is 4.2 kg, which verifies the rationality and effectiveness of the design. This paper presents a new design method of a RWCR for different rough wall surfaces and analyses the ultimate force state and hydrodynamic characteristics.Design and experimental research of a rolling-adsorption wall-climbing robot
Kai Cao, Guodong Qin, Jian Zhou, Jiajun Xu, Linsen Xu, Aihong Ji
Industrial Robot, Vol. 51, No. 2, pp.258-268

With the popularity of high-rise buildings, wall inspection and cleaning are becoming more difficult and associated with danger. The best solution is to replace manual work with wall-climbing robots. Therefore, this paper proposes a design method for a rolling-adsorption wall-climbing robot (RWCR) based on vacuum negative pressure adsorption of the crawler. It can improve the operation efficiency while solving the safety problems.

The pulleys and tracks are used to form a dynamic sealing chamber to improve the dynamic adsorption effect and motion flexibility of the RWCR. The mapping relationship between the critical minimum adsorption force required for RWCR downward slip, longitudinal tipping and lateral overturning conditions for tipping and the wall inclination angle is calculated using the ultimate force method. The pressure and gas flow rate distribution of the negative pressure chamber under different slit heights of the negative pressure mechanism is analysed by the fluid dynamics software to derive the minimum negative pressure value that the fan needs to provide.

Simulation and test results show that the load capacity of the RWCR can reach up to 6.2 kg on the smooth glass wall, and the maximum load in the case of lateral movement is 4.2 kg, which verifies the rationality and effectiveness of the design.

This paper presents a new design method of a RWCR for different rough wall surfaces and analyses the ultimate force state and hydrodynamic characteristics.

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Design and experimental research of a rolling-adsorption wall-climbing robot10.1108/IR-08-2023-0194Industrial Robot2024-02-07© 2024 Emerald Publishing LimitedKai CaoGuodong QinJian ZhouJiajun XuLinsen XuAihong JiIndustrial Robot5122024-02-0710.1108/IR-08-2023-0194https://www.emerald.com/insight/content/doi/10.1108/IR-08-2023-0194/full/html?utm_source=rss&utm_medium=feed&utm_campaign=rss_journalLatest© 2024 Emerald Publishing Limited
Triangle codes and tracer lights based absolute positioning method for terminal visual docking of autonomous underwater vehicleshttps://www.emerald.com/insight/content/doi/10.1108/IR-10-2023-0233/full/html?utm_source=rss&utm_medium=feed&utm_campaign=rss_journalLatestDocking technology plays a crucial role in enabling long-duration operations of autonomous underwater vehicles (AUVs). Visual positioning solutions alone are susceptible to abnormal drift values due to the challenging underwater optical imaging environment. When an AUV approaches the docking station, the absolute positioning method fails if the AUV captures an insufficient number of tracers. This study aims to to provide a more stable absolute position visual positioning method for underwater terminal visual docking. This paper presents a six-degree-of-freedom positioning method for AUV terminal visual docking, which uses lights and triangle codes. The authors use an extended Kalman filter to fuse the visual calculation results with inertial measurement unit data. Moreover, this paper proposes a triangle code recognition and positioning algorithm. The authors conducted a simulation experiment to compare the underwater positioning performance of triangle codes, AprilTag and Aruco. The results demonstrate that the implemented triangular code reduces the running time by over 70% compared to the other two codes, and also exhibits a longer recognition distance in turbid environments. Subsequent experiments were carried out in Qingjiang Lake, Hubei Province, China, which further confirmed the effectiveness of the proposed positioning algorithm. This fusion approach effectively mitigates abnormal drift errors stemming from visual positioning and cumulative errors resulting from inertial navigation. The authors also propose a triangle code recognition and positioning algorithm as a supplementary approach to overcome the limitations of tracer light positioning beacons.Triangle codes and tracer lights based absolute positioning method for terminal visual docking of autonomous underwater vehicles
Zhuoyu Zhang, Lijia Zhong, Mingwei Lin, Ri Lin, Dejun Li
Industrial Robot, Vol. 51, No. 2, pp.269-286

Docking technology plays a crucial role in enabling long-duration operations of autonomous underwater vehicles (AUVs). Visual positioning solutions alone are susceptible to abnormal drift values due to the challenging underwater optical imaging environment. When an AUV approaches the docking station, the absolute positioning method fails if the AUV captures an insufficient number of tracers. This study aims to to provide a more stable absolute position visual positioning method for underwater terminal visual docking.

This paper presents a six-degree-of-freedom positioning method for AUV terminal visual docking, which uses lights and triangle codes. The authors use an extended Kalman filter to fuse the visual calculation results with inertial measurement unit data. Moreover, this paper proposes a triangle code recognition and positioning algorithm.

The authors conducted a simulation experiment to compare the underwater positioning performance of triangle codes, AprilTag and Aruco. The results demonstrate that the implemented triangular code reduces the running time by over 70% compared to the other two codes, and also exhibits a longer recognition distance in turbid environments. Subsequent experiments were carried out in Qingjiang Lake, Hubei Province, China, which further confirmed the effectiveness of the proposed positioning algorithm.

This fusion approach effectively mitigates abnormal drift errors stemming from visual positioning and cumulative errors resulting from inertial navigation. The authors also propose a triangle code recognition and positioning algorithm as a supplementary approach to overcome the limitations of tracer light positioning beacons.

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Triangle codes and tracer lights based absolute positioning method for terminal visual docking of autonomous underwater vehicles10.1108/IR-10-2023-0233Industrial Robot2024-01-09© 2023 Emerald Publishing LimitedZhuoyu ZhangLijia ZhongMingwei LinRi LinDejun LiIndustrial Robot5122024-01-0910.1108/IR-10-2023-0233https://www.emerald.com/insight/content/doi/10.1108/IR-10-2023-0233/full/html?utm_source=rss&utm_medium=feed&utm_campaign=rss_journalLatest© 2023 Emerald Publishing Limited
Design and extensibility analysis of a variable buoyancy system for small autonomous underwater vehicleshttps://www.emerald.com/insight/content/doi/10.1108/IR-11-2023-0286/full/html?utm_source=rss&utm_medium=feed&utm_campaign=rss_journalLatestA switching depth controller based on a variable buoyancy system (VBS) is proposed to improve the performance of small autonomous underwater vehicles (AUVs). First, the requirements of VBS for small AUVs are analyzed. Second, a modular VBS with high extensibility and easy integration is proposed based on the concepts of generality and interchangeability. Subsequently, a depth-switching controller is proposed based on the modular VBS, which combines the best features of the linear active disturbance rejection controller and the nonlinear active disturbance rejection controller. The controller design and endurance of tiny AUVs are challenging because of their low environmental adaptation, limited energy resources and nonlinear dynamics. Traditional and single linear controllers cannot solve these problems efficiently. Although the VBS can improve the endurance of AUVs, the current VBS is not extensible for small AUVs in terms of the differences in individuals and operating environments. The switching controller’s performance was examined using simulation with water flow and external disturbances, and the controller’s performance was compared in pool experiments. The results show that switching controllers have greater effectiveness, disturbance rejection capability and robustness even in the face of various disturbances. A high degree of standardization and integration of VBS significantly enhances the performance of small AUVs. This will help expand the market for small AUV applications. This solution improves the extensibility of the VBS, making it easier to integrate into different models of small AUVs. The device enhances the endurance and maneuverability of the small AUVs by adjusting buoyancy and center of gravity for low-power hovering and pitch angle control.Design and extensibility analysis of a variable buoyancy system for small autonomous underwater vehicles
Yi Xia, Yonglong Li, Hongbin Zang, Yanpian Mao, Haoran Wang, Jialong Li
Industrial Robot, Vol. 51, No. 2, pp.287-300

A switching depth controller based on a variable buoyancy system (VBS) is proposed to improve the performance of small autonomous underwater vehicles (AUVs). First, the requirements of VBS for small AUVs are analyzed. Second, a modular VBS with high extensibility and easy integration is proposed based on the concepts of generality and interchangeability. Subsequently, a depth-switching controller is proposed based on the modular VBS, which combines the best features of the linear active disturbance rejection controller and the nonlinear active disturbance rejection controller.

The controller design and endurance of tiny AUVs are challenging because of their low environmental adaptation, limited energy resources and nonlinear dynamics. Traditional and single linear controllers cannot solve these problems efficiently. Although the VBS can improve the endurance of AUVs, the current VBS is not extensible for small AUVs in terms of the differences in individuals and operating environments.

The switching controller’s performance was examined using simulation with water flow and external disturbances, and the controller’s performance was compared in pool experiments. The results show that switching controllers have greater effectiveness, disturbance rejection capability and robustness even in the face of various disturbances.

A high degree of standardization and integration of VBS significantly enhances the performance of small AUVs. This will help expand the market for small AUV applications.

This solution improves the extensibility of the VBS, making it easier to integrate into different models of small AUVs. The device enhances the endurance and maneuverability of the small AUVs by adjusting buoyancy and center of gravity for low-power hovering and pitch angle control.

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Design and extensibility analysis of a variable buoyancy system for small autonomous underwater vehicles10.1108/IR-11-2023-0286Industrial Robot2024-02-13© 2024 Emerald Publishing LimitedYi XiaYonglong LiHongbin ZangYanpian MaoHaoran WangJialong LiIndustrial Robot5122024-02-1310.1108/IR-11-2023-0286https://www.emerald.com/insight/content/doi/10.1108/IR-11-2023-0286/full/html?utm_source=rss&utm_medium=feed&utm_campaign=rss_journalLatest© 2024 Emerald Publishing Limited
Sky-Worker: a heterogeneous dual-arm robot with dynamic authority assignment for live-line workinghttps://www.emerald.com/insight/content/doi/10.1108/IR-07-2023-0154/full/html?utm_source=rss&utm_medium=feed&utm_campaign=rss_journalLatestThe current difficulties of distribution network working robots are mainly in the performance and operation mode. On the one hand, high-altitude power operation tasks require high load-carrying capacity and dexterity of the robot; on the other hand, the fully autonomous mode is uncontrollable and the teleoperation mode has a high failure rate. Therefore, this study aims to design a distribution network operation robot named Sky-Worker to solve the above two problems. The heterogeneous arms of Sky-Worker are driven by hydraulics and electric motors to solve the contradiction between high load-carrying capacity and high flexibility. A human–robot collaborative shared control architecture is built to realize real-time human intervention during autonomous operation, and control weights are dynamically assigned based on energy optimization. Simulations and tests show that Sky-Worker has good dexterity while having a high load capacity. Based on Sky-Worker, multiuser tests and practical application experiments show that the designed shared-control mode effectively improves the success rate and efficiency of operations compared with other current operation modes. The designed heterogeneous dual-arm distribution robot aims to better serve distribution line operation tasks. For the first time, the integration of hydraulic and motor drives into a distribution network operation robot has achieved better overall performance. A human–robot cooperative shared control framework is proposed for remote live-line working robots, which provides better operation results than other current operation modes.Sky-Worker: a heterogeneous dual-arm robot with dynamic authority assignment for live-line working
Yanghong Li, Yahao Wang, Yutao Chen, X.W. Rong, Yuliang Zhao, Shaolei Wu, Erbao Dong
Industrial Robot, Vol. 51, No. 2, pp.301-313

The current difficulties of distribution network working robots are mainly in the performance and operation mode. On the one hand, high-altitude power operation tasks require high load-carrying capacity and dexterity of the robot; on the other hand, the fully autonomous mode is uncontrollable and the teleoperation mode has a high failure rate. Therefore, this study aims to design a distribution network operation robot named Sky-Worker to solve the above two problems.

The heterogeneous arms of Sky-Worker are driven by hydraulics and electric motors to solve the contradiction between high load-carrying capacity and high flexibility. A human–robot collaborative shared control architecture is built to realize real-time human intervention during autonomous operation, and control weights are dynamically assigned based on energy optimization.

Simulations and tests show that Sky-Worker has good dexterity while having a high load capacity. Based on Sky-Worker, multiuser tests and practical application experiments show that the designed shared-control mode effectively improves the success rate and efficiency of operations compared with other current operation modes.

The designed heterogeneous dual-arm distribution robot aims to better serve distribution line operation tasks.

For the first time, the integration of hydraulic and motor drives into a distribution network operation robot has achieved better overall performance. A human–robot cooperative shared control framework is proposed for remote live-line working robots, which provides better operation results than other current operation modes.

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Sky-Worker: a heterogeneous dual-arm robot with dynamic authority assignment for live-line working10.1108/IR-07-2023-0154Industrial Robot2024-02-13© 2024 Emerald Publishing LimitedYanghong LiYahao WangYutao ChenX.W. RongYuliang ZhaoShaolei WuErbao DongIndustrial Robot5122024-02-1310.1108/IR-07-2023-0154https://www.emerald.com/insight/content/doi/10.1108/IR-07-2023-0154/full/html?utm_source=rss&utm_medium=feed&utm_campaign=rss_journalLatest© 2024 Emerald Publishing Limited
A method for predicting relative position errors in dual-robot systems via knowledge transfer from geometric and nongeometric calibrationhttps://www.emerald.com/insight/content/doi/10.1108/IR-11-2023-0267/full/html?utm_source=rss&utm_medium=feed&utm_campaign=rss_journalLatestIn a dual-robot system, the relative position error is a superposition of errors from each mono-robot, resulting in deteriorated coordination accuracy. This study aims to enhance relative accuracy of the dual-robot system through direct compensation of relative errors. To achieve this, a novel calibration-driven transfer learning method is proposed for relative error prediction in dual-robot systems. A novel local product of exponential (POE) model with minimal parameters is proposed for error modeling. And a two-step method is presented to identify both geometric and nongeometric parameters for the mono-robots. Using the identified parameters, two calibrated models are established and combined as one dual-robot model, generating error data between the nominal and calibrated models’ outputs. Subsequently, the calibration-driven transfer, involving pretraining a neural network with sufficient generated error data and fine-tuning with a small measured data set, is introduced, enabling knowledge transfer and thereby obtaining a high-precision relative error predictor. Experimental validation is conducted, and the results demonstrate that the proposed method has reduced the maximum and average relative errors by 45.1% and 30.6% compared with the calibrated model, yielding the values of 0.594 mm and 0.255 mm, respectively. First, the proposed calibration-driven transfer method innovatively adopts the calibrated model as a data generator to address the issue of real data scarcity. It achieves high-accuracy relative error prediction with only a small measured data set, significantly enhancing error compensation efficiency. Second, the proposed local POE model achieves model minimality without the need for complex redundant parameter partitioning operations, ensuring stability and robustness in parameter identification.A method for predicting relative position errors in dual-robot systems via knowledge transfer from geometric and nongeometric calibration
Siming Cao, Hongfeng Wang, Yingjie Guo, Weidong Zhu, Yinglin Ke
Industrial Robot, Vol. 51, No. 2, pp.314-325

In a dual-robot system, the relative position error is a superposition of errors from each mono-robot, resulting in deteriorated coordination accuracy. This study aims to enhance relative accuracy of the dual-robot system through direct compensation of relative errors. To achieve this, a novel calibration-driven transfer learning method is proposed for relative error prediction in dual-robot systems.

A novel local product of exponential (POE) model with minimal parameters is proposed for error modeling. And a two-step method is presented to identify both geometric and nongeometric parameters for the mono-robots. Using the identified parameters, two calibrated models are established and combined as one dual-robot model, generating error data between the nominal and calibrated models’ outputs. Subsequently, the calibration-driven transfer, involving pretraining a neural network with sufficient generated error data and fine-tuning with a small measured data set, is introduced, enabling knowledge transfer and thereby obtaining a high-precision relative error predictor.

Experimental validation is conducted, and the results demonstrate that the proposed method has reduced the maximum and average relative errors by 45.1% and 30.6% compared with the calibrated model, yielding the values of 0.594 mm and 0.255 mm, respectively.

First, the proposed calibration-driven transfer method innovatively adopts the calibrated model as a data generator to address the issue of real data scarcity. It achieves high-accuracy relative error prediction with only a small measured data set, significantly enhancing error compensation efficiency. Second, the proposed local POE model achieves model minimality without the need for complex redundant parameter partitioning operations, ensuring stability and robustness in parameter identification.

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A method for predicting relative position errors in dual-robot systems via knowledge transfer from geometric and nongeometric calibration10.1108/IR-11-2023-0267Industrial Robot2024-01-25© 2024 Emerald Publishing LimitedSiming CaoHongfeng WangYingjie GuoWeidong ZhuYinglin KeIndustrial Robot5122024-01-2510.1108/IR-11-2023-0267https://www.emerald.com/insight/content/doi/10.1108/IR-11-2023-0267/full/html?utm_source=rss&utm_medium=feed&utm_campaign=rss_journalLatest© 2024 Emerald Publishing Limited
A KMP-based interactive learning approach for robot trajectory adaptation with obstacle avoidancehttps://www.emerald.com/insight/content/doi/10.1108/IR-11-2023-0284/full/html?utm_source=rss&utm_medium=feed&utm_campaign=rss_journalLatestImitation learning is a powerful tool for planning the trajectory of robotic end-effectors in Cartesian space. Present methods can adapt the trajectory to the obstacle; however, the solutions may not always satisfy users, whereas it is hard for a nonexpert user to teach the robot to avoid obstacles in time as he/she wishes through demonstrations. This paper aims to address the above problem by proposing an approach that combines human supervision with the kernelized movement primitives (KMP) model. This approach first extracts the reference database used to train KMP from demonstrations by using Gaussian mixture model and Gaussian mixture regression. Subsequently, KMP is used to modulate the trajectory of robotic end-effectors in real time based on feedback from its interaction with humans to avoid obstacles, which benefits from a novel reference database update strategy. The user can test different obstacle avoidance trajectories in the current task until a satisfactory solution is found. Experiments performed with the KUKA cobot for obstacle avoidance show that this approach can adapt the trajectories of the robotic end-effector to the user’s wishes in real time, including trajectories that the robot has already passed and has not yet passed. Simulation comparisons also show that it exhibits better performance than KMP with the original reference database update strategy. An interactive learning approach based on KMP is proposed and verified, which not only enables users to plan the trajectory of robotic end-effectors for obstacle avoidance more conveniently and efficiently but also provides an effective idea for accomplishing interactive learning tasks under constraints.A KMP-based interactive learning approach for robot trajectory adaptation with obstacle avoidance
Sa Xiao, Xuyang Chen, Yuankai Lu, Jinhua Ye, Haibin Wu
Industrial Robot, Vol. 51, No. 2, pp.326-339

Imitation learning is a powerful tool for planning the trajectory of robotic end-effectors in Cartesian space. Present methods can adapt the trajectory to the obstacle; however, the solutions may not always satisfy users, whereas it is hard for a nonexpert user to teach the robot to avoid obstacles in time as he/she wishes through demonstrations. This paper aims to address the above problem by proposing an approach that combines human supervision with the kernelized movement primitives (KMP) model.

This approach first extracts the reference database used to train KMP from demonstrations by using Gaussian mixture model and Gaussian mixture regression. Subsequently, KMP is used to modulate the trajectory of robotic end-effectors in real time based on feedback from its interaction with humans to avoid obstacles, which benefits from a novel reference database update strategy. The user can test different obstacle avoidance trajectories in the current task until a satisfactory solution is found.

Experiments performed with the KUKA cobot for obstacle avoidance show that this approach can adapt the trajectories of the robotic end-effector to the user’s wishes in real time, including trajectories that the robot has already passed and has not yet passed. Simulation comparisons also show that it exhibits better performance than KMP with the original reference database update strategy.

An interactive learning approach based on KMP is proposed and verified, which not only enables users to plan the trajectory of robotic end-effectors for obstacle avoidance more conveniently and efficiently but also provides an effective idea for accomplishing interactive learning tasks under constraints.

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A KMP-based interactive learning approach for robot trajectory adaptation with obstacle avoidance10.1108/IR-11-2023-0284Industrial Robot2024-01-18© 2024 Emerald Publishing LimitedSa XiaoXuyang ChenYuankai LuJinhua YeHaibin WuIndustrial Robot5122024-01-1810.1108/IR-11-2023-0284https://www.emerald.com/insight/content/doi/10.1108/IR-11-2023-0284/full/html?utm_source=rss&utm_medium=feed&utm_campaign=rss_journalLatest© 2024 Emerald Publishing Limited
A dynamic parameter identification method for the 5-DOF hybrid robot based on sensitivity analysishttps://www.emerald.com/insight/content/doi/10.1108/IR-08-2023-0178/full/html?utm_source=rss&utm_medium=feed&utm_campaign=rss_journalLatestThis paper aims to propose a dynamic parameter identification method based on sensitivity analysis for the 5-degree of freedom (DOF) hybrid robots, to solve the problems of too many identification parameters, complex model, difficult convergence of optimization algorithms and easy-to-fall into a locally optimal solution, and improve the efficiency and accuracy of dynamic parameter identification. First, the dynamic parameter identification model of the 5-DOF hybrid robot was established based on the principle of virtual work. Then, the sensitivity of the parameters to be identified is analyzed by Sobol’s sensitivity method and verified by simulation. Finally, an identification strategy based on sensitivity analysis was designed, experiments were carried out on the real robot and the results were verified. Compared with the traditional full-parameter identification method, the dynamic parameter identification method based on sensitivity analysis proposed in this paper converges faster when optimized using the genetic algorithm, and the identified dynamic model has higher prediction accuracy for joint drive forces and torques than the full-parameter identification models. This work analyzes the sensitivity of the parameters to be identified in the dynamic parameter identification model for the first time. Then a parameter identification method is proposed based on the results of the sensitivity analysis, which can effectively reduce the parameters to be identified, simplify the identification model, accelerate the convergence of the optimization algorithm and improve the prediction accuracy of the identified model for the joint driving forces and torques.A dynamic parameter identification method for the 5-DOF hybrid robot based on sensitivity analysis
Zaihua Luo, Juliang Xiao, Sijiang Liu, Mingli Wang, Wei Zhao, Haitao Liu
Industrial Robot, Vol. 51, No. 2, pp.340-357

This paper aims to propose a dynamic parameter identification method based on sensitivity analysis for the 5-degree of freedom (DOF) hybrid robots, to solve the problems of too many identification parameters, complex model, difficult convergence of optimization algorithms and easy-to-fall into a locally optimal solution, and improve the efficiency and accuracy of dynamic parameter identification.

First, the dynamic parameter identification model of the 5-DOF hybrid robot was established based on the principle of virtual work. Then, the sensitivity of the parameters to be identified is analyzed by Sobol’s sensitivity method and verified by simulation. Finally, an identification strategy based on sensitivity analysis was designed, experiments were carried out on the real robot and the results were verified.

Compared with the traditional full-parameter identification method, the dynamic parameter identification method based on sensitivity analysis proposed in this paper converges faster when optimized using the genetic algorithm, and the identified dynamic model has higher prediction accuracy for joint drive forces and torques than the full-parameter identification models.

This work analyzes the sensitivity of the parameters to be identified in the dynamic parameter identification model for the first time. Then a parameter identification method is proposed based on the results of the sensitivity analysis, which can effectively reduce the parameters to be identified, simplify the identification model, accelerate the convergence of the optimization algorithm and improve the prediction accuracy of the identified model for the joint driving forces and torques.

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A dynamic parameter identification method for the 5-DOF hybrid robot based on sensitivity analysis10.1108/IR-08-2023-0178Industrial Robot2024-01-18© 2023 Emerald Publishing LimitedZaihua LuoJuliang XiaoSijiang LiuMingli WangWei ZhaoHaitao LiuIndustrial Robot5122024-01-1810.1108/IR-08-2023-0178https://www.emerald.com/insight/content/doi/10.1108/IR-08-2023-0178/full/html?utm_source=rss&utm_medium=feed&utm_campaign=rss_journalLatest© 2023 Emerald Publishing Limited
Adaptive pneumatic soft gripper with embedded flexible bending sensorhttps://www.emerald.com/insight/content/doi/10.1108/IR-11-2023-0275/full/html?utm_source=rss&utm_medium=feed&utm_campaign=rss_journalLatestThe purpose of this paper is to introduce a variable distance pneumatic gripper with embedded flexible sensors, which can effectively grasp fragile and flexible objects. Based on the motion principle of the three-jaw chuck and the pneumatic “fast pneumatic network” (FPN), a variable distance pneumatic holder embedded with a flexible sensor is designed. A structural design plan and preparation process of a soft driver is proposed, using carbon nanotubes as filler in a polyurethane (PU) sponge. A flexible bending sensor based on carbon nanotube materials was produced. A static model of the soft driver cavity was established, and a bending simulation was performed. Based on the designed variable distance soft pneumatic gripper, a real-time monitoring and control system was developed. Combined with the developed pneumatic control system, gripping experiments on objects of different shapes and easily deformable and fragile objects were conducted. In this paper, a variable-distance pneumatic gripper embedded with a flexible sensor was designed, and a control system for real-time monitoring and multi-terminal input was developed. Combined with the developed pneumatic control system, a measure was carried out to measure the relationship between the bending angle, output force and air pressure of the soft driver. Flexible bending sensor performance test. The gripper diameter and gripping weight were tested, and the maximum gripping diameter was determined to be 182 mm, the maximum gripping weight was approximately 900 g and the average measurement error of the bending sensor was 5.91%. Objects of different shapes and easily deformable and fragile objects were tested. Based on the motion principle of the three-jaw chuck and the pneumatic FPN, a variable distance pneumatic gripper with embedded flexible sensors is proposed by using the method of layered and step-by-step preparation. The authors studied the gripper structure design, simulation analysis, prototype preparation, control system construction and experimental testing. The results show that the designed flexible pneumatic gripper with variable distance can grasp common objects.Adaptive pneumatic soft gripper with embedded flexible bending sensor
Chang Chen, Yuandong Liang, Jiten Sun, Chen Lin, Yehao Wen
Industrial Robot, Vol. 51, No. 2, pp.358-368

The purpose of this paper is to introduce a variable distance pneumatic gripper with embedded flexible sensors, which can effectively grasp fragile and flexible objects.

Based on the motion principle of the three-jaw chuck and the pneumatic “fast pneumatic network” (FPN), a variable distance pneumatic holder embedded with a flexible sensor is designed. A structural design plan and preparation process of a soft driver is proposed, using carbon nanotubes as filler in a polyurethane (PU) sponge. A flexible bending sensor based on carbon nanotube materials was produced. A static model of the soft driver cavity was established, and a bending simulation was performed. Based on the designed variable distance soft pneumatic gripper, a real-time monitoring and control system was developed. Combined with the developed pneumatic control system, gripping experiments on objects of different shapes and easily deformable and fragile objects were conducted.

In this paper, a variable-distance pneumatic gripper embedded with a flexible sensor was designed, and a control system for real-time monitoring and multi-terminal input was developed. Combined with the developed pneumatic control system, a measure was carried out to measure the relationship between the bending angle, output force and air pressure of the soft driver. Flexible bending sensor performance test. The gripper diameter and gripping weight were tested, and the maximum gripping diameter was determined to be 182 mm, the maximum gripping weight was approximately 900 g and the average measurement error of the bending sensor was 5.91%. Objects of different shapes and easily deformable and fragile objects were tested.

Based on the motion principle of the three-jaw chuck and the pneumatic FPN, a variable distance pneumatic gripper with embedded flexible sensors is proposed by using the method of layered and step-by-step preparation. The authors studied the gripper structure design, simulation analysis, prototype preparation, control system construction and experimental testing. The results show that the designed flexible pneumatic gripper with variable distance can grasp common objects.

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Adaptive pneumatic soft gripper with embedded flexible bending sensor10.1108/IR-11-2023-0275Industrial Robot2024-01-29© 2024 Emerald Publishing LimitedChang ChenYuandong LiangJiten SunChen LinYehao WenIndustrial Robot5122024-01-2910.1108/IR-11-2023-0275https://www.emerald.com/insight/content/doi/10.1108/IR-11-2023-0275/full/html?utm_source=rss&utm_medium=feed&utm_campaign=rss_journalLatest© 2024 Emerald Publishing Limited
Research on system integration and control methods of an apple-picking robot in unstructured environmenthttps://www.emerald.com/insight/content/doi/10.1108/IR-11-2023-0282/full/html?utm_source=rss&utm_medium=feed&utm_campaign=rss_journalLatestThe purpose of this article is to solve the issue that apple-picking robots are easily interfered by branches or other apples near the target apple in an unstructured environment, leading to grasping failure and apple damage. This study introduces the system units of the apple-picking robot prototype, proposes a method to determine the apple-picking direction via 3D point cloud data and optimizes the path planning method according to the calculated picking direction. After the field experiments, the average deviation of the calculated picking direction from the desired angle was 11.81°, the apple picking success rate was 82% and the picking cycle was 11.1 s. This paper describes a picking control method for an apple-picking robot that can improve the success and reliability of picking in an unstructured environment and provides a basis for automated and mechanized picking in the future.Research on system integration and control methods of an apple-picking robot in unstructured environment
Qiaojun Zhou, Ruilong Gao, Zenghong Ma, Gonghao Cao, Jianneng Chen
Industrial Robot, Vol. 51, No. 2, pp.369-379

The purpose of this article is to solve the issue that apple-picking robots are easily interfered by branches or other apples near the target apple in an unstructured environment, leading to grasping failure and apple damage.

This study introduces the system units of the apple-picking robot prototype, proposes a method to determine the apple-picking direction via 3D point cloud data and optimizes the path planning method according to the calculated picking direction.

After the field experiments, the average deviation of the calculated picking direction from the desired angle was 11.81°, the apple picking success rate was 82% and the picking cycle was 11.1 s.

This paper describes a picking control method for an apple-picking robot that can improve the success and reliability of picking in an unstructured environment and provides a basis for automated and mechanized picking in the future.

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Research on system integration and control methods of an apple-picking robot in unstructured environment10.1108/IR-11-2023-0282Industrial Robot2024-01-22© 2024 Emerald Publishing LimitedQiaojun ZhouRuilong GaoZenghong MaGonghao CaoJianneng ChenIndustrial Robot5122024-01-2210.1108/IR-11-2023-0282https://www.emerald.com/insight/content/doi/10.1108/IR-11-2023-0282/full/html?utm_source=rss&utm_medium=feed&utm_campaign=rss_journalLatest© 2024 Emerald Publishing Limited
The role of robots in logisticshttps://www.emerald.com/insight/content/doi/10.1108/IR-01-2024-0022/full/html?utm_source=rss&utm_medium=feed&utm_campaign=rss_journalLatestThe purpose of this paper is to illustrate the growing role of robots in the logistics industry. Following an introduction, which identifies key challenges facing the industry, this paper discusses robotic applications in warehouses, followed by sections covering transportation and delivery and conclusions. The logistics industry faces a number of challenges that drive technological and operational changes. Robots are already playing a role within the warehouse sector and more complex applications have recently arisen from developments in artificial intelligence-enabled vision technology. In the transportation sector, autonomous trucks are being developed and trialled by leading manufacturers. Many major logistics companies are involved and limited services are underway. Last-mile delivery applications are growing rapidly, and trials, pilot schemes and commercial services are underway in Europe, the USA and the Far East. The Chinese market is particularly buoyant, and in 2019, a delivery robot was launched that operates on public roads, based on Level-4 autonomous driving technology. The drone delivery sector has been slower to develop, in part due to regulatory constraints, but services are now being operated by drone manufacturers, retailers and logistics providers. This paper provides details of existing and future applications of robots in the logistics industry.The role of robots in logistics
Robert Bogue
Industrial Robot, Vol. ahead-of-print, No. ahead-of-print, pp.-

The purpose of this paper is to illustrate the growing role of robots in the logistics industry.

Following an introduction, which identifies key challenges facing the industry, this paper discusses robotic applications in warehouses, followed by sections covering transportation and delivery and conclusions.

The logistics industry faces a number of challenges that drive technological and operational changes. Robots are already playing a role within the warehouse sector and more complex applications have recently arisen from developments in artificial intelligence-enabled vision technology. In the transportation sector, autonomous trucks are being developed and trialled by leading manufacturers. Many major logistics companies are involved and limited services are underway. Last-mile delivery applications are growing rapidly, and trials, pilot schemes and commercial services are underway in Europe, the USA and the Far East. The Chinese market is particularly buoyant, and in 2019, a delivery robot was launched that operates on public roads, based on Level-4 autonomous driving technology. The drone delivery sector has been slower to develop, in part due to regulatory constraints, but services are now being operated by drone manufacturers, retailers and logistics providers.

This paper provides details of existing and future applications of robots in the logistics industry.

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The role of robots in logistics10.1108/IR-01-2024-0022Industrial Robot2024-02-29© 2024 Emerald Publishing LimitedRobert BogueIndustrial Robotahead-of-printahead-of-print2024-02-2910.1108/IR-01-2024-0022https://www.emerald.com/insight/content/doi/10.1108/IR-01-2024-0022/full/html?utm_source=rss&utm_medium=feed&utm_campaign=rss_journalLatest© 2024 Emerald Publishing Limited
An efficient and accurate force/torque sensing method based on an excitation trajectoryhttps://www.emerald.com/insight/content/doi/10.1108/IR-08-2022-0206/full/html?utm_source=rss&utm_medium=feed&utm_campaign=rss_journalLatestThe purpose of the paper is to propose an efficient and accurate force/torque (F/T) sensing method for the robotic wrist-mounted six-dimensional F/T sensor based on an excitation trajectory. This paper presents an efficient and accurate F/T sensing method based on an excitation trajectory. First, the dynamic identification model is established by comprehensively considering inertial forces/torques, sensor zero-drift values, robot base inclination errors and forces/torques caused by load gravity. Therefore, the sensing accuracy is improved. Then, the excitation trajectory with optimized poses is used for robot following and data acquisition. The data acquisition is not limited by poses and its time can be significantly shortened. Finally, the least squares method is used to identify parameters and sense contact forces/torques. Experiments have been carried out on the self-developed robot manipulator. The results strongly demonstrate that the proposed approach is more efficient and accurate than the existing widely-adopted method. Furthermore, the data acquisition time can be shortened from more than 60 s to 3 s/20 s. Thus, the proposed approach is effective and suitable for fast-paced industrial applications. The main contributions of this paper are as follows: the dynamic identification model is established by comprehensively considering inertial forces/torques, sensor zero-drift values, robot base inclination errors and forces/torques caused by load gravity; and the excitation trajectory with optimized poses is used for robot following and data acquisition.An efficient and accurate force/torque sensing method based on an excitation trajectory
Kang Min, Fenglei Ni, Hong Liu
Industrial Robot, Vol. ahead-of-print, No. ahead-of-print, pp.-

The purpose of the paper is to propose an efficient and accurate force/torque (F/T) sensing method for the robotic wrist-mounted six-dimensional F/T sensor based on an excitation trajectory.

This paper presents an efficient and accurate F/T sensing method based on an excitation trajectory. First, the dynamic identification model is established by comprehensively considering inertial forces/torques, sensor zero-drift values, robot base inclination errors and forces/torques caused by load gravity. Therefore, the sensing accuracy is improved. Then, the excitation trajectory with optimized poses is used for robot following and data acquisition. The data acquisition is not limited by poses and its time can be significantly shortened. Finally, the least squares method is used to identify parameters and sense contact forces/torques.

Experiments have been carried out on the self-developed robot manipulator. The results strongly demonstrate that the proposed approach is more efficient and accurate than the existing widely-adopted method. Furthermore, the data acquisition time can be shortened from more than 60 s to 3 s/20 s. Thus, the proposed approach is effective and suitable for fast-paced industrial applications.

The main contributions of this paper are as follows: the dynamic identification model is established by comprehensively considering inertial forces/torques, sensor zero-drift values, robot base inclination errors and forces/torques caused by load gravity; and the excitation trajectory with optimized poses is used for robot following and data acquisition.

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An efficient and accurate force/torque sensing method based on an excitation trajectory10.1108/IR-08-2022-0206Industrial Robot2023-02-17© 2023 Emerald Publishing LimitedKang MinFenglei NiHong LiuIndustrial Robotahead-of-printahead-of-print2023-02-1710.1108/IR-08-2022-0206https://www.emerald.com/insight/content/doi/10.1108/IR-08-2022-0206/full/html?utm_source=rss&utm_medium=feed&utm_campaign=rss_journalLatest© 2023 Emerald Publishing Limited
A robot motion skills method with explicit environmental constraintshttps://www.emerald.com/insight/content/doi/10.1108/IR-08-2023-0180/full/html?utm_source=rss&utm_medium=feed&utm_campaign=rss_journalLatestThis paper aims to solve the problem of the inability to apply learning methods for robot motion skills based on dynamic movement primitives (DMPs) in tasks with explicit environmental constraints, while ensuring the reliability of the robot system. The authors propose a novel DMP that takes into account environmental constraints to enhance the generality of the robot motion skill learning method. First, based on the real-time state of the robot and environmental constraints, the task space is divided into different regions and different control strategies are used in each region. Second, to ensure the effectiveness of the generalized skills (trajectories), the control barrier function is extended to DMP to enforce constraint conditions. Finally, a skill modeling and learning algorithm flow is proposed that takes into account environmental constraints within DMPs. By designing numerical simulation and prototype demonstration experiments to study skill learning and generalization under constrained environments. The experimental results demonstrate that the proposed method is capable of generating motion skills that satisfy environmental constraints. It ensures that robots remain in a safe position throughout the execution of generation skills, thereby avoiding any adverse impact on the surrounding environment. This paper explores further applications of generalized motion skill learning methods on robots, enhancing the efficiency of robot operations in constrained environments, particularly in non-point-constrained environments. The improved methods are applicable to different types of robots.A robot motion skills method with explicit environmental constraints
Yonghua Huang, Tuanjie Li, Yuming Ning, Yan Zhang
Industrial Robot, Vol. ahead-of-print, No. ahead-of-print, pp.-

This paper aims to solve the problem of the inability to apply learning methods for robot motion skills based on dynamic movement primitives (DMPs) in tasks with explicit environmental constraints, while ensuring the reliability of the robot system.

The authors propose a novel DMP that takes into account environmental constraints to enhance the generality of the robot motion skill learning method. First, based on the real-time state of the robot and environmental constraints, the task space is divided into different regions and different control strategies are used in each region. Second, to ensure the effectiveness of the generalized skills (trajectories), the control barrier function is extended to DMP to enforce constraint conditions. Finally, a skill modeling and learning algorithm flow is proposed that takes into account environmental constraints within DMPs.

By designing numerical simulation and prototype demonstration experiments to study skill learning and generalization under constrained environments. The experimental results demonstrate that the proposed method is capable of generating motion skills that satisfy environmental constraints. It ensures that robots remain in a safe position throughout the execution of generation skills, thereby avoiding any adverse impact on the surrounding environment.

This paper explores further applications of generalized motion skill learning methods on robots, enhancing the efficiency of robot operations in constrained environments, particularly in non-point-constrained environments. The improved methods are applicable to different types of robots.

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A robot motion skills method with explicit environmental constraints10.1108/IR-08-2023-0180Industrial Robot2024-03-04© 2024 Emerald Publishing LimitedYonghua HuangTuanjie LiYuming NingYan ZhangIndustrial Robotahead-of-printahead-of-print2024-03-0410.1108/IR-08-2023-0180https://www.emerald.com/insight/content/doi/10.1108/IR-08-2023-0180/full/html?utm_source=rss&utm_medium=feed&utm_campaign=rss_journalLatest© 2024 Emerald Publishing Limited
Joint torque prediction of industrial robots based on PSO-LSTM deep learninghttps://www.emerald.com/insight/content/doi/10.1108/IR-08-2023-0191/full/html?utm_source=rss&utm_medium=feed&utm_campaign=rss_journalLatestBecause of the key role of joint torque in industrial robots (IRs) motion performance control and energy consumption calculation and efficiency optimization, the purpose of this paper is to propose a deep learning torque prediction method based on long short-term memory (LSTM) recurrent neural networks optimized by particle swarm optimization (PSO), which can accurately predict the the joint torque. The proposed model optimized the LSTM with PSO algorithm to accurately predict the IRs joint torque. The authors design an excitation trajectory for ABB 1600–10/145 experimental robot and collect its relative dynamic data. The LSTM model was trained with the experimental data, and PSO was used to find optimal number of LSTM nodes and learning rate, then a torque prediction model is established based on PSO-LSTM deep learning method. The novel model is used to predict the robot’s six joint torque and the root mean error squares of the predicted data together with least squares (LS) method were comparably studied. The predicted joint torque value by PSO-LSTM deep learning approach is highly overlapped with those from real experiment robot, and the error is quite small. The average square error between the predicted joint torque data and experiment data is 2.31 N.m smaller than that with the LS method. The accuracy of the novel PSO-LSTM learning method for joint torque prediction of IR is proved. PSO and LSTM model are deeply integrated for the first time to predict the joint torque of IR and the prediction accuracy is verified.Joint torque prediction of industrial robots based on PSO-LSTM deep learning
Wei Xiao, Zhongtao Fu, Shixian Wang, Xubing Chen
Industrial Robot, Vol. ahead-of-print, No. ahead-of-print, pp.-

Because of the key role of joint torque in industrial robots (IRs) motion performance control and energy consumption calculation and efficiency optimization, the purpose of this paper is to propose a deep learning torque prediction method based on long short-term memory (LSTM) recurrent neural networks optimized by particle swarm optimization (PSO), which can accurately predict the the joint torque.

The proposed model optimized the LSTM with PSO algorithm to accurately predict the IRs joint torque. The authors design an excitation trajectory for ABB 1600–10/145 experimental robot and collect its relative dynamic data. The LSTM model was trained with the experimental data, and PSO was used to find optimal number of LSTM nodes and learning rate, then a torque prediction model is established based on PSO-LSTM deep learning method. The novel model is used to predict the robot’s six joint torque and the root mean error squares of the predicted data together with least squares (LS) method were comparably studied.

The predicted joint torque value by PSO-LSTM deep learning approach is highly overlapped with those from real experiment robot, and the error is quite small. The average square error between the predicted joint torque data and experiment data is 2.31 N.m smaller than that with the LS method. The accuracy of the novel PSO-LSTM learning method for joint torque prediction of IR is proved.

PSO and LSTM model are deeply integrated for the first time to predict the joint torque of IR and the prediction accuracy is verified.

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Joint torque prediction of industrial robots based on PSO-LSTM deep learning10.1108/IR-08-2023-0191Industrial Robot2024-01-12© 2024 Emerald Publishing LimitedWei XiaoZhongtao FuShixian WangXubing ChenIndustrial Robotahead-of-printahead-of-print2024-01-1210.1108/IR-08-2023-0191https://www.emerald.com/insight/content/doi/10.1108/IR-08-2023-0191/full/html?utm_source=rss&utm_medium=feed&utm_campaign=rss_journalLatest© 2024 Emerald Publishing Limited
Operation space analysis and trajectory planning of mechanical arm in narrow space for GIS (gas insulated switchgear) inspection robothttps://www.emerald.com/insight/content/doi/10.1108/IR-09-2021-0219/full/html?utm_source=rss&utm_medium=feed&utm_campaign=rss_journalLatestThe purpose of this paper is to achieve optimal climbing control of the gas-insulated switchgear (GIS) robot, as the authors know that the GIS inspection robot is a kind of artificial intelligent mobile equipment which auxiliary or even substitute human labor drive on the inner wall of the gas-insulated metal enclosed switchgear. The GIS equipment fault inspection and maintenance can be realized through the robot manipulator on the mobile platform and the camera carried on the fuselage, and it is a kind of intelligent equipment for operation. To realize the inspection and operation of the GIS equipment pipeline without blind spots, the robot is required to be able to travel on any wall inside the pipeline, especially the top of the pipeline and both right and left sides of the pipeline, which requires the flexible climbing of the GIS inspection robot. The robot device has a certain adsorption function to ensure that the robot is fully attached to the wall surface. At the same time, the robot manipulator can be used for collision-free obstacle avoidance operation planning in the narrow operation space inside the GIS equipment. The above two technologies are the key that the robot completes the GIS equipment inspections. Based on this, this paper focuses on modeling and analysis of the chassis adsorption characteristics for the GIS inspection robot. At the same time, the Denavit Hartenberg (D-H) coordinate model of the robot arm system has been established, and the kinematics forward and inverse solutions of the robot manipulator system have been derived. The reachable working space point cloud diagram of the robot manipulator in MATLAB has been obtained based on the kinematics analysis, and the operation trajectory planning of the robot manipulator using the robot toolbox has been obtained. The simulation results show that the robot manipulator system can realize the movement without collision and obstacle avoidance. The space can cover the entire GIS pipeline so as to achieve no blind area operation. Finally, the GIS inspection robot physical prototype system has been developed through system integration design, and the inspection, maintenance operation experiment has been carried out in the actual GIS equipment. The entire robot system can complete the GIS equipment inspection operation soundly and improve the operation efficiency. The research in this paper has important theoretical significance and practical application value for the optimization design and practical research of the GIS inspection robot system.Operation space analysis and trajectory planning of mechanical arm in narrow space for GIS (gas insulated switchgear) inspection robot
Zhimin Pan, Yu Yan, Yizhou Huang, Wei Jiang, Gao Cheng Ye, Hong Jun Li
Industrial Robot, Vol. ahead-of-print, No. ahead-of-print, pp.-

The purpose of this paper is to achieve optimal climbing control of the gas-insulated switchgear (GIS) robot, as the authors know that the GIS inspection robot is a kind of artificial intelligent mobile equipment which auxiliary or even substitute human labor drive on the inner wall of the gas-insulated metal enclosed switchgear. The GIS equipment fault inspection and maintenance can be realized through the robot manipulator on the mobile platform and the camera carried on the fuselage, and it is a kind of intelligent equipment for operation. To realize the inspection and operation of the GIS equipment pipeline without blind spots, the robot is required to be able to travel on any wall inside the pipeline, especially the top of the pipeline and both right and left sides of the pipeline, which requires the flexible climbing of the GIS inspection robot. The robot device has a certain adsorption function to ensure that the robot is fully attached to the wall surface. At the same time, the robot manipulator can be used for collision-free obstacle avoidance operation planning in the narrow operation space inside the GIS equipment.

The above two technologies are the key that the robot completes the GIS equipment inspections. Based on this, this paper focuses on modeling and analysis of the chassis adsorption characteristics for the GIS inspection robot. At the same time, the Denavit Hartenberg (D-H) coordinate model of the robot arm system has been established, and the kinematics forward and inverse solutions of the robot manipulator system have been derived.

The reachable working space point cloud diagram of the robot manipulator in MATLAB has been obtained based on the kinematics analysis, and the operation trajectory planning of the robot manipulator using the robot toolbox has been obtained. The simulation results show that the robot manipulator system can realize the movement without collision and obstacle avoidance. The space can cover the entire GIS pipeline so as to achieve no blind area operation.

Finally, the GIS inspection robot physical prototype system has been developed through system integration design, and the inspection, maintenance operation experiment has been carried out in the actual GIS equipment. The entire robot system can complete the GIS equipment inspection operation soundly and improve the operation efficiency. The research in this paper has important theoretical significance and practical application value for the optimization design and practical research of the GIS inspection robot system.

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Operation space analysis and trajectory planning of mechanical arm in narrow space for GIS (gas insulated switchgear) inspection robot10.1108/IR-09-2021-0219Industrial Robot2022-04-05© 2022 Emerald Publishing LimitedZhimin PanYu YanYizhou HuangWei JiangGao Cheng YeHong Jun LiIndustrial Robotahead-of-printahead-of-print2022-04-0510.1108/IR-09-2021-0219https://www.emerald.com/insight/content/doi/10.1108/IR-09-2021-0219/full/html?utm_source=rss&utm_medium=feed&utm_campaign=rss_journalLatest© 2022 Emerald Publishing Limited
Development of a novel nonrigid support friction stir welding repair robot for aluminum alloy trainhttps://www.emerald.com/insight/content/doi/10.1108/IR-10-2023-0241/full/html?utm_source=rss&utm_medium=feed&utm_campaign=rss_journalLatestThis paper aims to develop a specific type of mobile nonrigid support friction stir welding (FSW) robot, which can adapt to aluminum alloy trucks for rapid online repair. The friction stir welding robot is designed to complete online repair according to the surface damage of large aluminum alloy trucks. A rotatable telescopic arm unit and a structure for a cutting board in the shape of a petal that was optimized by finite element analysis are designed to give enough top forging force for welding to address the issues of inadequate support and significant deformation in the repair process. The experimental results indicate that the welding robot is capable of performing online surface repairs for large aluminum alloy trucks without rigid support on the backside, and the welding joint exhibits satisfactory performance. Compared with other heavy-duty robotic arms and gantry-type friction stir welding robots, this robot can achieve online welding without disassembling the vehicle body, and it requires less axial force. This lays the foundation for the future promotion of lightweight equipment. The designed friction stir welding robot is capable of performing online repairs without dismantling the aluminum alloy truck body, even in situations where sufficient upset force is unavailable. It ensures welding quality and exhibits high efficiency. This approach is considered novel in the field of lightweight online welding repairs, both domestically and internationally.Development of a novel nonrigid support friction stir welding repair robot for aluminum alloy train
Taotao Jin, Xiuhui Cui, Chuanyue Qi, Xinyu Yang
Industrial Robot, Vol. ahead-of-print, No. ahead-of-print, pp.-

This paper aims to develop a specific type of mobile nonrigid support friction stir welding (FSW) robot, which can adapt to aluminum alloy trucks for rapid online repair.

The friction stir welding robot is designed to complete online repair according to the surface damage of large aluminum alloy trucks. A rotatable telescopic arm unit and a structure for a cutting board in the shape of a petal that was optimized by finite element analysis are designed to give enough top forging force for welding to address the issues of inadequate support and significant deformation in the repair process.

The experimental results indicate that the welding robot is capable of performing online surface repairs for large aluminum alloy trucks without rigid support on the backside, and the welding joint exhibits satisfactory performance.

Compared with other heavy-duty robotic arms and gantry-type friction stir welding robots, this robot can achieve online welding without disassembling the vehicle body, and it requires less axial force. This lays the foundation for the future promotion of lightweight equipment.

The designed friction stir welding robot is capable of performing online repairs without dismantling the aluminum alloy truck body, even in situations where sufficient upset force is unavailable. It ensures welding quality and exhibits high efficiency. This approach is considered novel in the field of lightweight online welding repairs, both domestically and internationally.

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Development of a novel nonrigid support friction stir welding repair robot for aluminum alloy train10.1108/IR-10-2023-0241Industrial Robot2024-03-18© 2024 Emerald Publishing LimitedTaotao JinXiuhui CuiChuanyue QiXinyu YangIndustrial Robotahead-of-printahead-of-print2024-03-1810.1108/IR-10-2023-0241https://www.emerald.com/insight/content/doi/10.1108/IR-10-2023-0241/full/html?utm_source=rss&utm_medium=feed&utm_campaign=rss_journalLatest© 2024 Emerald Publishing Limited
An efficient constraint method for solving planning problems under end-effector constraintshttps://www.emerald.com/insight/content/doi/10.1108/IR-10-2023-0251/full/html?utm_source=rss&utm_medium=feed&utm_campaign=rss_journalLatestIn response to the challenge of reduced efficiency or failure of robot motion planning algorithms when faced with end-effector constraints, this study aims to propose a new constraint method to improve the performance of the sampling-based planner. In this work, a constraint method (TC method) based on the idea of cross-sampling is proposed. This method uses the tangent space in the workspace to approximate the constrained manifold pattern and projects the entire sampling process into the workspace for constraint correction. This method avoids the need for extensive computational work involving multiple iterations of the Jacobi inverse matrix in the configuration space and retains the sampling properties of the sampling-based algorithm. Simulation results demonstrate that the performance of the planner when using the TC method under the end-effector constraint surpasses that of other methods. Physical experiments further confirm that the TC-Planner does not cause excessive constraint errors that might lead to task failure. Moreover, field tests conducted on robots underscore the effectiveness of the TC-Planner, and its excellent performance, thereby advancing the autonomy of robots in power-line connection tasks. This paper proposes a new constraint method combined with the rapid-exploring random trees algorithm to generate collision-free trajectories that satisfy the constraints for a high-dimensional robotic system under end-effector constraints. In a series of simulation and experimental tests, the planner using the TC method under end-effector constraints efficiently performs. Tests on a power distribution live-line operation robot also show that the TC method can greatly aid the robot in completing operation tasks with end-effector constraints. This helps robots to perform tasks with complex end-effector constraints such as grinding and welding more efficiently and autonomously.An efficient constraint method for solving planning problems under end-effector constraints
Yahao Wang, Zhen Li, Yanghong Li, Erbao Dong
Industrial Robot, Vol. ahead-of-print, No. ahead-of-print, pp.-

In response to the challenge of reduced efficiency or failure of robot motion planning algorithms when faced with end-effector constraints, this study aims to propose a new constraint method to improve the performance of the sampling-based planner.

In this work, a constraint method (TC method) based on the idea of cross-sampling is proposed. This method uses the tangent space in the workspace to approximate the constrained manifold pattern and projects the entire sampling process into the workspace for constraint correction. This method avoids the need for extensive computational work involving multiple iterations of the Jacobi inverse matrix in the configuration space and retains the sampling properties of the sampling-based algorithm.

Simulation results demonstrate that the performance of the planner when using the TC method under the end-effector constraint surpasses that of other methods. Physical experiments further confirm that the TC-Planner does not cause excessive constraint errors that might lead to task failure. Moreover, field tests conducted on robots underscore the effectiveness of the TC-Planner, and its excellent performance, thereby advancing the autonomy of robots in power-line connection tasks.

This paper proposes a new constraint method combined with the rapid-exploring random trees algorithm to generate collision-free trajectories that satisfy the constraints for a high-dimensional robotic system under end-effector constraints. In a series of simulation and experimental tests, the planner using the TC method under end-effector constraints efficiently performs. Tests on a power distribution live-line operation robot also show that the TC method can greatly aid the robot in completing operation tasks with end-effector constraints. This helps robots to perform tasks with complex end-effector constraints such as grinding and welding more efficiently and autonomously.

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An efficient constraint method for solving planning problems under end-effector constraints10.1108/IR-10-2023-0251Industrial Robot2024-03-22© 2024 Emerald Publishing LimitedYahao WangZhen LiYanghong LiErbao DongIndustrial Robotahead-of-printahead-of-print2024-03-2210.1108/IR-10-2023-0251https://www.emerald.com/insight/content/doi/10.1108/IR-10-2023-0251/full/html?utm_source=rss&utm_medium=feed&utm_campaign=rss_journalLatest© 2024 Emerald Publishing Limited
Narrow gap welding seam deflection correction study based on passive visionhttps://www.emerald.com/insight/content/doi/10.1108/IR-10-2023-0252/full/html?utm_source=rss&utm_medium=feed&utm_campaign=rss_journalLatestThe purpose of this study is to establish a method for accurately extracting torch and seam features. This will improve the quality of narrow gap welding. An adaptive deflection correction system based on passive light vision sensors was designed using the Halcon software from MVtec Germany as a platform. This paper proposes an adaptive correction system for welding guns and seams divided into image calibration and feature extraction. In the image calibration method, the field of view distortion because of the position of the camera is resolved using image calibration techniques. In the feature extraction method, clear features of the weld gun and weld seam are accurately extracted after processing using algorithms such as impact filtering, subpixel (XLD), Gaussian Laplacian and sense region for the weld gun and weld seam. The gun and weld seam centers are accurately fitted using least squares. After calculating the deviation values, the error values are monitored, and error correction is achieved by programmable logic controller (PLC) control. Finally, experimental verification and analysis of the tracking errors are carried out. The results show that the system achieves great results in dealing with camera aberrations. Weld gun features can be effectively and accurately identified. The difference between a scratch and a weld is effectively distinguished. The system accurately detects the center features of the torch and weld and controls the correction error to within 0.3mm. An adaptive correction system based on a passive light vision sensor is designed which corrects the field-of-view distortion caused by the camera’s position deviation. Differences in features between scratches and welds are distinguished, and image features are effectively extracted. The final system weld error is controlled to 0.3 mm.Narrow gap welding seam deflection correction study based on passive vision
Wang Zhang, Lizhe Fan, Yanbin Guo, Weihua Liu, Chao Ding
Industrial Robot, Vol. ahead-of-print, No. ahead-of-print, pp.-

The purpose of this study is to establish a method for accurately extracting torch and seam features. This will improve the quality of narrow gap welding. An adaptive deflection correction system based on passive light vision sensors was designed using the Halcon software from MVtec Germany as a platform.

This paper proposes an adaptive correction system for welding guns and seams divided into image calibration and feature extraction. In the image calibration method, the field of view distortion because of the position of the camera is resolved using image calibration techniques. In the feature extraction method, clear features of the weld gun and weld seam are accurately extracted after processing using algorithms such as impact filtering, subpixel (XLD), Gaussian Laplacian and sense region for the weld gun and weld seam. The gun and weld seam centers are accurately fitted using least squares. After calculating the deviation values, the error values are monitored, and error correction is achieved by programmable logic controller (PLC) control. Finally, experimental verification and analysis of the tracking errors are carried out.

The results show that the system achieves great results in dealing with camera aberrations. Weld gun features can be effectively and accurately identified. The difference between a scratch and a weld is effectively distinguished. The system accurately detects the center features of the torch and weld and controls the correction error to within 0.3mm.

An adaptive correction system based on a passive light vision sensor is designed which corrects the field-of-view distortion caused by the camera’s position deviation. Differences in features between scratches and welds are distinguished, and image features are effectively extracted. The final system weld error is controlled to 0.3 mm.

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Narrow gap welding seam deflection correction study based on passive vision10.1108/IR-10-2023-0252Industrial Robot2024-01-23© 2024 Emerald Publishing LimitedWang ZhangLizhe FanYanbin GuoWeihua LiuChao DingIndustrial Robotahead-of-printahead-of-print2024-01-2310.1108/IR-10-2023-0252https://www.emerald.com/insight/content/doi/10.1108/IR-10-2023-0252/full/html?utm_source=rss&utm_medium=feed&utm_campaign=rss_journalLatest© 2024 Emerald Publishing Limited
A heavy-load wall-climbing robot for bridge concrete structures inspectionhttps://www.emerald.com/insight/content/doi/10.1108/IR-11-2023-0273/full/html?utm_source=rss&utm_medium=feed&utm_campaign=rss_journalLatestThe purpose of this paper is to present a wall-climbing robot platform for heavy-load with negative pressure adsorption, which could be equipped with a six-degree of freedom (DOF) collaborative robot (Cobot) and detection device for inspecting the overwater part of concrete bridge towers/piers for large bridges. By analyzing the shortcomings of existing wall-climbing robots in detecting concrete structures, a wall-climbing mobile manipulator (WCMM), which could be compatible with various detection devices, is proposed for detecting the concrete towers/piers of the Hong Kong-Zhuhai-Macao Bridge. The factors affecting the load capacity are obtained by analyzing the antislip and antioverturning conditions of the wall-climbing robot platform on the wall surface. Design strategies for each part of the structure of the wall-climbing robot are provided based on the influencing factors. By deriving the equivalent adsorption force equation, analyzed the influencing factors of equivalent adsorption force and provided schemes that could enhance the load capacity of the wall-climbing robot. The adsorption test verifies the maximum negative pressure that the fan module could provide to the adsorption chamber. The load capacity test verifies it is feasible to achieve the expected bearing requirements of the wall-climbing robot. The motion tests prove that the developed climbing robot vehicle could move freely on the surface of the concrete structure after being equipped with a six-DOF Cobot. The development of the heavy-load wall-climbing robot enables the Cobot to be installed and equipped on the wall-climbing robot, forming the WCMM, making them compatible with carrying various devices and expanding the application of the wall-climbing robot. A heavy-load wall-climbing robot using negative pressure adsorption has been developed. The wall-climbing robot platform could carry a six-DOF Cobot, making it compatible with various detection devices for the inspection of concrete structures of large bridges. The WCMM could be expanded to detect the concretes with similar structures. The research and development process of the heavy-load wall-climbing robot could inspire the design of other negative-pressure wall-climbing robots.A heavy-load wall-climbing robot for bridge concrete structures inspection
Guizhi Lyu, Peng Wang, Guohong Li, Feng Lu, Shenglong Dai
Industrial Robot, Vol. ahead-of-print, No. ahead-of-print, pp.-

The purpose of this paper is to present a wall-climbing robot platform for heavy-load with negative pressure adsorption, which could be equipped with a six-degree of freedom (DOF) collaborative robot (Cobot) and detection device for inspecting the overwater part of concrete bridge towers/piers for large bridges.

By analyzing the shortcomings of existing wall-climbing robots in detecting concrete structures, a wall-climbing mobile manipulator (WCMM), which could be compatible with various detection devices, is proposed for detecting the concrete towers/piers of the Hong Kong-Zhuhai-Macao Bridge. The factors affecting the load capacity are obtained by analyzing the antislip and antioverturning conditions of the wall-climbing robot platform on the wall surface. Design strategies for each part of the structure of the wall-climbing robot are provided based on the influencing factors. By deriving the equivalent adsorption force equation, analyzed the influencing factors of equivalent adsorption force and provided schemes that could enhance the load capacity of the wall-climbing robot.

The adsorption test verifies the maximum negative pressure that the fan module could provide to the adsorption chamber. The load capacity test verifies it is feasible to achieve the expected bearing requirements of the wall-climbing robot. The motion tests prove that the developed climbing robot vehicle could move freely on the surface of the concrete structure after being equipped with a six-DOF Cobot.

The development of the heavy-load wall-climbing robot enables the Cobot to be installed and equipped on the wall-climbing robot, forming the WCMM, making them compatible with carrying various devices and expanding the application of the wall-climbing robot.

A heavy-load wall-climbing robot using negative pressure adsorption has been developed. The wall-climbing robot platform could carry a six-DOF Cobot, making it compatible with various detection devices for the inspection of concrete structures of large bridges. The WCMM could be expanded to detect the concretes with similar structures. The research and development process of the heavy-load wall-climbing robot could inspire the design of other negative-pressure wall-climbing robots.

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A heavy-load wall-climbing robot for bridge concrete structures inspection10.1108/IR-11-2023-0273Industrial Robot2024-02-23© 2024 Emerald Publishing LimitedGuizhi LyuPeng WangGuohong LiFeng LuShenglong DaiIndustrial Robotahead-of-printahead-of-print2024-02-2310.1108/IR-11-2023-0273https://www.emerald.com/insight/content/doi/10.1108/IR-11-2023-0273/full/html?utm_source=rss&utm_medium=feed&utm_campaign=rss_journalLatest© 2024 Emerald Publishing Limited
Design and experiment of transmission tower climbing robot inspired by inchwormhttps://www.emerald.com/insight/content/doi/10.1108/IR-11-2023-0277/full/html?utm_source=rss&utm_medium=feed&utm_campaign=rss_journalLatestThe purpose of this paper is to design a climbing robot connected by a connecting rod mechanism to achieve multi-functional tasks such as obstacles crossing and climbing of power transmission towers. A connecting rod type gripper has been designed to achieve stable grasping of angle steel. Before grasping, use coordination between structures to achieve stable docking and grasping. By using the alternating movements of two claws and the middle climbing mechanism, the climbing and obstacle crossing of the angle steel were achieved. Through a simple linkage mechanism, a climbing robot has been designed, greatly reducing the overall mass of the robot. It can also carry a load of 1 kg, and the climbing mechanism can perform stable climbing. The maximum step distance of the climbing robot is 543 mm, which can achieve the crossing of angle steel obstacles. A transmission tower climbing mechanism was proposed by analyzing the working environment. Through the locking ability of the screw nut, stable clamping of the angle steel is achieved, and a pitch mechanism is designed to adjust the posture of the hand claw.Design and experiment of transmission tower climbing robot inspired by inchworm
Shufeng Tang, Yongsheng Kou, Guoqing Zhao, Huijie Zhang, Hong Chang, Xuewei Zhang, Yunhe Zou
Industrial Robot, Vol. ahead-of-print, No. ahead-of-print, pp.-

The purpose of this paper is to design a climbing robot connected by a connecting rod mechanism to achieve multi-functional tasks such as obstacles crossing and climbing of power transmission towers.

A connecting rod type gripper has been designed to achieve stable grasping of angle steel. Before grasping, use coordination between structures to achieve stable docking and grasping. By using the alternating movements of two claws and the middle climbing mechanism, the climbing and obstacle crossing of the angle steel were achieved.

Through a simple linkage mechanism, a climbing robot has been designed, greatly reducing the overall mass of the robot. It can also carry a load of 1 kg, and the climbing mechanism can perform stable climbing. The maximum step distance of the climbing robot is 543 mm, which can achieve the crossing of angle steel obstacles.

A transmission tower climbing mechanism was proposed by analyzing the working environment. Through the locking ability of the screw nut, stable clamping of the angle steel is achieved, and a pitch mechanism is designed to adjust the posture of the hand claw.

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Design and experiment of transmission tower climbing robot inspired by inchworm10.1108/IR-11-2023-0277Industrial Robot2024-03-20© 2024 Emerald Publishing LimitedShufeng TangYongsheng KouGuoqing ZhaoHuijie ZhangHong ChangXuewei ZhangYunhe ZouIndustrial Robotahead-of-printahead-of-print2024-03-2010.1108/IR-11-2023-0277https://www.emerald.com/insight/content/doi/10.1108/IR-11-2023-0277/full/html?utm_source=rss&utm_medium=feed&utm_campaign=rss_journalLatest© 2024 Emerald Publishing Limited
Autonomous path planning and stabilizing force interaction control for robotic massage in unknown environmenthttps://www.emerald.com/insight/content/doi/10.1108/IR-11-2023-0292/full/html?utm_source=rss&utm_medium=feed&utm_campaign=rss_journalLatestTo ensure the motion attitude and stable contact force of massage robot working on unknown human tissue environment, this study aims to propose a robotic system for autonomous massage path planning and stable interaction control. First, back region extraction and acupoint recognition based on deep learning is proposed, which provides a basis for determining the working area and path points of the robot. Second, to realize the standard approach and movement trajectory of the expert massage, 3D reconstruction and path planning of the massage area are performed, and normal vectors are calculated to control the normal orientation of robot-end. Finally, to cope with the soft and hard changes of human tissue state and body movement, an adaptive force tracking control strategy is presented to compensate the uncertainty of environmental position and tissue hardness online. Improved network model can accomplish the acupoint recognition task with a large accuracy and integrate the point cloud to generate massage trajectories adapted to the shape of the human body. Experimental results show that the adaptive force tracking control can obtain a relatively smooth force, and the error is basically within ± 0.2 N during the online experiment. This paper incorporates deep learning, 3D reconstruction and impedance control, the robot can understand the shape features of the massage area and adapt its planning massage path to carry out a stable and safe force tracking control during dynamic robot–human contact.Autonomous path planning and stabilizing force interaction control for robotic massage in unknown environment
Xiaoqing Zhang, Genliang Xiong, Peng Yin, Yanfeng Gao, Yan Feng
Industrial Robot, Vol. ahead-of-print, No. ahead-of-print, pp.-

To ensure the motion attitude and stable contact force of massage robot working on unknown human tissue environment, this study aims to propose a robotic system for autonomous massage path planning and stable interaction control.

First, back region extraction and acupoint recognition based on deep learning is proposed, which provides a basis for determining the working area and path points of the robot. Second, to realize the standard approach and movement trajectory of the expert massage, 3D reconstruction and path planning of the massage area are performed, and normal vectors are calculated to control the normal orientation of robot-end. Finally, to cope with the soft and hard changes of human tissue state and body movement, an adaptive force tracking control strategy is presented to compensate the uncertainty of environmental position and tissue hardness online.

Improved network model can accomplish the acupoint recognition task with a large accuracy and integrate the point cloud to generate massage trajectories adapted to the shape of the human body. Experimental results show that the adaptive force tracking control can obtain a relatively smooth force, and the error is basically within ± 0.2 N during the online experiment.

This paper incorporates deep learning, 3D reconstruction and impedance control, the robot can understand the shape features of the massage area and adapt its planning massage path to carry out a stable and safe force tracking control during dynamic robot–human contact.

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Autonomous path planning and stabilizing force interaction control for robotic massage in unknown environment10.1108/IR-11-2023-0292Industrial Robot2024-02-09© 2024 Emerald Publishing LimitedXiaoqing ZhangGenliang XiongPeng YinYanfeng GaoYan FengIndustrial Robotahead-of-printahead-of-print2024-02-0910.1108/IR-11-2023-0292https://www.emerald.com/insight/content/doi/10.1108/IR-11-2023-0292/full/html?utm_source=rss&utm_medium=feed&utm_campaign=rss_journalLatest© 2024 Emerald Publishing Limited
DARLOS: a lightweight dual-arm robotic live-line operation system for autonomous high-voltage distribution grid maintenancehttps://www.emerald.com/insight/content/doi/10.1108/IR-11-2023-0296/full/html?utm_source=rss&utm_medium=feed&utm_campaign=rss_journalLatestThis paper aims to present a novel lightweight distribution grid operating robot system with focus on lightweight and multi-functionality, aiming for autonomous and live-line maintenance operations. A ground-up redesign of the dual-arm robotic system with 12-DoF is applied for substantial weight reduction; a dual-mode operating control framework is proposed, with vision-guided autonomous operation embedded with real-time manual teleoperation controlling both manipulators simultaneously; a quick-swap tooling system is developed to conduct multi-functional operation tasks. A prototype robotic system is constructed and validated in a series of operational experiments in an emulated environment both indoors and outdoors. The overall weight of the system is successfully brought down to under 150 kg, making it suitable for the majority of vehicle-mounted aerial work platforms, and it can be flexibly and quickly deployed in population dense areas with narrow streets. The system equips with two dexterous robotic manipulators and up to six interchangeable tools, and a vision system for AI-based autonomous operations. A quick-change tooling system ensures the robot to change tools on-the-go without human intervention. The resulting dual-arm robotic live-line operation system robotic system could be compact and lightweight enough to be deployed on a wide range of available aerial working platforms with high mobility and efficiency. The robot could both conduct routine operation tasks fully autonomously without human direct operation and be manually operated when required. The quick-swap tooling system enables lightweight and durable interchangeability of multiple end-effector tools, enabling future expansion of operating capabilities across different tasks and operating scenarios.DARLOS: a lightweight dual-arm robotic live-line operation system for autonomous high-voltage distribution grid maintenance
Zhiqiang Wang
Industrial Robot, Vol. ahead-of-print, No. ahead-of-print, pp.-

This paper aims to present a novel lightweight distribution grid operating robot system with focus on lightweight and multi-functionality, aiming for autonomous and live-line maintenance operations.

A ground-up redesign of the dual-arm robotic system with 12-DoF is applied for substantial weight reduction; a dual-mode operating control framework is proposed, with vision-guided autonomous operation embedded with real-time manual teleoperation controlling both manipulators simultaneously; a quick-swap tooling system is developed to conduct multi-functional operation tasks. A prototype robotic system is constructed and validated in a series of operational experiments in an emulated environment both indoors and outdoors.

The overall weight of the system is successfully brought down to under 150 kg, making it suitable for the majority of vehicle-mounted aerial work platforms, and it can be flexibly and quickly deployed in population dense areas with narrow streets. The system equips with two dexterous robotic manipulators and up to six interchangeable tools, and a vision system for AI-based autonomous operations. A quick-change tooling system ensures the robot to change tools on-the-go without human intervention.

The resulting dual-arm robotic live-line operation system robotic system could be compact and lightweight enough to be deployed on a wide range of available aerial working platforms with high mobility and efficiency. The robot could both conduct routine operation tasks fully autonomously without human direct operation and be manually operated when required. The quick-swap tooling system enables lightweight and durable interchangeability of multiple end-effector tools, enabling future expansion of operating capabilities across different tasks and operating scenarios.

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DARLOS: a lightweight dual-arm robotic live-line operation system for autonomous high-voltage distribution grid maintenance10.1108/IR-11-2023-0296Industrial Robot2024-03-26© 2024 Emerald Publishing LimitedZhiqiang WangIndustrial Robotahead-of-printahead-of-print2024-03-2610.1108/IR-11-2023-0296https://www.emerald.com/insight/content/doi/10.1108/IR-11-2023-0296/full/html?utm_source=rss&utm_medium=feed&utm_campaign=rss_journalLatest© 2024 Emerald Publishing Limited
Piston-like particle jamming for enhanced stiffness adjustment of soft robotic armhttps://www.emerald.com/insight/content/doi/10.1108/IR-11-2023-0305/full/html?utm_source=rss&utm_medium=feed&utm_campaign=rss_journalLatestStiffness adjusting ability is essential for soft robotic arms to perform complex tasks. A soft state enables dexterous operation and safe interaction, while a rigid state enables large force output or heavy weight carrying. However, making a compact integration of soft actuators with powerful stiffness adjusting mechanisms is challenging. This study aims to develop a piston-like particle jamming mechanism for enhanced stiffness adjustment of a soft robotic arm. The arm has two pairs of differential tendons for spatial bending, and a jamming core consists of four jamming units with particles sealed inside braided tubes for stiffness adjustment. The jamming core is pushed and pulled smoothly along the tendons by a piston, which is then driven by a motor and a ball screw mechanism. The tip displacement of the arm under 150 N jamming force and no more than 0.3 kg load is minimal. The maximum stiffening ratio measured in the experiment under 150 N jamming force is up to 6–25 depends on the bending direction and added load of the arm, which is superior to most of the vacuum powered jamming method. The proposed robotic arm makes an innovative compact integration of tendon-driven robotic arm and motor-driven piston-like particle jamming mechanism. The jamming force is much larger compared to conventional vacuum-powered systems and results in a superior stiffening ability.Piston-like particle jamming for enhanced stiffness adjustment of soft robotic arm
Tianlei Wang, Fei Ding, Zhenxing Sun
Industrial Robot, Vol. ahead-of-print, No. ahead-of-print, pp.-

Stiffness adjusting ability is essential for soft robotic arms to perform complex tasks. A soft state enables dexterous operation and safe interaction, while a rigid state enables large force output or heavy weight carrying. However, making a compact integration of soft actuators with powerful stiffness adjusting mechanisms is challenging. This study aims to develop a piston-like particle jamming mechanism for enhanced stiffness adjustment of a soft robotic arm.

The arm has two pairs of differential tendons for spatial bending, and a jamming core consists of four jamming units with particles sealed inside braided tubes for stiffness adjustment. The jamming core is pushed and pulled smoothly along the tendons by a piston, which is then driven by a motor and a ball screw mechanism.

The tip displacement of the arm under 150 N jamming force and no more than 0.3 kg load is minimal. The maximum stiffening ratio measured in the experiment under 150 N jamming force is up to 6–25 depends on the bending direction and added load of the arm, which is superior to most of the vacuum powered jamming method.

The proposed robotic arm makes an innovative compact integration of tendon-driven robotic arm and motor-driven piston-like particle jamming mechanism. The jamming force is much larger compared to conventional vacuum-powered systems and results in a superior stiffening ability.

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Piston-like particle jamming for enhanced stiffness adjustment of soft robotic arm10.1108/IR-11-2023-0305Industrial Robot2024-03-04© 2024 Emerald Publishing LimitedTianlei WangFei DingZhenxing SunIndustrial Robotahead-of-printahead-of-print2024-03-0410.1108/IR-11-2023-0305https://www.emerald.com/insight/content/doi/10.1108/IR-11-2023-0305/full/html?utm_source=rss&utm_medium=feed&utm_campaign=rss_journalLatest© 2024 Emerald Publishing Limited
SiLK-SLAM: accurate, robust and versatile visual SLAM with simple learned keypointshttps://www.emerald.com/insight/content/doi/10.1108/IR-11-2023-0309/full/html?utm_source=rss&utm_medium=feed&utm_campaign=rss_journalLatestWeak repeatability is observed in handcrafted keypoints, leading to tracking failures in visual simultaneous localization and mapping (SLAM) systems under challenging scenarios such as illumination change, rapid rotation and large angle of view variation. In contrast, learning-based keypoints exhibit higher repetition but entail considerable computational costs. This paper proposes an innovative algorithm for keypoint extraction, aiming to strike an equilibrium between precision and efficiency. This paper aims to attain accurate, robust and versatile visual localization in scenes of formidable complexity. SiLK-SLAM initially refines the cutting-edge learning-based extractor, SiLK, and introduces an innovative postprocessing algorithm for keypoint homogenization and operational efficiency. Furthermore, SiLK-SLAM devises a reliable relocalization strategy called PCPnP, leveraging progressive and consistent sampling, thereby bolstering its robustness. Empirical evaluations conducted on TUM, KITTI and EuRoC data sets substantiate SiLK-SLAM’s superior localization accuracy compared to ORB-SLAM3 and other methods. Compared to ORB-SLAM3, SiLK-SLAM demonstrates an enhancement in localization accuracy even by 70.99%, 87.20% and 85.27% across the three data sets. The relocalization experiments demonstrate SiLK-SLAM’s capability in producing precise and repeatable keypoints, showcasing its robustness in challenging environments. The SiLK-SLAM achieves exceedingly elevated localization accuracy and resilience in formidable scenarios, holding paramount importance in enhancing the autonomy of robots navigating intricate environments. Code is available at https://github.com/Pepper-FlavoredChewingGum/SiLK-SLAM.SiLK-SLAM: accurate, robust and versatile visual SLAM with simple learned keypoints
Jianjun Yao, Yingzhao Li
Industrial Robot, Vol. ahead-of-print, No. ahead-of-print, pp.-

Weak repeatability is observed in handcrafted keypoints, leading to tracking failures in visual simultaneous localization and mapping (SLAM) systems under challenging scenarios such as illumination change, rapid rotation and large angle of view variation. In contrast, learning-based keypoints exhibit higher repetition but entail considerable computational costs. This paper proposes an innovative algorithm for keypoint extraction, aiming to strike an equilibrium between precision and efficiency. This paper aims to attain accurate, robust and versatile visual localization in scenes of formidable complexity.

SiLK-SLAM initially refines the cutting-edge learning-based extractor, SiLK, and introduces an innovative postprocessing algorithm for keypoint homogenization and operational efficiency. Furthermore, SiLK-SLAM devises a reliable relocalization strategy called PCPnP, leveraging progressive and consistent sampling, thereby bolstering its robustness.

Empirical evaluations conducted on TUM, KITTI and EuRoC data sets substantiate SiLK-SLAM’s superior localization accuracy compared to ORB-SLAM3 and other methods. Compared to ORB-SLAM3, SiLK-SLAM demonstrates an enhancement in localization accuracy even by 70.99%, 87.20% and 85.27% across the three data sets. The relocalization experiments demonstrate SiLK-SLAM’s capability in producing precise and repeatable keypoints, showcasing its robustness in challenging environments.

The SiLK-SLAM achieves exceedingly elevated localization accuracy and resilience in formidable scenarios, holding paramount importance in enhancing the autonomy of robots navigating intricate environments. Code is available at https://github.com/Pepper-FlavoredChewingGum/SiLK-SLAM.

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SiLK-SLAM: accurate, robust and versatile visual SLAM with simple learned keypoints10.1108/IR-11-2023-0309Industrial Robot2024-03-11© 2024 Emerald Publishing LimitedJianjun YaoYingzhao LiIndustrial Robotahead-of-printahead-of-print2024-03-1110.1108/IR-11-2023-0309https://www.emerald.com/insight/content/doi/10.1108/IR-11-2023-0309/full/html?utm_source=rss&utm_medium=feed&utm_campaign=rss_journalLatest© 2024 Emerald Publishing Limited
Fuzzy logic system-based force tracking control of robot in highly dynamic environmentshttps://www.emerald.com/insight/content/doi/10.1108/IR-12-2023-0312/full/html?utm_source=rss&utm_medium=feed&utm_campaign=rss_journalLatestThe study aims to equip robots with the ability to precisely maintain interaction forces, which is crucial for tasks such as polishing in highly dynamic environments with unknown and varying stiffness and geometry, including those found in airplane wings or thin, soft materials. The purpose of this study is to develop a novel adaptive force-tracking admittance control scheme aimed at achieving a faster response rate with higher tracking accuracy for robot force control. In the proposed method, the traditional admittance model is improved by introducing a pre-proportional-derivative controller to accelerate parameter convergence. Subsequently, the authors design an adaptive law based on fuzzy logic systems (FLS) to compensate for uncertainties in the unknown environment. Stability conditions are established for the proposed method through Lyapunov analysis, which ensures the force tracking accuracy and the stability of the coupled system consisting of the robot and the interaction environment. Furthermore, the effectiveness and robustness of the proposed control algorithm are demonstrated by simulation and experiment. A variety of unstructured simulations and experimental scenarios are designed to validate the effectiveness of the proposed algorithm in force control. The outcomes demonstrate that this control strategy excels in providing fast response, precise tracking accuracy and robust performance. In real-world applications spanning industrial, service and medical fields where accurate force control by robots is essential, the proposed method stands out as both practical and straightforward, delivering consistently satisfactory performance across various scenarios. This research introduces a novel adaptive force-tracking admittance controller based on FLS and validated through both simulations and experiments. The proposed controller demonstrates exceptional performance in force control within environments characterized by unknown and varying.Fuzzy logic system-based force tracking control of robot in highly dynamic environments
Chengguo Liu, Junyang Li, Zeyu Li, Xiutao Chen
Industrial Robot, Vol. ahead-of-print, No. ahead-of-print, pp.-

The study aims to equip robots with the ability to precisely maintain interaction forces, which is crucial for tasks such as polishing in highly dynamic environments with unknown and varying stiffness and geometry, including those found in airplane wings or thin, soft materials. The purpose of this study is to develop a novel adaptive force-tracking admittance control scheme aimed at achieving a faster response rate with higher tracking accuracy for robot force control.

In the proposed method, the traditional admittance model is improved by introducing a pre-proportional-derivative controller to accelerate parameter convergence. Subsequently, the authors design an adaptive law based on fuzzy logic systems (FLS) to compensate for uncertainties in the unknown environment. Stability conditions are established for the proposed method through Lyapunov analysis, which ensures the force tracking accuracy and the stability of the coupled system consisting of the robot and the interaction environment. Furthermore, the effectiveness and robustness of the proposed control algorithm are demonstrated by simulation and experiment.

A variety of unstructured simulations and experimental scenarios are designed to validate the effectiveness of the proposed algorithm in force control. The outcomes demonstrate that this control strategy excels in providing fast response, precise tracking accuracy and robust performance.

In real-world applications spanning industrial, service and medical fields where accurate force control by robots is essential, the proposed method stands out as both practical and straightforward, delivering consistently satisfactory performance across various scenarios.

This research introduces a novel adaptive force-tracking admittance controller based on FLS and validated through both simulations and experiments. The proposed controller demonstrates exceptional performance in force control within environments characterized by unknown and varying.

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Fuzzy logic system-based force tracking control of robot in highly dynamic environments10.1108/IR-12-2023-0312Industrial Robot2024-02-15© 2024 Emerald Publishing LimitedChengguo LiuJunyang LiZeyu LiXiutao ChenIndustrial Robotahead-of-printahead-of-print2024-02-1510.1108/IR-12-2023-0312https://www.emerald.com/insight/content/doi/10.1108/IR-12-2023-0312/full/html?utm_source=rss&utm_medium=feed&utm_campaign=rss_journalLatest© 2024 Emerald Publishing Limited
Research on dual robot collaboration method based on improved double ant colony algorithmhttps://www.emerald.com/insight/content/doi/10.1108/IR-12-2023-0316/full/html?utm_source=rss&utm_medium=feed&utm_campaign=rss_journalLatestThis study aims to propose an efficient dual-robot task collaboration strategy to address the issue of low work efficiency and inability to meet the production needs of a single robot during construction operations. A hybrid task allocation method based on integer programming and auction algorithms, with the aim of achieving a balanced workload between two robots has been proposed. In addition, while ensuring reasonable workload allocation between the two robots, an improved dual ant colony algorithm was used to solve the dual traveling salesman problem, and the global path planning of the two robots was determined, resulting in an efficient and collision-free path for the dual robots to operate. Meanwhile, an improved fast Random tree rapidly-exploring random tree algorithm is introduced as a local obstacle avoidance strategy. The proposed method combines randomization and iteration techniques to achieve an efficient task allocation strategy for two robots, ensuring the relative optimal global path of the two robots in cooperation and solving complex local obstacle avoidance problems. This method is applied to the scene of steel bar tying in construction work, with the workload allocation and collaborative work between two robots as evaluation indicators. The experimental results show that this method can efficiently complete the steel bar banding operation, effectively reduce the interference between the two robots and minimize the interference of obstacles in the environment.Research on dual robot collaboration method based on improved double ant colony algorithm
Xiaohui Jia, Chunrui Tang, Xiangbo Zhang, Jinyue Liu
Industrial Robot, Vol. ahead-of-print, No. ahead-of-print, pp.-

This study aims to propose an efficient dual-robot task collaboration strategy to address the issue of low work efficiency and inability to meet the production needs of a single robot during construction operations.

A hybrid task allocation method based on integer programming and auction algorithms, with the aim of achieving a balanced workload between two robots has been proposed. In addition, while ensuring reasonable workload allocation between the two robots, an improved dual ant colony algorithm was used to solve the dual traveling salesman problem, and the global path planning of the two robots was determined, resulting in an efficient and collision-free path for the dual robots to operate. Meanwhile, an improved fast Random tree rapidly-exploring random tree algorithm is introduced as a local obstacle avoidance strategy.

The proposed method combines randomization and iteration techniques to achieve an efficient task allocation strategy for two robots, ensuring the relative optimal global path of the two robots in cooperation and solving complex local obstacle avoidance problems.

This method is applied to the scene of steel bar tying in construction work, with the workload allocation and collaborative work between two robots as evaluation indicators. The experimental results show that this method can efficiently complete the steel bar banding operation, effectively reduce the interference between the two robots and minimize the interference of obstacles in the environment.

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Research on dual robot collaboration method based on improved double ant colony algorithm10.1108/IR-12-2023-0316Industrial Robot2024-02-26© 2024 Emerald Publishing LimitedXiaohui JiaChunrui TangXiangbo ZhangJinyue LiuIndustrial Robotahead-of-printahead-of-print2024-02-2610.1108/IR-12-2023-0316https://www.emerald.com/insight/content/doi/10.1108/IR-12-2023-0316/full/html?utm_source=rss&utm_medium=feed&utm_campaign=rss_journalLatest© 2024 Emerald Publishing Limited
Calibration strategies for enhancing accuracy in serial industrial robots for orbital milling applicationshttps://www.emerald.com/insight/content/doi/10.1108/IR-12-2023-0334/full/html?utm_source=rss&utm_medium=feed&utm_campaign=rss_journalLatestThis research paper aims to optimize the calibration process for an ABB IRB 120 robot, specifically for robotic orbital milling applications, by introducing and validating the use of the observability index and telescopic ballbar for accuracy enhancement. The study uses the telescopic ballbar and an observability index for the calibration of an ABB IRB 120 robot, focusing on robotic orbital milling. Comparative simulation analysis selects the O3 index. Experimental tests, both static and dynamic, evaluate the proposed calibration approach within the robot’s workspace. The proposed calibration approach significantly reduces circularity errors, particularly in robotic orbital milling, showcasing effectiveness in both static and dynamic modes at various tool center point speeds. The study focuses on a specific robot model and application (robotic orbital milling), limiting generalizability. Further research could explore diverse robot models and applications. The findings offer practical benefits by enhancing the accuracy of robotic systems, particularly in precision tasks like orbital milling, providing a valuable calibration method. While primarily technological, improved robotic precision can have social implications, potentially influencing fields where robotic applications are crucial, such as manufacturing and automation. This study’s distinctiveness lies in advancing the accuracy and precision of industrial robots during circular motions, specifically tailored for orbital milling applications. The innovative approach synergistically uses the observability index and telescopic ballbar to achieve these objectives.Calibration strategies for enhancing accuracy in serial industrial robots for orbital milling applications
Mohamed Slamani, Hocine Makri, Aissa Boudilmi, Ilian A. Bonev, Jean-Francois Chatelain
Industrial Robot, Vol. ahead-of-print, No. ahead-of-print, pp.-

This research paper aims to optimize the calibration process for an ABB IRB 120 robot, specifically for robotic orbital milling applications, by introducing and validating the use of the observability index and telescopic ballbar for accuracy enhancement.

The study uses the telescopic ballbar and an observability index for the calibration of an ABB IRB 120 robot, focusing on robotic orbital milling. Comparative simulation analysis selects the O3 index. Experimental tests, both static and dynamic, evaluate the proposed calibration approach within the robot’s workspace.

The proposed calibration approach significantly reduces circularity errors, particularly in robotic orbital milling, showcasing effectiveness in both static and dynamic modes at various tool center point speeds.

The study focuses on a specific robot model and application (robotic orbital milling), limiting generalizability. Further research could explore diverse robot models and applications.

The findings offer practical benefits by enhancing the accuracy of robotic systems, particularly in precision tasks like orbital milling, providing a valuable calibration method.

While primarily technological, improved robotic precision can have social implications, potentially influencing fields where robotic applications are crucial, such as manufacturing and automation.

This study’s distinctiveness lies in advancing the accuracy and precision of industrial robots during circular motions, specifically tailored for orbital milling applications. The innovative approach synergistically uses the observability index and telescopic ballbar to achieve these objectives.

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Calibration strategies for enhancing accuracy in serial industrial robots for orbital milling applications10.1108/IR-12-2023-0334Industrial Robot2024-03-15© 2024 Emerald Publishing LimitedMohamed SlamaniHocine MakriAissa BoudilmiIlian A. BonevJean-Francois ChatelainIndustrial Robotahead-of-printahead-of-print2024-03-1510.1108/IR-12-2023-0334https://www.emerald.com/insight/content/doi/10.1108/IR-12-2023-0334/full/html?utm_source=rss&utm_medium=feed&utm_campaign=rss_journalLatest© 2024 Emerald Publishing Limited