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Internet‐based robotic systems have received much attention in recent years. A number of design issues are essential for designing this new type of robotic systems. This paper addresses the Internet time delay, the user interface design and concurrent user access for an Internet‐enabled arm robot. The implementation and application of the Internet‐enabled arm robot in an open control laboratory has been illustrated as a case study.

The purpose of the study is to design a three-dimensional (3D) triglide parallel robot with a different approach and to control the manufactured robot via sliding mode control method that has not been applied to the robot before.

The x, y and z coordinates of the end effector of the robot have been given as a reference. The x, y and z reference values are transformed as new reference values of the vertical movement of the robot on the endless screw by using the inverse kinematic equations of the robot. The control of the robot over these reference values is provided by a sliding mode control. The MATLAB/real-time toolbox has been used for creating the interface. The real-time control of the triglide robot has been carried out with a sliding mode controller in the Simulink environment.

When the results of the sliding mode control are examined, it is seen that the desired reference values are provided in about 0.6 s. The velocity of the sliding limbs in each arm of the robot is approximately 50 mm/s. The reference values have been reached using the sliding mode control method, with an average error of 0.01 mm. In addition, the problem of chattering in the system caused by using the sign function has been relatively eliminated by using the saturation function instead of the sign function. Thus, the sliding mode control method with saturation function is more feasible.

In this study, the triglide parallel robot was manufactured using a 3D model after taking into consideration the dimensions of the 3D model. After production, the necessary hardware connections were provided, and a real-time sliding mode control method was implemented to the robot by using the interface program in MATLAB/Simulink environment. The literature contribution of the paper is the real-time control of the triglide robot with the sliding mode control method.

Increasing complexity and aggressive throughput performance of precision robotic manipulators for semiconductor and flat‐panel‐display manufacturing applications require innovative control system architectures and advanced trajectory planning and motion control techniques. Brooks Automation, a global supplier of integrated automation solutions for the semiconductor and flat‐panel‐display manufacturing industries, has developed a number of advances that accelerate technological development in these areas of robot control in an effort to set new industry standards in performance and reliability.

Reviews the work that Ford has done in partnership with robot companies to develop production‐quality force‐controlled robots. Reports on the first industrial application of a force‐controlled robot at a Ford transmissions plant. Identifies the applications for which force‐controlled robots could be used by the automotive industry in the future and outlines continuing work at Ford to develop a self‐learning force‐controlled robot.

Industrial robots are extensively deployed to perform repetitive and simple tasks at high speed to reduce production time and improve productivity. In most cases, a compliant gripper is used for assembly tasks such as peg-in-hole assembly. A compliant mechanism in the gripper introduces flexibility that may cause oscillation in the grasped object. Such a flexible gripper–object system can be considered as an under-actuated object held by the gripper and the oscillations can be attributed to transient disturbance of the robot itself. The commercially available robots do not have a control mechanism to reduce such induced vibration. Thus, this paper aims to propose a contactless vision-based approach for vibration suppression which uses a predictive vibrational amplitude error-based second-stage controller.

The proposed predictive vibrational amplitude error-based second-stage controller is a real-time vibration control strategy that uses predicted error to estimate the second-stage controller output. Based on controller output, input trajectories were estimated for the internal controller of the robot. The control strategy efficiently handles the system delay to execute the control input trajectories when the oscillating object is at an extreme position.

The present controller works along with the internal controller of the robot without any interruption to suppress the residual vibration of the object. To demonstrate the robustness of the proposed controller, experimental implementation on Asea Brown Boveri make industrial robot (IRB) 1410 robot with a low frame rate camera has been carried out. In this experiment, two objects have been considered that have a low (<2.38 Hz) and high (>2.38 Hz) natural frequency. The proposed controller can suppress 95% of vibration amplitude in less than 3 s and reduce the stability time by 90% for a peg-in-hole assembly task.

The present vibration control strategy uses a camera with a low frame rate (25 fps) and the delays are handled intelligently to favour suppression of high-frequency vibration. The mathematical model and the second-stage controller implemented suppress vibration without modifying the robot dynamical model and the internal controller.

Presents an approach to improved performance and flexibility in industrial robotics by means of sensor integration and feedback control in task‐level programming and task execution. Also presents feasibility studies in support of the ideas. Discusses some solutions to the problem using six degrees of freedom force control together with the ABB S4CPlus system as an illustrative example. Consider various problems in the design of an open sensor interface for industrial robotics and discusses possible solutions. Finally, presents experimental results from industrial force controlled grinding.

The purpose of this paper is to address the synthesis and experimental application of a generalized predictive control (GPC) technique on an Orthoglide robot.

The control strategy is composed of two control loops. The inner loop aims at linearizing the nonlinear robot dynamics using feedback linearization. The outer loop tracks the desired trajectory based on GPC strategy, which is robustified against measurement noise and neglected dynamics using Youla parameterization.

The experimental results show the benefits of the robustified predictive control strategy on the dynamical performance of the Orthoglide robot in terms of tracking accuracy, disturbance rejection, attenuation of noise acting on the control signal and parameter variation without increasing the computational complexity.

The paper shows the implementation of the robustified predictive control strategy in real time with low computational complexity on the Orthoglide robot.

The purpose of this paper is to propose a robot constant grinding force control algorithm for the impact stage and processing stage of robotic grinding.

The robot constant grinding force control algorithm is based on a grinding model and iterative algorithm. During the impact stage, active disturbance rejection control is used to plan the robotic reference contact force, and the robot speed is adjusted according to the error between the robot’s real contact force and the robot’s reference contact force. In the processing stage, an RBF neural network is used to construct a model with the robot's position offset displacement and controlled output, and the increment of control parameters is estimated according to the RBF neural network model. The error of contact force and expected force converges gradually by iterating the control parameters online continuously.

The experimental results show that the normal force overshoot of the robot based on the grinding model and iterative algorithm is small, and the processing convergence speed is fast. The error between the normal force and the expected force is mostly within ±3 N. The normal force based on the force control algorithm is more stable than the normal force based on position control, and the surface roughness of the processed workpiece has also been improved, the Ra value compared with position control has been reduced by 24.2%.

As the proposed approach obtains a constant effect in the impact stage and processing stage of robot grinding and verified by the experiment, this approach can be used for robot grinding for improved machining accuracy.

This paper aims to present an intuitive control system for robotic manipulators that pairs a Leap Motion, a low-cost optical tracking and gesture recognition device, with the ability to record and replay trajectories and operation to create an intuitive method of controlling and programming a robotic manipulator. This system was designed to be extensible and includes modules and methods for obstacle detection and dynamic trajectory modification for obstacle avoidance.

The presented control architecture, while portable to any robotic platform, was designed to actuate a six degree-of-freedom robotic manipulator of our own design. From the data collected by the Leap Motion, the manipulator was controlled by mapping the position and orientation of the human hand to values in the joint space of the robot. Additional recording and playback functionality was implemented to allow for the robot to repeat the desired tasks once the task had been demonstrated and recorded.

Experiments were conducted on our custom-built robotic manipulator by first using a simulation model to characterize and quantify the robot’s tracking of the Leap Motion generated trajectory. Tests were conducted in the Gazebo simulation software in conjunction with Robot Operating System, where results were collected by recording both the real-time input from the Leap Motion sensor, and the corresponding pose data. The results of these experiments show that the goal of accurate and real-time control of the robot was achieved and validated our methods of transcribing, recording and repeating six degree-of-freedom trajectories from the Leap Motion camera.

As robots evolve in complexity, the methods of programming them need to evolve to become more intuitive. Humans instinctively teach by demonstrating the task to a given subject, who then observes the various poses and tries to replicate the motions. This work aims to integrate the natural human teaching methods into robotics programming through an intuitive, demonstration-based programming method.

This paper aims to develop a service‐oriented distributed multi‐robot system based on manufacturing message specification (MMS) and new‐generation distributed object technology – web services for realizing remotely monitoring and controlling multiple heterogeneous robots in the internet environment.

The study presents robot communication model and distributed multi‐robot monitoring and control software structure based on MMS and web services. In particular, monitoring and control software design of MMS concepts in web services environment using Unified Modeling Language model is discussed in detail. In addition, to verify the validity of the proposed design method, a multi‐robot prototype system for robot flexible assemble cell has been achieved. Its Server software is implemented in C++ with Visual Studio.NET being the development environment and Client software is programmed in Java with Borland JBuilder 9 being the development tool.

Finds that the communication structure following MMS can make the multi‐robot monitoring and control system have perfect robustness, interoperability and reconfigurability. Besides, web services technology can conveniently realize MMS services, also can successfully resolve the remote multi‐robot monitoring and control problem among cross‐network, cross‐platform and heterogeneous systems.

Provides an easy and low‐cost method for realizing heterogeneous multi‐robot remote driving. The web‐based distribution of the presented system is critical in enabling capabilities such as e‐manufacturing, e‐diagnostics and e‐maintenance.

The proposed system can be seamlessly integrated into other automated manufacturing systems or management systems in plug‐and‐play fashion. The combination of MMS and web services is in favor of real manufacturing equipments being embedded in the network, so the presented systematic methodology can be a useful reference for constructing web‐based reconfigurable manufacturing systems.

Provides robot communication model based on MMS and web services and presents service‐oriented distributed remote multi‐robot monitoring and control software architecture.