Article
Automation & Control Systems
An Wan, Yixuan Wang, Guijun Xue, Ken Chen, Jing Xu
Summary: This article proposed a method to improve the kinematics calibration accuracy of machine tools by using laser tracker with angle selection and measurement weightings at a single station. The method is based on the anisotropic and in-homogeneous measurement property of the laser tracker, aiming to enhance orientation calibration accuracy and position calibration accuracy. Simulations and experiments were conducted to demonstrate the effectiveness of the proposed method in improving the accuracy of kinematics calibration.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2021)
Review
Engineering, Manufacturing
Wei Gao, Soichi Ibaraki, M. Alkan Donmez, Daisuke Kono, J. R. R. Mayer, Yuan -Liu Chen, Karoly Szipka, Andreas Archenti, Jean-Marc Linares, Norikazu Suzuki
Summary: This article presents advanced technologies for the calibration of machine tools. It categorizes kinematic errors into intra-axis errors, inter-axis errors, and volumetric errors. It addresses the measurement methods, modeling theories, and compensation strategies for machine tool errors as the major technological elements of machine tool calibration. The criteria for selecting a combination of technological elements for machine tool calibration are provided based on accuracy, complexity, and cost. Recent applications of artificial intelligence and machine learning in machine tool calibration are introduced and future trends in machine tool calibration are discussed.
INTERNATIONAL JOURNAL OF MACHINE TOOLS & MANUFACTURE
(2023)
Article
Automation & Control Systems
Haodong Wang, Xiaolong Wang, Wenlong Yang, Zhijiang Du, Zhiyuan Yan
Summary: The study proposed a novel notch continuum manipulator for laryngeal surgery, which has highly nonlinear deformation that is difficult to control, but can be solved through a model-based modeling strategy. Experimental results show that the controller model can meet actual engineering requirements.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2021)
Article
Automation & Control Systems
Zhenxuan Hu, Jinhua Li, Shuxin Wang
Summary: This article introduces a novel robotic instrument that can assist in Natural Orifice Transluminal Endoscopic Surgery (NOTES). The instrument has a diameter of 6.5 mm and 7 degrees of freedom (DOF). It utilizes helical springs with high torsional rigidity for three continuum elastic joints, and patterned concentric tubes to change the stiffness of the force transmission structure. Analytical solutions for inverse kinematics are obtained based on the arrangement of coupled joints. A disk-elastomer model is established to simplify the derivation of kinematics, and the relationship between cable slack and joint parameters is derived. Experimental results verify the trajectory tracking accuracy, bending accuracy, and variable stiffness ability of the proposed instrument.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2023)
Article
Engineering, Mechanical
Guoliang Zhong, Bowen Peng, Weiqiang Dou
Summary: This paper introduces a design of a continuum manipulator made with super-elastic material NiTi alloy, which increases motion posture and obtains wide workspace. It proposes a novel co-radial configuration and uses NiTi alloy rods as the segmented skeleton of the manipulator, driven by stepper motors. Analysis of forward kinematics and inverse kinematics is done using a homogenous transformation matrix and displacement compensation method, with results showing good motion performance in numerical simulations and experiments.
INTERNATIONAL JOURNAL OF MECHANICAL SCIENCES
(2022)
Article
Automation & Control Systems
Manuel Amersdorfer, Thomas Meurer
Summary: This article presents a equidistant tool path planning strategy on curved freeform surfaces, maintaining constant velocity while limiting maximum acceleration, suitable for robotic machining tasks.
IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING
(2022)
Article
Engineering, Electrical & Electronic
Anton Royanto Ahmad, Chyi-Yeu Lin, Syed Humayoon Shah, Yong-Sheng Cheng
Summary: The use of industrial robots for machining operations is increasing, but maintaining contact on unknown geometrical surfaces is still a challenge. This research develops a compliant robotic end-effector that can measure depth and angle deviations in real-time without prior knowledge of the workpiece's geometry. The system includes a force/torque sensor, a compliant contact pin, and a data acquisition board. Experimental results show significant improvement in contact-based robot surface measuring, with maximum average depth and angle errors of 0.13 mm and 0.64 degrees, respectively.
IEEE SENSORS JOURNAL
(2023)
Article
Automation & Control Systems
Guozheng Lu, Wei Xu, Fu Zhang
Summary: In this article, a unified on-manifold MPC framework is proposed to address the issue of incorporating system manifold constraints naturally without overparameterization or singularity. The proposed scheme formulates MPC based on a canonical representation of on-manifold systems and solves it by linearizing the system at each point along the trajectory under tracking. The experimental results demonstrate the nonsingularity and tracking performance of the framework in tracking aggressive UAV trajectories.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2023)
Article
Robotics
Jianhui Liu, Xiaocheng Wang, Sicong Liu, Juan Yi, Xueqian Wang, Zheng Wang
Summary: The soft robotic manipulator attracts researchers' interest due to its conformity to the unstructured environment and safe interaction with humans and fragile objects. However, the lack of bending and twisting capabilities in current designs hinders its use in scenarios requiring local position adjustment. In this study, we proposed a soft robotic joint with a vertebra in the center of tilt-arranged soft origami actuators, allowing for twisting motion in addition to rotation X and Y. The joint prototype exhibited improved payload and stiffness variability due to the antagonism pair formed by the tilted actuator configuration and the vertebra.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2022)
Article
Robotics
Zhen He, Hanliang Fang, Yufei Bao, Fufu Yang, Jun Zhang
Summary: This paper introduces a smooth toolpath interpolation method, which achieves the smoothness of toolpath through an adaptive acceleration and deceleration control algorithm and a spline curve-based interpolation algorithm. Additionally, a parameter synchronization method and an inverse kinematic analysis are proposed to ensure the synchrony and accuracy of the interpolation results.
Article
Robotics
Ricard Bordalba, Tobias Schoels, Lluis Ros, Josep M. Porta, Moritz Diehl
Summary: Direct collocation methods are powerful tools for trajectory optimization problems in robotics. This article reviews existing methods and proposes new ones to overcome the problem of motion errors in constrained mechanical systems.
IEEE TRANSACTIONS ON ROBOTICS
(2023)
Article
Engineering, Electrical & Electronic
Kai-Tai Song, Bing-Yi Li, Szu-Chen Ou
Summary: This study proposes a novel data alignment design for sensor fusion of an optical target and an inertial measurement unit to track the trajectory of a handheld tool for robot programming. The proposed method improves tracking accuracy through coordinate and temporal alignment and calibration of the IMU-OT relationship. Experimental results show improved calibration results with shorter calculation time compared to existing methods, and sensor fusion experiments confirm the accuracy of trajectory tracking. Integrated PbD experiments using a 6-DOF manipulator demonstrate the suitability of the proposed method for robot programming applications.
IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT
(2023)
Article
Chemistry, Multidisciplinary
Xuan Huang, Lingbao Kong, Guangxi Dong
Summary: This paper focuses on a 6-DOF robotic manipulator, establishing forward and inverse kinematics models and proposing a new modeling method as well as error compensation model, which are shown to effectively improve the working performance and accuracy of the manipulator.
APPLIED SCIENCES-BASEL
(2021)
Article
Engineering, Aerospace
Hongwei LI, Yan Xu, Chao Zhang, Huxiao Yang
Summary: This paper presents a novel soft robotic arm (SRA) designed for space capture systems, consisting of two soft extensible arms (SEAs) and a soft bendable joint (SBJ). The study proposes a kinematic model and a closed-loop model-free control system, which are experimentally evaluated and shown to perform well.
CHINESE JOURNAL OF AERONAUTICS
(2022)
Article
Computer Science, Artificial Intelligence
Gurjeet Singh, Vijay Kumar Banga
Summary: This paper proposes a kinematics analysis and trajectory planning method for industrial robotic manipulators based on hybrid optimization algorithms. Three different IRMs are considered, and 18 optimization algorithms are utilized to solve forward and inverse kinematics analysis as well as trajectory planning problems. The simulation results show that this hybrid algorithm has shorter computation time and fewer iterations.
Article
Automation & Control Systems
Dragos Axinte, Xin Dong, David Palmer, Adam Rushworth, Salvador C. Guzman, Aitor Olarra, Inigo Arizaga, Eneko Gomez-Acedo, Kristine Txoperena, Kai Pfeiffer, Felix Messmer, Matthias Gruhler, James Kell
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2018)
Article
Engineering, Mechanical
Nan Ma, Jingjun Yu, Xin Dong, Dragos Axinte
MECHANISM AND MACHINE THEORY
(2018)
Article
Automation & Control Systems
David Alatorre, Bilal Nasser, Amir Rabani, Adam Nagy-Sochacki, Xin Dong, Dragos Axinte, James Kell
IEEE ROBOTICS & AUTOMATION MAGAZINE
(2019)
Article
Engineering, Manufacturing
Nan Ma, Xin Dong, David Palmer, Josue Camacho Arreguin, Zhirong Liao, Mingfeng Wang, Dragos Axinte
JOURNAL OF MANUFACTURING PROCESSES
(2019)
Article
Engineering, Mechanical
Matteo Russo, Xin Dong
MECHANISM AND MACHINE THEORY
(2020)
Article
Automation & Control Systems
Nan Ma, Xin Dong, Dragos Axinte
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2020)
Article
Computer Science, Interdisciplinary Applications
Mingfeng Wang, Xin Dong, Weiming Ba, Abdelkhalick Mohammad, Dragos Axinte, Andy Norton
Summary: The novel extra-slender dual-stage continuum robot is proposed for in-situ aeroengine maintenance to navigate in and out confined environments. Innovative mechatronic solutions along with kinematic and static models based on curvature theory and elastic rod theory were established to evaluate the robot capabilities of performing predefined shape and stiffness in constrained environments.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2021)
Article
Computer Science, Interdisciplinary Applications
Jorge Barrientos-Diez, Xin Dong, Dragos Axinte, James Kell
Summary: This paper introduces a kinematic modeling for flexible backbone continuum robots to simplify computational requirements and achieve faster algorithms. The method is successfully applied to Twin Pivot Compliant Joint continuum robots and extended to a general single neutral axis backbone configuration, with high accuracy.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2021)
Article
Computer Science, Interdisciplinary Applications
Matteo Russo, Luca Raimondi, Xin Dong, Dragos Axinte, James Kell
Summary: This article proposes an optimization method for dimensional synthesis of robotic manipulators with limited mobility, aiming to minimize position and orientation error by combining path planning algorithms and dimensional synthesis. The method has been validated with a case study of a 4-DoF robot for high-precision laser operations in aeroengines, showing stable algorithm performance with high convergence rate and short time to solution in highly constrained scenarios.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2021)
Article
Automation & Control Systems
Weiming Ba, Xin Dong, Abdelkhalick Mohammad, Mingfeng Wang, Dragos Axinte, Andy Norton
Summary: Continuum robots (CRs) surpass conventional rigid-link manipulators in hyper-redundancy and compliance, providing universal and efficient solutions for accessing constrained environments. This article introduces a slender tendon-driven CR for in situ maintenance of aero engine combustors. By utilizing a novel local model-less controller inspired by a fuzzy logic algorithm, the challenges of piecewise-constant-curvature assumption mismatch and sections coupling issues are effectively addressed.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2021)
Article
Engineering, Mechanical
Josue Camacho-Arreguin, Mingfeng Wang, Xin Dong, Dragos Axinte
MECHANISM AND MACHINE THEORY
(2020)
Proceedings Paper
Computer Science, Artificial Intelligence
David Alatorre, Bilal Nasser, Amir Rabani, Adam Nagy-Sochacki, Xin Dong, Dragos Axinte, James Kell
2018 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)
(2018)
Proceedings Paper
Computer Science, Artificial Intelligence
Mingfeng Wang, David Palmer, Xin Dong, David Alatorre, Dragos Axinte, Andy Norton
2018 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)
(2018)
Proceedings Paper
Computer Science, Artificial Intelligence
Hossein Habibi, Chenghao Yang, Rongjie Kang, Ian D. Walker, Isuru S. Godage, Xin Dong, David T. Branson
2018 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)
(2018)
