Industrial Robot: Volume 47 Issue 2

Fruit picking robots: has their time come?

Robert Bogue

The purpose of this paper is to describe recent fruit picking robot developments with an emphasis on corporate activity rather than academic research. It also aims to provide a…

The Pransky interview: Tony (Harvey) Koselka, Co-founder and Chief Operating Officer, Vision Robotics Corporation

Joanne Pransky

The following paper is a “Q&A interview” conducted by Joanne Pransky of Industrial Robot Journal as a method to impart the combined technological, business and personal experience…

Real-time PID control of a novel RCM mechanism designed and manufactured for use in laparoscopic surgery

Serhat Aksungur, Muhammet Aydin, Oğuz Yakut

The purpose of this study is to design and manufacture a new remote center of motion (RCM) mechanism for use in laparoscopic surgical operations. In addition, obtaining the…

A fast detection and grasping method for mobile manipulator based on improved faster R-CNN

Hui Zhang, Jinwen Tan, Chenyang Zhao, Zhicong Liang, Li Liu, Hang Zhong, Shaosheng Fan

This paper aims to solve the problem between detection efficiency and performance in grasp commodities rapidly. A fast detection and grasping method based on improved faster R-CNN…

A new positioning method for remotely operated vehicle of the nuclear power plant

Mingjie Dong, Jianfeng Li, Wusheng Chou

The purpose of this study is to develop a new positioning method for remotely operated vehicle (ROV) in the nuclear power plant. The ROV of the nuclear power plant is developed to…

Research on spatial positioning of online inspection robots for vertical storage tanks

Zhiqiang Huang, Lei He, ZhaoXin Gao, Yingqi Jia, Yewei Kang, Dou Xie, Chunli Fu

This paper aims to introduce a new acoustic positioning method to solve the problem of space positioning for online inspection robots within the storage tank.

Enhanced D-H: an improved convention for establishing a robot link coordinate system fixed on the joint

Fayong Guo, Hao Cai, Marco Ceccarelli, Tao Li, Butang Yao

Robot kinematic modeling needs to be based on clear physical concepts. The widely used Denavit–Hartenberg (D–H) convention requires the coordinate system to be established on an…

Uncertainty evaluation of measurement of orientation repeatability for industrial robots

Yang Chuangui, Mi Liang, Liu Xingbao, Xia Yangqiu, Qiang Teng, Lin Han

This paper aims to propose a reasonable method to evaluate uncertainty of measurement of industrial robots’ orientation repeatability and solve the non-linear problem existing in…

Robust motion control for multi-split transmission line four-wheel driven mobile operation robot in extreme power environment

Hong Jun Li, Wei Jiang, Dehua Zou, Yu Yan, An Zhang, Wei Chen

In the multi-splitting transmission lines extreme power environment of ultra-high voltage and strong electromagnetic interference, to improve the trajectory tracking and stability…

Smooth adaptive hybrid impedance control for robotic contact force tracking in dynamic environments

Hongli Cao, Ye He, Xiaoan Chen, Xue Zhao

The purpose of this paper is to take transient contact force response, overshoots and steady-state force tracking error problems into account to form an excellent force controller.

Intuitive gesture-based control system with collision avoidance for robotic manipulators

Grant Rudd, Liam Daly, Filip Cuckov

This paper aims to present an intuitive control system for robotic manipulators that pairs a Leap Motion, a low-cost optical tracking and gesture recognition device, with the…

A novel obstacle avoidance method based on multi-information inflation map

Rupeng Yuan, Fuhai Zhang, Jiadi Qu, Guozhi Li, Yili Fu

This paper aims to provide a novel obstacle avoidance method based on multi-information inflation map.

Kinematics-searched framework for quadruped traversal in a parallel robot

Fei Guo, Shoukun Wang, Junzheng Wang, Huan Yu

In this research, the authors established a hierarchical motion planner for quadruped locomotion, which enables a parallel wheel-quadruped robot, the “BIT-NAZA” robot, to traverse…

A stepping gait trajectory design based on hip height variation of swing leg for the balance of lower extremity exoskeleton

Canjun Yang, Hansong Wang, Qihang Zhu, Xiangzhi Liu, Wei Yang, Zhangyi Ma, Qianxiao Wei

Lower extremity exoskeletons have drawn much attention recently due to their potential ability to help the stroke and spinal cord injury patients to regain the ability of walking…

A reconfigurable multi-mode walking-rolling robot based on motor time-sharing control

Xiangyu Liu, Chunyan Zhang, Cong Ni, Chenhui Lu

The purpose of this paper is to put forward a nvew reconfigurable multi-mode walking-rolling robot based on the single-loop closed-chain four-bar mechanism, and the robot can be…