Industrial Robot: Volume 46 Issue 4

Robots in recycling and disassembly

Robert Bogue

This paper aims to illustrate the growing role robots are playing in recycling and product disassembly and provide an insight into recent research activities.

The Pransky interview: Dr Howard Chizeck, founder, Olis Robotics; Professor, Electrical and Computer Engineering, University of Washington

Joanne Pransky

The following paper is a “Q&A interview” conducted by Joanne Pransky of Industrial Robot Journal as a method to impart the combined technological, business and personal experience…

Complexity-based task allocation in human-robot collaborative assembly

Ali Ahmad Malik, Arne Bilberg

Over the past years, collaborative robots have been introduced as a new generation of industrial robotics working alongside humans to share the workload. These robots have the…

Robust adaptive super twisting controller: methodology and application of a human-driven knee joint orthosis

Rihab Bkekri, Anouar Benamor, Mohamed Amine Alouane, Georges Fried, Hassani Messaoud

The application of the sliding mode control has two obstacle phenomena: chattering and high activity of control action. The purpose of this paper concerns a novel super-twisting…

An approach for learning from robots using formal languages and automata

Muhammet Fatih Aslan, Akif Durdu, Kadir Sabancı, Kemal Erdogan

In this study, human activity with finite and specific ranking is modeled with finite state machine, and an application for human–robot interaction was realized. A robot arm was…

Research on the forcefree control of cooperative robots based on dynamic parameters identification

Juliang Xiao, Fan Zeng, Qiulong Zhang, Haitao Liu

This paper aims to propose a forcefree control algorithm that is based on a dynamic model with full torque compensation is proposed to improve the compliance and flexibility of…

Collision detection method for industrial robot based on envelope-like lines

Tie Zhang, JingDong Hong

Successful sensorless collision detection by a robot depends on the accuracy with which the external force/torque can be estimated. Compared with collaborative robots, industrial…

Impedance control of collaborative robots based on joint torque servo with active disturbance rejection

Tianyu Ren, Yunfei Dong, Dan Wu, Ken Chen

The purpose of this paper is to present a simple yet effective force control scheme for collaborative robots by addressing the problem of disturbance rejection in joint torque…

Improving stability in physical human–robot interaction by estimating human hand stiffness and a vibration index

Feifei Bian, Danmei Ren, Ruifeng Li, Peidong Liang

The purpose of this paper is to eliminate instability which may occur when a human stiffens his arms in physical human–robot interaction by estimating the human hand stiffness and…

Adaptive motion planning framework by learning from demonstration

Xiao Li, Hongtai Cheng, Xiaoxiao Liang

Learning from demonstration (LfD) provides an intuitive way for non-expert persons to teach robots new skills. However, the learned motion is typically fixed for a given scenario…

A new variable stiffness actuator and its control method

Lei Zhang, Wendong Wang, Yikai Shi, Yang Chu, Xing Ming

To achieve variable stiffness, this paper aims to design a flexible actuator with variable stiffness by using the magnetorheological effect of magnetorheological fluid. The…