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1 – 10 of 19Kang Min, Fenglei Ni and Hong Liu
The purpose of the paper is to propose an efficient and accurate force/torque (F/T) sensing method for the robotic wrist-mounted six-dimensional F/T sensor based on an excitation…
Abstract
Purpose
The purpose of the paper is to propose an efficient and accurate force/torque (F/T) sensing method for the robotic wrist-mounted six-dimensional F/T sensor based on an excitation trajectory.
Design/methodology/approach
This paper presents an efficient and accurate F/T sensing method based on an excitation trajectory. First, the dynamic identification model is established by comprehensively considering inertial forces/torques, sensor zero-drift values, robot base inclination errors and forces/torques caused by load gravity. Therefore, the sensing accuracy is improved. Then, the excitation trajectory with optimized poses is used for robot following and data acquisition. The data acquisition is not limited by poses and its time can be significantly shortened. Finally, the least squares method is used to identify parameters and sense contact forces/torques.
Findings
Experiments have been carried out on the self-developed robot manipulator. The results strongly demonstrate that the proposed approach is more efficient and accurate than the existing widely-adopted method. Furthermore, the data acquisition time can be shortened from more than 60 s to 3 s/20 s. Thus, the proposed approach is effective and suitable for fast-paced industrial applications.
Originality/value
The main contributions of this paper are as follows: the dynamic identification model is established by comprehensively considering inertial forces/torques, sensor zero-drift values, robot base inclination errors and forces/torques caused by load gravity; and the excitation trajectory with optimized poses is used for robot following and data acquisition.
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Zhimin Pan, Yu Yan, Yizhou Huang, Wei Jiang, Gao Cheng Ye and Hong Jun Li
The purpose of this paper is to achieve optimal climbing control of the gas-insulated switchgear (GIS) robot, as the authors know that the GIS inspection robot is a kind of…
Abstract
Purpose
The purpose of this paper is to achieve optimal climbing control of the gas-insulated switchgear (GIS) robot, as the authors know that the GIS inspection robot is a kind of artificial intelligent mobile equipment which auxiliary or even substitute human labor drive on the inner wall of the gas-insulated metal enclosed switchgear. The GIS equipment fault inspection and maintenance can be realized through the robot manipulator on the mobile platform and the camera carried on the fuselage, and it is a kind of intelligent equipment for operation. To realize the inspection and operation of the GIS equipment pipeline without blind spots, the robot is required to be able to travel on any wall inside the pipeline, especially the top of the pipeline and both right and left sides of the pipeline, which requires the flexible climbing of the GIS inspection robot. The robot device has a certain adsorption function to ensure that the robot is fully attached to the wall surface. At the same time, the robot manipulator can be used for collision-free obstacle avoidance operation planning in the narrow operation space inside the GIS equipment.
Design/methodology/approach
The above two technologies are the key that the robot completes the GIS equipment inspections. Based on this, this paper focuses on modeling and analysis of the chassis adsorption characteristics for the GIS inspection robot. At the same time, the Denavit Hartenberg (D-H) coordinate model of the robot arm system has been established, and the kinematics forward and inverse solutions of the robot manipulator system have been derived.
Findings
The reachable working space point cloud diagram of the robot manipulator in MATLAB has been obtained based on the kinematics analysis, and the operation trajectory planning of the robot manipulator using the robot toolbox has been obtained. The simulation results show that the robot manipulator system can realize the movement without collision and obstacle avoidance. The space can cover the entire GIS pipeline so as to achieve no blind area operation.
Originality/value
Finally, the GIS inspection robot physical prototype system has been developed through system integration design, and the inspection, maintenance operation experiment has been carried out in the actual GIS equipment. The entire robot system can complete the GIS equipment inspection operation soundly and improve the operation efficiency. The research in this paper has important theoretical significance and practical application value for the optimization design and practical research of the GIS inspection robot system.
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This paper aims to present a novel lightweight distribution grid operating robot system with focus on lightweight and multi-functionality, aiming for autonomous and live-line…
Abstract
Purpose
This paper aims to present a novel lightweight distribution grid operating robot system with focus on lightweight and multi-functionality, aiming for autonomous and live-line maintenance operations.
Design/methodology/approach
A ground-up redesign of the dual-arm robotic system with 12-DoF is applied for substantial weight reduction; a dual-mode operating control framework is proposed, with vision-guided autonomous operation embedded with real-time manual teleoperation controlling both manipulators simultaneously; a quick-swap tooling system is developed to conduct multi-functional operation tasks. A prototype robotic system is constructed and validated in a series of operational experiments in an emulated environment both indoors and outdoors.
Findings
The overall weight of the system is successfully brought down to under 150 kg, making it suitable for the majority of vehicle-mounted aerial work platforms, and it can be flexibly and quickly deployed in population dense areas with narrow streets. The system equips with two dexterous robotic manipulators and up to six interchangeable tools, and a vision system for AI-based autonomous operations. A quick-change tooling system ensures the robot to change tools on-the-go without human intervention.
Originality/value
The resulting dual-arm robotic live-line operation system robotic system could be compact and lightweight enough to be deployed on a wide range of available aerial working platforms with high mobility and efficiency. The robot could both conduct routine operation tasks fully autonomously without human direct operation and be manually operated when required. The quick-swap tooling system enables lightweight and durable interchangeability of multiple end-effector tools, enabling future expansion of operating capabilities across different tasks and operating scenarios.
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Mohamed Slamani, Hocine Makri, Aissa Boudilmi, Ilian A. Bonev and Jean-Francois Chatelain
This research paper aims to optimize the calibration process for an ABB IRB 120 robot, specifically for robotic orbital milling applications, by introducing and validating the use…
Abstract
Purpose
This research paper aims to optimize the calibration process for an ABB IRB 120 robot, specifically for robotic orbital milling applications, by introducing and validating the use of the observability index and telescopic ballbar for accuracy enhancement.
Design/methodology/approach
The study uses the telescopic ballbar and an observability index for the calibration of an ABB IRB 120 robot, focusing on robotic orbital milling. Comparative simulation analysis selects the O3 index. Experimental tests, both static and dynamic, evaluate the proposed calibration approach within the robot’s workspace.
Findings
The proposed calibration approach significantly reduces circularity errors, particularly in robotic orbital milling, showcasing effectiveness in both static and dynamic modes at various tool center point speeds.
Research limitations/implications
The study focuses on a specific robot model and application (robotic orbital milling), limiting generalizability. Further research could explore diverse robot models and applications.
Practical implications
The findings offer practical benefits by enhancing the accuracy of robotic systems, particularly in precision tasks like orbital milling, providing a valuable calibration method.
Social implications
While primarily technological, improved robotic precision can have social implications, potentially influencing fields where robotic applications are crucial, such as manufacturing and automation.
Originality/value
This study’s distinctiveness lies in advancing the accuracy and precision of industrial robots during circular motions, specifically tailored for orbital milling applications. The innovative approach synergistically uses the observability index and telescopic ballbar to achieve these objectives.
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Yonghua Huang, Tuanjie Li, Yuming Ning and Yan Zhang
This paper aims to solve the problem of the inability to apply learning methods for robot motion skills based on dynamic movement primitives (DMPs) in tasks with explicit…
Abstract
Purpose
This paper aims to solve the problem of the inability to apply learning methods for robot motion skills based on dynamic movement primitives (DMPs) in tasks with explicit environmental constraints, while ensuring the reliability of the robot system.
Design/methodology/approach
The authors propose a novel DMP that takes into account environmental constraints to enhance the generality of the robot motion skill learning method. First, based on the real-time state of the robot and environmental constraints, the task space is divided into different regions and different control strategies are used in each region. Second, to ensure the effectiveness of the generalized skills (trajectories), the control barrier function is extended to DMP to enforce constraint conditions. Finally, a skill modeling and learning algorithm flow is proposed that takes into account environmental constraints within DMPs.
Findings
By designing numerical simulation and prototype demonstration experiments to study skill learning and generalization under constrained environments. The experimental results demonstrate that the proposed method is capable of generating motion skills that satisfy environmental constraints. It ensures that robots remain in a safe position throughout the execution of generation skills, thereby avoiding any adverse impact on the surrounding environment.
Originality/value
This paper explores further applications of generalized motion skill learning methods on robots, enhancing the efficiency of robot operations in constrained environments, particularly in non-point-constrained environments. The improved methods are applicable to different types of robots.
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Xi Liang Chen, Zheng Yu Xie, Zhi Qiang Wang and Yi Wen Sun
The six-axis force/torque sensor based on a Y-type structure has the advantages of simple structure, small space volume, low cost and wide application prospects. To meet the…
Abstract
Purpose
The six-axis force/torque sensor based on a Y-type structure has the advantages of simple structure, small space volume, low cost and wide application prospects. To meet the overall structural stiffness requirements and sensor performance requirements in robot engineering applications, this paper aims to propose a Y-type six-axis force/torque sensor.
Design/methodology/approach
The performance indicators such as each component sensitivities and stiffnesses of the sensor were selected as optimization objectives. The multiobjective optimization equations were established. A multiple quadratic response surface in ANSYS Workbench was modeled by using the central composite design experimental method. The optimal manufacturing structural parameters were obtained by using multiobjective genetic algorithm.
Findings
The sensor was optimized and the simulation results show that the overload resistance of the sensor is 200%F.S., and the axial stiffness, radial stiffness, bending stiffness and torsional stiffness are 14.981 kN/mm, 16.855 kN/mm, 2.0939 kN m/rad and 6.4432 kN m/rad, respectively, which meet the design requirements, and the sensitivities of each component of the optimized sensor have been well increased to be 2.969, 2.762, 4.010, 2.762, 2.653 and 2.760 times as those of the sensor with initial structural parameters. The sensor prototype with optimized parameters was produced. According to the calibration experiment of the sensor, the maximum Class I and II errors and measurement uncertainty of each force/torque component of the sensor are 1.835%F.S., 1.018%F.S. and 1.606%F.S., respectively. All of them are below the required 2%F.S.
Originality/value
Hence, the conclusion can be drawn that the sensor has excellent comprehensive performance and meets the expected practical engineering requirements.
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Shiqing Wu, Jiahai Wang, Haibin Jiang and Weiye Xue
The purpose of this study is to explore a new assembly process planning and execution mode to realize rapid response, reduce the labor intensity of assembly workers and improve…
Abstract
Purpose
The purpose of this study is to explore a new assembly process planning and execution mode to realize rapid response, reduce the labor intensity of assembly workers and improve the assembly efficiency and quality.
Design/methodology/approach
Based on the related concepts of digital twin, this paper studies the product assembly planning in digital space, the process execution in physical space and the interaction between digital space and physical space. The assembly process planning is simulated and verified in the digital space to generate three-dimensional visual assembly process specification documents, the implementation of the assembly process specification documents in the physical space is monitored and feed back to revise the assembly process and improve the assembly quality.
Findings
Digital twin technology enhances the quality and efficiency of assembly process planning and execution system.
Originality/value
It provides a new perspective for assembly process planning and execution, the architecture, connections and data acquisition approaches of the digital twin-driven framework are proposed in this paper, which is of important theoretical values. What is more, a smart assembly workbench is developed, the specific image classification algorithms are presented in detail too, which is of some industrial application values.
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Behnam M. Tehrani, Samer BuHamdan and Aladdin Alwisy
Despite the proven evidence of ever-growing productivity gains in the manufacturing industry as a result of years of research and investment in advanced technologies, such as…
Abstract
Purpose
Despite the proven evidence of ever-growing productivity gains in the manufacturing industry as a result of years of research and investment in advanced technologies, such as robotics, the adoption of robots in construction is still lagging. The existing literature lacks technical frameworks and guidelines that account for the one-of-a-kind nature of construction projects and the myriad of materials and dimensional components in construction activities. This study seeks to address existing technical uncertainty and productivity issues associated with the application of robotics in the assembly-type manufacturing of industrialized construction.
Design/methodology/approach
To facilitate the selection of suitable robotic arms for industrialized construction activities, primarily assembly-type manufacturing tasks of offsite production processes, an activity-based ranking system based on axiomatic design principles is proposed. The proposed ranking system utilizes five functional requirements derived from robot characteristics—speed, payload, reach, degrees of freedom and position repeatability—to evaluate robot performance in an industrialized construction task using simulations of a framing station.
Findings
Based on design parameters obtained from activity-based simulations, seventy six robotic arms suitable for the framing task were scored and ranked. According to the sensitivity analysis of proposed functional requirements, speed is the key functional requirement that has a notable effect on productivity of a framing station and is thus the determinant in robot performance assessment for framing tasks.
Originality/value
The proposed ranking system is expected to augment automation in construction and serve as a preliminary guideline to help construction professionals in making informed decisions regarding the adoption of robotic arms.
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Rui Lin, Qiguan Wang, Xin Yang and Jianwen Huo
In complex environments, a spherical robot has great application value. When the pendulum spherical robot is stopped or disturbed, there will be a periodic oscillation. This…
Abstract
Purpose
In complex environments, a spherical robot has great application value. When the pendulum spherical robot is stopped or disturbed, there will be a periodic oscillation. This situation will seriously affect the stability of the spherical robot. Therefore, this paper aims to propose a control method based on backstepping and disturbance observers for oscillation suppression.
Design/methodology/approach
This paper analyzes the mechanism of oscillation. The oscillation model of the spherical robot is constructed and the relationship between the oscillation and the internal structure of the sphere is analyzed. Based on the oscillation model, the authors design the oscillation suppression control of the spherical robot using the backstepping method. At the same time, a disturbance observer is added to suppress the disturbance.
Findings
It is found that the control system based on backstepping and disturbance observer is simple and efficient for nonlinear models. Compared with the PID controller commonly used in engineering, this control method has a better control effect.
Practical implications
The proposed method can provide a reliable and effective stability scheme for spherical robots. The problem of instability in real motion is solved.
Originality/value
In this paper, the oscillation model of a spherical robot is innovatively constructed. Second, a new backstepping control method combined with a disturbance observer for the spherical robot is proposed to suppress the oscillation.
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Ayodeji Emmanuel Oke, Ahmed Farouk Kineber, Ibraheem Albukhari and Adeyemi James Dada
The purpose of this paper is to evaluate the barriers militating against the adoption of robotics in the construction industry.
Abstract
Purpose
The purpose of this paper is to evaluate the barriers militating against the adoption of robotics in the construction industry.
Design/methodology/approach
Robotics implementation barriers were obtained from the previous studies and then through questionnaire survey construction stakeholders in Nigeria evaluate these barriers. Consequently, these barriers were examined via the exploratory factor analysis (EFA) technique. Furthermore, a model of these barriers was implemented by means of a partial least square structural equation modeling (PLS-SEM).
Findings
The EFA results showed that these barriers could be categorized into two: cost and technology. Results obtained from the proposed model showed that platform tools were crucial tools for implementing cloud computing.
Originality/value
The novelty of this research work will be provided a solid foundation for critically assessing and appreciating the different barriers affecting the adoption of robotics.
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