Article
Multidisciplinary Sciences
Hepeng Ni, Shuai Ji, Yingxin Ye
Summary: This study proposes a redundant posture optimization method for robotic milling to improve the machining performance of the robot. It considers multiple characteristics of the robot and utilizes a piecewise-global-optimization-strategy (PGOS) to avoid the gradual deterioration in traditional methods.
Article
Automation & Control Systems
Motoyasu Tanaka, Hidemasa Sawabe, Mizuki Nakajima, Ryo Ariizumi
Summary: This paper introduces a control method for a planar snake robot with prismatic joints, allowing the robot to track a target trajectory by adjusting link lengths. The method utilizes the redundancy of prismatic joints for subtasks such as singularity avoidance and obstacle avoidance. Simulation results demonstrate the effectiveness of the proposed method in avoiding singular configurations through changes in link lengths.
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS
(2021)
Article
Engineering, Mechanical
Haibo Qu, Lanqing Hu, Sheng Guo
Summary: This paper investigates the singularity of a planar mechanism with kinematic redundancy, establishing an inverse kinematics model and conducting comparison analysis to determine the unique inverse solution of the mechanism. Workspace-singularity map and singular configurations are drawn based on obtained Jacobian matrices and singular condition. Adjusting kinematic redundant actuated parameter can change the workspace boundary and singular configuration for singularity avoidance.
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE
(2021)
Article
Automation & Control Systems
Fujie Yu, Qingzhong Li, Yao Wang, Yuan Chen
Summary: This paper presents a new approach for redundancy resolution in underwater vehicle-manipulator systems (UVMSs). It utilizes motion coordination and dexterous manipulation to ensure tracking accuracy of the end-effector and avoid singular configurations of the manipulator. The task-priority redundancy resolution framework is employed to achieve effective coordinated motion while making use of the available redundant degrees of freedom. Experimental results demonstrate that the proposed approach greatly enhances the dexterity and coordination of the UVMS.
Article
Engineering, Mechanical
Lanqing Hu, Haibo Gao, Haibo Qu, Zhen Liu
Summary: Planar parallel robots are popular for their structural simplicity, high stiffness, and large payload capacity, but face the issues of fixed workspace and singularity. Planar parallel robots with kinematic redundancy can avoid singularity and expand workspace by adjusting parameters. This study presents an offline action-strategy to measure the closeness to singularity and avoid singularity.
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE
(2022)
Article
Automation & Control Systems
Linheng Jiang, Songyong Liu, Yuming Cui, Hongxiang Jiang
Summary: In this article, the Improved_RRT method is proposed for planning a successful and practically executable path for a manipulator in a complex obstacle environment. The method utilizes collision detection models, hybrid constrained sampling, and an innovative approach of RRT_Connect in collaboration with the artificial potential field method to optimize the path planning process. The improved algorithm is proven to be more robust and efficient in generating safe and optimal obstacle avoidance paths.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2022)
Article
Engineering, Manufacturing
Jinho Lee, Taehwa Hong, Chang-Hoon Seo, Yong Ho Jeon, Moon Gu Lee, Hyo-Young Kim
Summary: This paper discusses the application of flexible machining systems in the aircraft and automotive industries, focusing on the issues with industrial robots in terms of drilling, such as production defects caused by low stiffness.
JOURNAL OF MANUFACTURING PROCESSES
(2021)
Article
Engineering, Mechanical
Paul Milenkovic
Summary: This study introduces a novel high-order procedure for addressing the wrist singularity issue in serial robot welding, which can avoid the adverse effects of curved tools and provide kinematic redundancy to mitigate mechanical inactivity near singularities. The method can maintain the position of the tool tip and allow tool rotation while achieving zero or nearly zero deviation in pointing direction by planning a path under limits on joint rate and acceleration.
MECHANISM AND MACHINE THEORY
(2021)
Article
Chemistry, Multidisciplinary
Zihan Jiao, Xuefeng Zhao, Danyang Li, Zhe Sun, Wangbing Li
Summary: In recent years, safety issues with foundation pits have gained significant attention. The external angle of the foundation pit bears a larger load and is more prone to collapse. Utilizing BIM technology in concealed engineering can solve design stage problems, reduce unpredictable construction risks.
APPLIED SCIENCES-BASEL
(2023)
Article
Robotics
Jasper Arthur, Matt Khoshdarregi
Summary: This paper proposes an optimization framework to eliminate or minimize joint reversals in order to improve robot motion and enhance drilling quality.
Article
Chemistry, Analytical
Amit Kumar Bedaka, Shao-Chun Lee, Alaa M. Mahmoud, Yong-Sheng Cheng, Chyi-Yeu Lin
Summary: In this study, an automated position correction module was developed to locate an object's position, correct the robot's pose, and compensate for errors in displacement or rotation, effectively improving the performance of a robot-guided inspection system.
Article
Chemistry, Analytical
Helin Wang, Ziqiang Zhou, Xianyou Zhong, Qijun Chen
Summary: This paper focuses on the accuracy analysis and singularity avoidance problem for co-bots. It analyzes the causes of singularity phenomenon in robot motion control and obtains inverse solutions using analytical and numerical methods. Singularity avoidance schemes are proposed for different control tasks to ensure smooth and safe operation in the entire workspace.
Article
Automation & Control Systems
Wei-Zhi Lin, Han-Pang Huang, Chun-Yeon Lin
Summary: This paper presents the development of a robotic manipulator system for three-dimensional printing, with a focus on addressing the potential issues that may arise during the 3D printing process. The proposed null-space control method takes into account joint limits, singularities, and orientation errors to ensure a safe and reliable printing process.
INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY
(2022)
Proceedings Paper
Automation & Control Systems
Carlos Borges, Jose Ribeiro, Luis Louro, Paulo Vicente, Carlos Faria, Sergio Monteiro, Estela Bicho
Summary: This work focuses on manipulating deformable objects for defect inspection. By mimicking demonstrated trajectories, the required inspection movements are performed using a 7-DoF serial arm and a fixed grasp support. A novel trajectory tracking method is proposed to achieve high manipulability in each pose of the trajectory, along with a computer vision-based approach for obtaining the trajectories.
2022 IEEE INTERNATIONAL CONFERENCE ON AUTONOMOUS ROBOT SYSTEMS AND COMPETITIONS (ICARSC)
(2022)
Article
Computer Science, Artificial Intelligence
Sukmin Yoon, Haggi Do, Jinwhan Kim
Summary: This study proposes a robust task allocation algorithm under uncertainty in the position of the nodes and quantifies the robustness and sensitivity of the solution using Gaussian approximations and the Interval algorithm. The performance of the proposed methodology is evaluated through numerical simulations.
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
(2022)
