Industrial Robot: Volume 51 Issue 1

Robots addressing agricultural labour shortages and environmental issues

Robert Bogue

The purpose of this paper is to provide details of recent developments in agricultural robots with an emphasis of those that address labour shortages and environmental issues.

A resistance torque compensation algorithm based on Luenberger observer for minimally invasive surgical robot

Hongqiang Sang, Fang Huang, Wei Lu, Rui Han, Fen Liu

The patient-side manipulator (PSM) achieves high torque capability by combining harmonic servo system with high reduction ratio and low torque motor. However, high reduction ratio…

FTESO-adaptive neural network based safety control for a quadrotor UAV under multiple disturbances: algorithm and experiments

Xin Cai, Xiaozhou Zhu, Wen Yao

Quadrotors have been applied in various fields. However, because the quadrotor is subject to multiple disturbances, consisting of external disturbances, actuator faults and…

A robust human target following system in corridor environment based on wall detection

Ruifeng Li, Wei Wu

In corridor environments, human-following robot encounter difficulties when the target turning around at the corridor intersections, as walls may cause complete occlusion. This…

Design and preliminary evaluation of a lower limb exoskeleton based on hydraulic actuator

Yali Han, Shunyu Liu, Jiachen Chang, Han Sun, Shenyan Li, Haitao Gao, Zhuangzhuang Jin

This paper aims to propose a novel system design and control algorithm of lower limb exoskeleton, which provides walking assistance and load sharing for the wearer.

Research on fuzzy impedance control of upper-limb rehabilitation robot based on membership functions online optimization learning strategy

Peng Wang, Renquan Dong

To improve the position tracking efficiency of the upper-limb rehabilitation robot for stroke hemiplegia patients, the optimization Learning rate of the membership function based…

Collision avoidance control for redundant manipulators in construction operations: a null-space-based task-priority adjustment approach

Yi Wu, Xiaohui Jia, Tiejun Li, Chao Xu, Jinyue Liu

This paper aims to use redundant manipulators to solve the challenge of collision avoidance in construction operations such as welding and painting.

Gait and simulation analysis of quadruped crawling robot based on metamorphic structure

Yifan Pan, Lei Zhang, Dong Mei, Gangqiang Tang, Yujun Ji, Kangning Tan, Yanjie Wang

This study aims to present a type of metamorphic mechanism-based quadruped crawling robot. The trunk design of the robot has a metamorphic mechanism, which endows it with…

Multiple interaction strategies for mobile robots based on improved dynamic window approach in unknown dynamic environments

Li He, Shuai Zhang, Heng Zhang, Liang Yuan

The purpose of this paper is to solve the problem that mobile robots are still based on reactive collision avoidance in unknown dynamic environments leading to a lack of…

Robots trends and megatrends: artificial intelligence and the society

Rezia Molfino, Francesco E. Cepolina, Emanuela Cepolina, Elvezia Maria Cepolina, Sara Cepolina

The purpose of this study is to analyze the robot trends of the next generation.

Using digital twin to enhance Sim2real transfer for reinforcement learning in 3C assembly

Weiwen Mu, Wenbai Chen, Huaidong Zhou, Naijun Liu, Haobin Shi, Jingchen Li

This paper aim to solve the problem of low assembly success rate for 3c assembly lines designed based on classical control algorithms due to inevitable random disturbances and…

Pose optimization for mobile manipulator grasping based on hybrid manipulability

Yangmin Xie, Jiajia Liu, Yusheng Yang

Proper platform pose is important for the mobile manipulator to accomplish dexterous manipulation tasks efficiently and safely, and the evaluation criterion to qualify…

Dynamic parameter identification based on improved particle swarm optimization and comprehensive excitation trajectory for 6R robotic arm

Feifei Zhong, Guoping Liu, Zhenyu Lu, Lingyan Hu, Yangyang Han, Yusong Xiao, Xinrui Zhang

Robotic arms’ interactions with the external environment are growing more intricate, demanding higher control precision. This study aims to enhance control precision by…

Prescribed performance sliding mode control for the PAMs elbow exoskeleton in the tracking trajectory task

Zhirui Zhao, Lina Hao, Guanghong Tao, Hongjun Liu, Lihua Shen

This study discusses the tracking trajectory issue of the exoskeleton under the bounded disturbance and designs an useful tracking trajectory control method to solve it. By using…

Adaptive decentralized fuzzy compensation control for large optical mirror processing systems

Zujin Jin, Zixin Yin, Siyang Peng, Yan Liu

Large optical mirror processing systems (LOMPSs) consist of multiple subrobots, and correlated disturbance terms between these robots often lead to reduced processing accuracy…