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Article
Publication date: 1 March 1981

C. Bourdeau, M. Briot, J.M. Pons and J.C. Talou

With future robotic systems likely to hinge in part on the quality of their associated video image processing, a system has been evolved in which interior and exterior…

Abstract

With future robotic systems likely to hinge in part on the quality of their associated video image processing, a system has been evolved in which interior and exterior profiles of objects seen by a video camera can be computed in real time.

Details

Sensor Review, vol. 1 no. 3
Type: Research Article
ISSN: 0260-2288

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Article
Publication date: 1 January 1981

M. Briot, J.C. Talou and G. Bauzil

A comprehensive multi‐sensor system using three‐dimensional vision, a laser range‐finder, an ultrasonic proximity sensor, and an infra‐red radar for position location…

Abstract

A comprehensive multi‐sensor system using three‐dimensional vision, a laser range‐finder, an ultrasonic proximity sensor, and an infra‐red radar for position location, have been built into a mobile robot.

Details

Sensor Review, vol. 1 no. 1
Type: Research Article
ISSN: 0260-2288

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Article
Publication date: 4 September 2017

Jian-jun Yuan, Weiwei Wan, Xiajun Fu, Shuai Wang and Ning Wang

This paper aims to propose a novel method to identify the parameters of robotic manipulators using the torque exerted by the robot joint motors (measured by current sensors).

Abstract

Purpose

This paper aims to propose a novel method to identify the parameters of robotic manipulators using the torque exerted by the robot joint motors (measured by current sensors).

Design/methodology/approach

Previous studies used additional sensors like force sensor and inertia measurement unit, or additional payload mounted on the end-effector to perform parameter identification. The settings of these previous works were complicated. They could only identify part of the parameters. This paper uses the torque exerted by each joint while performing Fourier periodic excited trajectories. It divides the parameters into a linear part and a non-linear part, and uses linear least square (LLS) parameter estimation and dual-swarm-based particle swarm optimization (DPso) to compute the linear and non-linear parts, respectively.

Findings

The settings are simpler and can identify the dynamic parameters, the viscous friction coefficients and the Coulomb friction coefficients of two joints at the same time. A SIASUN 7-Axis Flexible Robot is used to experimentally validate the proposal. Comparison between the predicted torque values and ground-truth values of the joints confirms the effectiveness of the method.

Originality/value

The proposed method identifies two joints at the same time with satisfying precision and high efficiency. The identification errors of joints do not accumulate.

Details

Assembly Automation, vol. 37 no. 4
Type: Research Article
ISSN: 0144-5154

Keywords

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Article
Publication date: 1 April 1980

L. Marce, M. Julliere, H. Place and H. Perrichot

Mobile robots offer more flexibility and scope than the fixed single arm type. French researchers are putting considerable effort into developing such devices and here…

Abstract

Mobile robots offer more flexibility and scope than the fixed single arm type. French researchers are putting considerable effort into developing such devices and here results of their efforts are described.

Details

Industrial Robot: An International Journal, vol. 7 no. 4
Type: Research Article
ISSN: 0143-991X

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Article
Publication date: 1 April 1981

S. Mouchaud, H. Merguen and B. Lemaire

Developing general purpose mobile robots is very much dependent on the availability of suitable sensors. A common choice by researchers is ultrasonics and work at the…

Abstract

Developing general purpose mobile robots is very much dependent on the availability of suitable sensors. A common choice by researchers is ultrasonics and work at the Laboratory of Applied Advanced Electronic Techniques (LATEA) has resulted in a simple, self‐adapting and self‐correcting ultrasonic sensor,

Details

Sensor Review, vol. 1 no. 4
Type: Research Article
ISSN: 0260-2288

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Article
Publication date: 1 March 1982

S. Monchaud and R. Prat

A simple ultrasonic sensor coupled with a colour sensing system has been designed and built in the laboratory of the French National Institute of Applied Science at…

Abstract

A simple ultrasonic sensor coupled with a colour sensing system has been designed and built in the laboratory of the French National Institute of Applied Science at Rennes, and mounted on the laboratory's VESA mobile robot. It can distinguish simple configurations of obstacles and measure their distance from the robot, and within certain limits of illumination can classify obstacles to eight reference colours.

Details

Sensor Review, vol. 2 no. 3
Type: Research Article
ISSN: 0260-2288

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Article
Publication date: 1 February 1983

Y. Tur‐Kaspa, Sunrise Robotix and E. Lenz

Through a unique design and application of a photo‐elastic material a gripper was developed that was able to perform high precision assembly tasks with a robot on ultra…

Abstract

Through a unique design and application of a photo‐elastic material a gripper was developed that was able to perform high precision assembly tasks with a robot on ultra thin‐walled(R/T300).

Details

Sensor Review, vol. 3 no. 2
Type: Research Article
ISSN: 0260-2288

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Article
Publication date: 1 February 1981

Leon D. Harmon

An extensive survey of over 300 reports worldwide shows that the state‐of‐the‐art in tactile sensing — defined as continuously variable touch sensing over an area where…

Abstract

An extensive survey of over 300 reports worldwide shows that the state‐of‐the‐art in tactile sensing — defined as continuously variable touch sensing over an area where there is special resolution — is primitive. Only now is a new level of sophistication beginning to appear. However, for industrial systems the simplest may prove to be the most reliable.

Details

Sensor Review, vol. 1 no. 2
Type: Research Article
ISSN: 0260-2288

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Article
Publication date: 17 August 2015

John Ogbemhe and Khumbulani Mpofu

– The purpose of this paper is to review the progress made in arc welding automation using trajectory planning, seam tracking and control methodologies.

Abstract

Purpose

The purpose of this paper is to review the progress made in arc welding automation using trajectory planning, seam tracking and control methodologies.

Design/methodology/approach

This paper discusses key issues in trajectory planning towards achieving full automation of arc welding robots. The identified issues in trajectory planning are real-time control, optimization methods, seam tracking and control methodologies. Recent research is considered and brief conclusions are drawn.

Findings

The major difficulty towards realizing a fully intelligent robotic arc welding system remains an optimal blend and good understanding of trajectory planning, seam tracking and advanced control methodologies. An intelligent trajectory tracking ability is strongly required in robotic arc welding, due to the positional errors caused by several disturbances that prevent the development of quality welds. An exciting prospect will be the creation of an effective hybrid optimization technique which is expected to lead to new scientific knowledge by combining robotic systems with artificial intelligence.

Originality/value

This paper illustrates the vital role played by optimization methods for trajectory design in arc robotic welding automation, especially the non-gradient approaches (those based on certain characteristics and behaviour of biological, molecular, swarm of insects and neurobiological systems). Effective trajectory planning techniques leading to real-time control and sensing systems leading to seam tracking have also been studied.

Details

Industrial Robot: An International Journal, vol. 42 no. 5
Type: Research Article
ISSN: 0143-991X

Keywords

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Article
Publication date: 1 May 2006

Ph. Guerlain and B. Durand

The paper aims to present several methods that were developed, evaluated and finally used as part of a 3D electronic tailor especially adapted to the clothing industry.

Abstract

Purpose

The paper aims to present several methods that were developed, evaluated and finally used as part of a 3D electronic tailor especially adapted to the clothing industry.

Design/methodology/approach

An experimental top down approach taking care of building a system adapted to the constraints of the textile industry was used. The research was to the rapidity, the robustness and the comfort of the future system during the development cycle.

Findings

A robust and efficient method for digitizing a human body in 3D that is usable for the measurement process with duration and accuracy adapted to the domain of textile industry.

Research limitations/implications

The research is bound to many constraints. Some are expressed by the customers of the electronic tailor, some depend on the manufacturing process of the clothes and of course, some depend on economic requirements. Of course, the system is not fixed because it must be adapted and improved to be able to follow the evolution of the manufacturing process.

Practical implications

This research permitted the creation of a marketed product improved for a few years by successfully measuring thousands of people.

Originality/value

The paper demonstrates the usefulness of choosing a digitizing process. It shows the importance of keeping in mind the whole digitizing process for making the mesh generation and the measurements taken. The resulting mannequin proves that the process works well.

Details

International Journal of Clothing Science and Technology, vol. 18 no. 3
Type: Research Article
ISSN: 0955-6222

Keywords

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