Article
Automation & Control Systems
Zeyu Li, Junyong Zhai, Hamid Reza Karimi
Summary: This article addresses the trajectory tracking problem for industrial robotic manipulators with control backlash by using an arctangent terminal sliding mode surface and an adaptive super-twisting sliding mode control method. The chattering in control law is overcome by the super-twisting method, achieving fast convergence and continuous control. Based on Lyapunov stability theory, the trajectory tracking error will converge to zero in a finite time with the proposed control scheme.
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
(2021)
Article
Physics, Applied
Xusheng Hui, Jianjun Luo, Xinliang Wang, Rong Wang, Hao Sun
Summary: This paper presents a bimorph electrothermal micro-gripper that combines rapid response and low power consumption, and achieves precise manipulation through optimized circuit design. The micro-gripper has potential applications in robotics and biomedical fields.
APPLIED PHYSICS LETTERS
(2022)
Article
Engineering, Electrical & Electronic
Junyong Zhai, Zeyu Li
Summary: This paper addresses the trajectory tracking problem for robotic manipulators without angular velocity measurements in the presence of parameter perturbation and torque disturbance. A novel fast terminal sliding mode surface is developed to ensure global strong robustness and fast error convergence. Chattering avoidance can be realized via the continuous control strategy based on super-twisting method. The finite-time arrival of sliding mode surface and fast-exponential convergence of the tracking error are strictly proved based on the Lyapunov stability theory. The advantages of proposed method are fully demonstrated through a comparison with other control strategies.
IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS
(2022)
Article
Automation & Control Systems
Jianfeng Jiang, Xiao Luo, Qingsheng Luo, Lijun Qiao, Yuhan Chen
Summary: This paper introduces the hand-eye calibration problem of explosive ordnance disposal robots and proposes an improved closed solution and an iterative solution based on rotation vectors. A motion trajectory plan for the gripper is also proposed. Experimental results show that the proposed methods achieve higher accuracy and efficiency.
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS
(2022)
Article
Automation & Control Systems
Xinyang Xiong, Xianbo Xiang, Qin Zhang, Shaolong Yang
Summary: This article proposes a novel framework for underwater manipulator trajectory control using adaptive neural networks and backstepping super-twisting sliding mode control. The framework effectively addresses several challenges limiting the performance of underwater manipulators. Numerical simulations demonstrate the effectiveness and advantages of the proposed framework.
IET CONTROL THEORY AND APPLICATIONS
(2023)
Article
Engineering, Industrial
Xiaozheng Li, Shutian Liu, Liyong Tong, Renjing Gao
Summary: The paper proposes a novel dual-stage shape memory alloy (SMA) actuated gripper (DAG) that improves grasping performance through primary and secondary actuation. The design of dual-stage actuation modules based on SMA bias actuation principle enhances grasping shape adaptability and force modulation. Experimental and simulation results show that the DAG can achieve an actuation angle scope of approximately 20 degrees, enabling grasping space from 60mm to 120mm. The grasping force can be adjusted by changing the input power of the primary main actuation module and secondary fine-tuning actuation module, reaching a maximum of 2N for grasping objects of various sizes and shapes. This paper's contribution lies in the design of a DAG based on SMA and the establishment of solution methods for primary and secondary actuation modules, laying a foundation for lightweight and intelligent robotic grippers.
INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION
(2023)
Article
Automation & Control Systems
Zeyu Li, Junyong Zhai
Summary: A novel fuzzy adaptive sliding mode control method is proposed in this paper for achieving asymptotic trajectory tracking of robotic manipulators with control backlash and uncertainties. The fuzzy logic system is introduced to estimate the system uncertainties in the sliding mode control. To compensate for the unknown lumped disturbance and accelerate the convergence process, an adaptive super-twisting sliding mode controller is proposed with a novel adaptive law. The system states reach the sliding mode surface in a finite time and the control effect is continuous without over-estimation and control chattering. According to the Lyapunov stability theory, the tracking error converges to zero in a fast-exponential form. The effectiveness of the proposed method is fully demonstrated through simulation of a robotic manipulator system.
INTERNATIONAL JOURNAL OF FUZZY SYSTEMS
(2023)
Article
Engineering, Mechanical
Chuanyang Li, Changhua Hu, Jorge Angeles, Zhongbao Qin, Huixiang Xie, Xinfeng Wang, Hong Xiao
Summary: This paper focuses on a manipulator designed with N double-tripod multi-loop modules, each equipped with multiple actuation alternatives, leading to various operation modes and design possibilities but also presenting control challenges. The authors propose a novel procedure to implement a dynamics model of the manipulator, aiming to establish a generic dynamics model suitable for all actuation modes by finding the relationship between them. The twists of all moving rigid bodies are derived and represented with general expressions for subsequent analysis. The modeling procedure is illustrated and validated through simulation and prototype experiments of a three-modular manipulator. The reported dynamics analysis serves as a support for the subsequent actuation-mode optimization and system design.
MECHANISM AND MACHINE THEORY
(2023)
Article
Multidisciplinary Sciences
Shuai Wu, Qiji Ze, Jize Dai, Nupur Udipi, Glaucio H. Paulino, Ruike Zhao
Summary: Inspired by the embodied intelligence observed in octopus arms, magnetically controlled origami robotic arms based on Kresling patterns have been introduced for multimodal deformations, including stretching, folding, omnidirectional bending, and twisting. The highly integrated motion of the robotic arms is attributed to the reconfigurable Kresling unit, achieved through precise magnetic actuation. This technology enables the development of robotic arms that mimic the grasping and manipulation functions of octopus arms, with great potential for various applications.
PROCEEDINGS OF THE NATIONAL ACADEMY OF SCIENCES OF THE UNITED STATES OF AMERICA
(2021)
Article
Computer Science, Information Systems
Rong Hu, Xiaolei Xu, Yi Zhang, Hua Deng
Summary: A dynamic fractional-order nonsingular terminal super-twisting sliding mode (DFONTSM-STA) control is proposed for low-cost humanoid manipulators. It can enhance the overall control performance by dynamically changing the position of the sliding mode manifold. Experimental results show that DFONTSM-STA control outperforms other control methods in terms of terminal trajectory tracking accuracy and chattering suppression.
Article
Chemistry, Multidisciplinary
Jianwei Zhao, Tao Han, Xiaofei Ma, Wen Ma, Chengxiang Liu, Jinyu Li, Yushuo Liu
Summary: This paper proposes a new five-degree-of-freedom folding deflagration manipulator that increases flexibility and inverse kinematics capabilities through the introduction of virtual joints and multi-degree-of-freedom design, utilizing quintic polynomial interpolation method for trajectory planning to achieve smooth movement and high precision operation.
APPLIED SCIENCES-BASEL
(2021)
Article
Engineering, Manufacturing
Guangbin Shao, Henry Oliver T. Ware, Jigang Huang, Rihan Hai, Longqiu Li, Cheng Sun
Summary: The researchers introduced a method to 3D print a magnetically-driven triple-finger micro-gripper for robust micro-manipulation in air and water. By mitigating the trade-off between mechanical compliance and magnetic actuation forces, the monolithic micro-gripper design was rapidly fabricated using a specific manufacturing process, enabling potential applications in biological and biomedical fields.
ADDITIVE MANUFACTURING
(2021)
Article
Robotics
Snehal Jain, Saikrishna Dontu, Joanne Ee Mei Teoh, Pablo Valdiva Y. Alvarado
Summary: This article introduces a reconfigurable workspace soft gripper that uses compliant structures and pneumatic actuators to adapt to various grasping tasks. Finite element analysis is used to design the actuators and materials, and the gripper's various grasping capabilities and workspace reconfiguration are demonstrated.
Article
Robotics
Long Li, Fengming Xie, Tianhong Wang, Guopeng Wang, Yingzhong Tian, Tao Jin, Quan Zhang
Summary: This article presents a compact soft gripper with a variable stiffness module and a retractable mechanism for soft-rigid hybrid actuation. The gripper achieves high stiffness without sacrificing flexibility and demonstrates robustness and dexterity in versatile tasks.
Article
Robotics
Muhammad Aqib, Abid Imran, Khurram Khan, Muhammad Arsalan, Sajjad Manzoor, Kang Long, Byung-Ju Yi
Summary: This paper presents a multifunctional underactuated two fingered adaptive grippers for grasping a wide range of objects in different working scenarios. The proposed design combines a multijointed closed-chain mechanism and a multijointed double parallelogram mechanism to achieve various grasping techniques. A mathematical model is developed to analyze the stability of the gripper design, and simulations and experiments are conducted to validate its grasping capabilities.
JOURNAL OF FIELD ROBOTICS
(2023)
