Article
Engineering, Mechanical
Zhiyu Peng, Xin Xin, Yannian Liu
Summary: This paper focuses on the swing-up control problem of a two-link robot moving in a vertical plane. It proposes necessary and sufficient conditions for the robot to be linearly controllable at the upright equilibrium point. The paper also presents an energy-based swing-up controller without singular points and conducts global motion analysis to analyze the robot's behavior and swing-up conditions. The theoretical results are verified through numerical simulations.
NONLINEAR DYNAMICS
(2023)
Article
Chemistry, Analytical
Mingcong Deng, Shotaro Kubota, Yuanhong Xu
Summary: This paper proposes a nonlinear intelligent control method for a two link robot arm by considering human voluntary components, and demonstrates its effectiveness through experimental results.
Article
Computer Science, Interdisciplinary Applications
Jonas Weigand, Nigora Gafur, Martin Ruskowski
Summary: This paper proposes a method to improve trajectory tracking accuracy of industrial robots by using secondary encoders and applying a flatness based feed forward control strategy. A novel nonlinear dynamical model of a flexible robot joint is presented, with a feedback controller based on secondary encoders for disturbance compensation. The algorithms are evaluated in simulations and on a real KUKA Quantec KR300 Ultra SE.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2021)
Article
Engineering, Mechanical
Peng Xu, Xiling Yao, Shibo Liu, Hao Wang, Kui Liu, A. Senthil Kumar, Wen Feng Lu, Guijun Bi
Summary: This paper presents an effective method for stiffness modeling of heavy-duty industrial robots by considering joint/link compliances, link weights, and gravity compensators. The stiffness model of the whole robot is formulated by integrating joint/link compliances using static equilibrium equations and linear map of deflections, allowing for analysis of robot deflections at various configurations. The proposed model is experimentally verified to accurately evaluate the contributions of external force, link weights, and gravity compensator to total deflections.
MECHANISM AND MACHINE THEORY
(2021)
Article
Robotics
Naijing Lv, Jianhua Liu, Yunyi Jia
Summary: This article investigates the robotic manipulation control of deformable linear objects (DLOs), including the establishment of a dynamic model and the proposal of precise control schemes. Experimental and simulation results validate the effectiveness of the proposed modeling and control approaches.
IEEE TRANSACTIONS ON ROBOTICS
(2022)
Article
Automation & Control Systems
Mostafa Bagheri, Iasson Karafyllis, Peiman Naseradinmousavi, Miroslav Krstic
Summary: The study focused on designing a regulation-triggered adaptive controller for robot manipulators to estimate unknown parameters and achieve asymptotic stability in the system. A case study was conducted on a 2-DOF manipulator subject to four parametric uncertainties, where the dynamic equations and regressor matrix were derived for parameter estimation. The proposed scheme's performance was thoroughly evaluated through simulation results for a two-link manipulator.
IEEE-CAA JOURNAL OF AUTOMATICA SINICA
(2021)
Article
Chemistry, Multidisciplinary
Jose Mario Araujo, Jason Bettega, Nelson J. B. Dantas, Carlos E. T. Dorea, Dario Richiedei, Iacopo Tamellin
Summary: The proposed control strategy aims to address the dynamics behavior in flexible mechatronic systems with time delay, simplifying controller design and ensuring robustness through robust pole placement. The method effectively handles time delay issues in vibration control by utilizing receptances and optimizing stability margins. Experimental results demonstrate the effectiveness and ease of application of the method in a laboratory testbed scenario.
APPLIED SCIENCES-BASEL
(2021)
Article
Computer Science, Information Systems
Yiran Zhang, Kai Guo, Jie Sun, Yujing Sun
Summary: This paper proposes a robust and accurate method for selecting suitable postures in joint stiffness identification, considering the impact of robotic posture on the accuracy of joint stiffness identification. By introducing a new index and corresponding selection procedure, the method achieves better results compared to classical methods.
Article
Engineering, Mechanical
Kai Xu, Xing Wu, Dongxiao Wang, Xiaoqin Liu
Summary: In this study, a detection method for bolt loosening of industrial robot joint based on electromechanical modeling and motor current signature analysis (MCSA) is proposed. The method utilizes the time-frequency features of the motor current to detect loosening and achieves effective results.
MECHANICAL SYSTEMS AND SIGNAL PROCESSING
(2023)
Article
Engineering, Multidisciplinary
Jianqing Peng, Haoxuan Wu, Chi Zhang, Qihan Chen, Deshan Meng, Xueqian Wang
Summary: This paper presents a modeling, cooperative planning and compliant control method for multi-arm space continuous robots in target manipulation. General equations of the closed-chain kinematics and closed-chain dynamics are derived based on the closed-chain relationship between the robot and the target. Trajectory planning models for pre-capture and post-capture are established using these equations. A compliant control model is constructed to minimize cable tension in the process of force/pose hybrid control. The effectiveness of the proposed method is verified through simulation results.
APPLIED MATHEMATICAL MODELLING
(2023)
Article
Engineering, Aerospace
Jose L. Ramon, Ramon Calvo, Adrian Trujillo, Jorge Pomares, Leonard Felicetti
Summary: This paper presents an optimization algorithm for planning the motion of a humanoid robot during extravehicular activities. The algorithm schedules and plans the movements of the robot's arms to navigate the handrails outside the International Space Station. It considers the constraints imposed by the handrail's topology and calculates the sequence of grasping and nongrasping phases necessary to move the robot along the handrails. Additionally, a low-level controller tracks the planned trajectories of the arms and end-effectors.
JOURNAL OF GUIDANCE CONTROL AND DYNAMICS
(2022)
Article
Computer Science, Interdisciplinary Applications
Zhouxiang Jiang, Min Huang, Xiaoqi Tang, Yixuan Guo
Summary: This study proposes a new method for calibrating joint-dependent geometric errors of six-DoF industrial robots, characterized by Chebyshev polynomials and sensitivity grouping for more accurate modeling and reduced parameter dimension. Sensor systems are designed for calibration, leading to improved measurement configurations and identification accuracy based on simulation evaluations.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2021)
Article
Computer Science, Information Systems
Zhengduo Liu, Zhaoqin Lv, Wenxiu Zheng, Xu Wang
Summary: This paper proposes a two-degree-of-freedom sweet potato transplanting robot arm to improve transplanting success rate and production yield. Different transplanting strategies can be achieved based on terrain types. The designed mechanical arm can achieve vertical and rotational movement of the seedling claw. A transplanting trajectory controller is designed based on a linear model prediction algorithm. Two control system optimization schemes are proposed to improve control performance. Experimental validation shows that the proposed transplanting robot satisfies practical production requirements for mechanical planting of sweet potatoes.
Article
Engineering, Mechanical
Siyong Xu, Zhong Wu, Tao Shen
Summary: This paper proposes a high-precision setpoint feedforward control method based on the output redefinition of the extended flexible joint model (EFJM). It effectively eliminates the effects of elasticities in all directions in industrial manipulators and improves control precision.
Article
Engineering, Mechanical
Namhyun Kim, Daejin Oh, Jun-Young Oh, Wonkyun Lee
Summary: With the acceleration of the fourth industrial revolution, the application of multiple degrees-of-freedom robot arms in various fields has also been accelerated. This paper proposes a disturbance-observer-based dual-position feedback (DOB-DPF) controller, which can compensate for the deflections of robot arms in real time using only an internal sensor, improving the positioning accuracy without the need for expensive and unreliable external sensors.
