Fusheng Liu, Zhihang He, Yue Qiao, Xinxin Liu, Xuelong Li, Wang Wei, Bo Su, R. Dang
Purpose The purpose of this paper is specifically to provide a more intelligent locomotion planning method for a hexapod robot based on trajectory optimization, which could reduce the complexity of locomotion design, shorten time of design and generate efficient and accurate motion. Design/methodology/approach The authors generated locomotion for the hexapod robot based on trajectory optimization method and it just need to specify the high-level motion requirements. Here the authors first transcribed the trajectory optimization problem to a nonlinear programming problem, in which the specified motion requirements and the dynamics with complementarity constraints were defined as the constraints, then a nonlinear solver was used to solve. The leg compliance was taken into consideration and the generated motions were deployed on the hexapod robot prototype to prove the utility of the method and, meanwhile, the influence of different environments was considered. Findings The generated motions were deployed on the hexapod robot and the movements were demonstrated very much in line with the planning. The new planning method does not require lots of parameter-tuning work and therefore significantly reduces the cycle for designing a new locomotion. Originality/value A locomotion generation method based on trajectory optimization was constructed for a 12-degree of freedom hexapod robot. The variable stiffness compliance of legs was considered to improve the accuracy of locomotion generation. And also, different from some simulation work before, the authors have designed the locomotion in three cases and constructed field tests to demonstrate its utility.
{"title":"Optimization-based hexapod robot locomotion generation","authors":"Fusheng Liu, Zhihang He, Yue Qiao, Xinxin Liu, Xuelong Li, Wang Wei, Bo Su, R. Dang","doi":"10.1108/ir-02-2022-0038","DOIUrl":"https://doi.org/10.1108/ir-02-2022-0038","url":null,"abstract":"\u0000Purpose\u0000The purpose of this paper is specifically to provide a more intelligent locomotion planning method for a hexapod robot based on trajectory optimization, which could reduce the complexity of locomotion design, shorten time of design and generate efficient and accurate motion.\u0000\u0000\u0000Design/methodology/approach\u0000The authors generated locomotion for the hexapod robot based on trajectory optimization method and it just need to specify the high-level motion requirements. Here the authors first transcribed the trajectory optimization problem to a nonlinear programming problem, in which the specified motion requirements and the dynamics with complementarity constraints were defined as the constraints, then a nonlinear solver was used to solve. The leg compliance was taken into consideration and the generated motions were deployed on the hexapod robot prototype to prove the utility of the method and, meanwhile, the influence of different environments was considered.\u0000\u0000\u0000Findings\u0000The generated motions were deployed on the hexapod robot and the movements were demonstrated very much in line with the planning. The new planning method does not require lots of parameter-tuning work and therefore significantly reduces the cycle for designing a new locomotion.\u0000\u0000\u0000Originality/value\u0000A locomotion generation method based on trajectory optimization was constructed for a 12-degree of freedom hexapod robot. The variable stiffness compliance of legs was considered to improve the accuracy of locomotion generation. And also, different from some simulation work before, the authors have designed the locomotion in three cases and constructed field tests to demonstrate its utility.\u0000","PeriodicalId":54987,"journal":{"name":"Industrial Robot-The International Journal of Robotics Research and Application","volume":null,"pages":null},"PeriodicalIF":1.8,"publicationDate":"2022-05-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78242607","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Tao Wang, Zheng Xie, Yuan Li, Yan Zhang, H. Zhang, F. Kirchner
Purpose This study aims to introduce the DoraHand, and the basic capability and performance have been verified in this paper. Besides the idea of sharing modular design and sensor design, the authors want to deliver an affordable and practical dexterous hand to the research area to contribute to the robotic manipulation area. Design/methodology/approach This paper introduced the DoraHand, a novel scalable and practical modular dexterous hand, which, adopting modular finger and palm design, fully actuated joint and tactile sensors, can improve the dexterity for robotic manipulation and lower the complexity of maintenance. A series of experiments are delivered to verify the performance of the hand and sensor module. Findings The parameters of the DoraHand are verified and suitable for the research of robotics manipulation area, the sensing capability has been tested with the static experiment and the slip prediction algorithm. And, the advantage of modular design and extensible interface have been verified by the real application. Research limitations/implications The authors continue improving the DoraHand and extend it to more different applications. The authors want to make the DoraHand as a basic research platform in the robotic manipulation area. Practical implications The DoraHand has been sent to more than ten different research institutes for different research applications. The authors continue working on this hand for better performance, easier usage and more affordability. Social implications This kind of dexterous hand can help researchers get rid of complex physical issues and pay more attention to the algorithm part; it can help to make robotic manipulation work more popular. Originality/value The key design in the DoraHand is the modular finger and sensing module. With the special design in mechanical and electrical parts, the authors build reliable hardware and can support the diversity requirement in the robotic manipulation area. The hand with tactile sensing capability can be used in more research and applications with its extensibility.
{"title":"DoraHand: a novel dexterous hand with tactile sensing finger module","authors":"Tao Wang, Zheng Xie, Yuan Li, Yan Zhang, H. Zhang, F. Kirchner","doi":"10.1108/ir-12-2021-0303","DOIUrl":"https://doi.org/10.1108/ir-12-2021-0303","url":null,"abstract":"\u0000Purpose\u0000This study aims to introduce the DoraHand, and the basic capability and performance have been verified in this paper. Besides the idea of sharing modular design and sensor design, the authors want to deliver an affordable and practical dexterous hand to the research area to contribute to the robotic manipulation area.\u0000\u0000\u0000Design/methodology/approach\u0000This paper introduced the DoraHand, a novel scalable and practical modular dexterous hand, which, adopting modular finger and palm design, fully actuated joint and tactile sensors, can improve the dexterity for robotic manipulation and lower the complexity of maintenance. A series of experiments are delivered to verify the performance of the hand and sensor module.\u0000\u0000\u0000Findings\u0000The parameters of the DoraHand are verified and suitable for the research of robotics manipulation area, the sensing capability has been tested with the static experiment and the slip prediction algorithm. And, the advantage of modular design and extensible interface have been verified by the real application.\u0000\u0000\u0000Research limitations/implications\u0000The authors continue improving the DoraHand and extend it to more different applications. The authors want to make the DoraHand as a basic research platform in the robotic manipulation area.\u0000\u0000\u0000Practical implications\u0000The DoraHand has been sent to more than ten different research institutes for different research applications. The authors continue working on this hand for better performance, easier usage and more affordability.\u0000\u0000\u0000Social implications\u0000This kind of dexterous hand can help researchers get rid of complex physical issues and pay more attention to the algorithm part; it can help to make robotic manipulation work more popular.\u0000\u0000\u0000Originality/value\u0000The key design in the DoraHand is the modular finger and sensing module. With the special design in mechanical and electrical parts, the authors build reliable hardware and can support the diversity requirement in the robotic manipulation area. The hand with tactile sensing capability can be used in more research and applications with its extensibility.\u0000","PeriodicalId":54987,"journal":{"name":"Industrial Robot-The International Journal of Robotics Research and Application","volume":null,"pages":null},"PeriodicalIF":1.8,"publicationDate":"2022-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73739917","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Zixin Mu, Zhenhua Cai, Chunnian Zeng, Zifan Li, Xufeng Liang, F. Yang, Tingyang Chen, S. Dong, Chunming Deng, S. Niu
Purpose During the process of the robotic grinding and polishing operations on aero-engine blades, the key problem of calibration error lies in fixture error and uneven margin. To solve this problem, this paper aims to propose a novel method to achieve rapid online calibration of the workpiece coordinate system through laser-based measurement techniques. Design/methodology/approach The authors propose a calibration strategy based on point cloud registration algorithm. The main principle is presented as follows: aero blade mounted on clamping end-effector is hold by industry robot, the whole device is then scanned by a 3D laser scanner to obtain its surface point cloud, and a fast segmentation method is used to acquire the point cloud of the workpiece. Combining Super4PCS algorithm with trimmed iterative closest point, we can align the key points of the scanned point cloud and the sampled points of the blade model, thus obtaining the translation and rotation matrix for calculating the workpiece coordinate and machining allowance. The proposed calibration strategy is experimentally validated, and the positioning error, as well as the margin distribution, is finally analyzed. Findings The experimental results show that the algorithm can well accomplish the task of cross-source, partial data and similar local features of blade point cloud registration with high precision. The total time spent on point cloud alignment of 100,000 order of magnitude blade is about 4.2 s, and meanwhile, the average point cloud alignment error is reduced to below 0.05 mm. Originality/value An improved point cloud registration method is proposed and introduced into the calibration process of a robotic system. The online calibration technique improves the accuracy and efficiency of the calibration process and enhances the automation of the robotic grinding and polishing system.
{"title":"A point cloud registration-based calibration algorithm for robot offline programming automatic loading in aero-grinding applications","authors":"Zixin Mu, Zhenhua Cai, Chunnian Zeng, Zifan Li, Xufeng Liang, F. Yang, Tingyang Chen, S. Dong, Chunming Deng, S. Niu","doi":"10.1108/ir-12-2021-0284","DOIUrl":"https://doi.org/10.1108/ir-12-2021-0284","url":null,"abstract":"\u0000Purpose\u0000During the process of the robotic grinding and polishing operations on aero-engine blades, the key problem of calibration error lies in fixture error and uneven margin. To solve this problem, this paper aims to propose a novel method to achieve rapid online calibration of the workpiece coordinate system through laser-based measurement techniques.\u0000\u0000\u0000Design/methodology/approach\u0000The authors propose a calibration strategy based on point cloud registration algorithm. The main principle is presented as follows: aero blade mounted on clamping end-effector is hold by industry robot, the whole device is then scanned by a 3D laser scanner to obtain its surface point cloud, and a fast segmentation method is used to acquire the point cloud of the workpiece. Combining Super4PCS algorithm with trimmed iterative closest point, we can align the key points of the scanned point cloud and the sampled points of the blade model, thus obtaining the translation and rotation matrix for calculating the workpiece coordinate and machining allowance. The proposed calibration strategy is experimentally validated, and the positioning error, as well as the margin distribution, is finally analyzed.\u0000\u0000\u0000Findings\u0000The experimental results show that the algorithm can well accomplish the task of cross-source, partial data and similar local features of blade point cloud registration with high precision. The total time spent on point cloud alignment of 100,000 order of magnitude blade is about 4.2 s, and meanwhile, the average point cloud alignment error is reduced to below 0.05 mm.\u0000\u0000\u0000Originality/value\u0000An improved point cloud registration method is proposed and introduced into the calibration process of a robotic system. The online calibration technique improves the accuracy and efficiency of the calibration process and enhances the automation of the robotic grinding and polishing system.\u0000","PeriodicalId":54987,"journal":{"name":"Industrial Robot-The International Journal of Robotics Research and Application","volume":null,"pages":null},"PeriodicalIF":1.8,"publicationDate":"2022-05-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83852317","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Purpose Mobile robots may perform very critical tasks under difficult operating conditions. Faults encountered during their tasks may cause the task to be interrupted or failed completely. In the active fault tolerant control methods, it is very important not only to detect the faults that occur in the robot, but also to isolate these faults to develop a fault recovery strategy that is suitable for that specific type of fault. This study aims to develop a model-based fault detection and isolation method for wheel slippage and motor performance degradation that may occur in wheeled mobile robots. Design/methodology/approach In the proposed method, wheel speeds can be estimated via the dynamic model of the mobile robot, which includes a friction model between the wheel and the ground. Four residual signals are obtained from the differences between the estimated states and the measured states of the mobile robot. Mobile robot’s faults are detected by using these signals. Also, two different residual signals are generated from the calculation of the traction forces with two different procedures. These six residual signals are then used to isolate possible wheel slippage and performance degradation in a motor. Findings The proposed method for diagnosing wheel slip and performance degradation in motors are tested by moving the robot in various directions. According to the data obtained from the test results, a logic table is created to isolate these two faults from each other. Thanks to the created logic table, slippage in any wheel and performance degradation in any motor can be detected and isolated. Originality/value Two different recovery strategies are needed to recover temporary wheel slippage and permanent motor faults. Therefore, it is important to isolate these two faults that create similar symptoms in robot’s general movement. Thanks to the method proposed in this study, it is not only possible to isolate the slipping wheel with respect to the non-slipping wheels or to isolate the faulty motor from the non-faulty ones, but also to isolate these two different fault types from each other.
{"title":"Model-based detection and isolation of the wheel slippage and actuator faults of a holonomic mobile robot","authors":"O. Şahin, M. Dede","doi":"10.1108/ir-01-2022-0001","DOIUrl":"https://doi.org/10.1108/ir-01-2022-0001","url":null,"abstract":"\u0000Purpose\u0000Mobile robots may perform very critical tasks under difficult operating conditions. Faults encountered during their tasks may cause the task to be interrupted or failed completely. In the active fault tolerant control methods, it is very important not only to detect the faults that occur in the robot, but also to isolate these faults to develop a fault recovery strategy that is suitable for that specific type of fault. This study aims to develop a model-based fault detection and isolation method for wheel slippage and motor performance degradation that may occur in wheeled mobile robots.\u0000\u0000\u0000Design/methodology/approach\u0000In the proposed method, wheel speeds can be estimated via the dynamic model of the mobile robot, which includes a friction model between the wheel and the ground. Four residual signals are obtained from the differences between the estimated states and the measured states of the mobile robot. Mobile robot’s faults are detected by using these signals. Also, two different residual signals are generated from the calculation of the traction forces with two different procedures. These six residual signals are then used to isolate possible wheel slippage and performance degradation in a motor.\u0000\u0000\u0000Findings\u0000The proposed method for diagnosing wheel slip and performance degradation in motors are tested by moving the robot in various directions. According to the data obtained from the test results, a logic table is created to isolate these two faults from each other. Thanks to the created logic table, slippage in any wheel and performance degradation in any motor can be detected and isolated.\u0000\u0000\u0000Originality/value\u0000Two different recovery strategies are needed to recover temporary wheel slippage and permanent motor faults. Therefore, it is important to isolate these two faults that create similar symptoms in robot’s general movement. Thanks to the method proposed in this study, it is not only possible to isolate the slipping wheel with respect to the non-slipping wheels or to isolate the faulty motor from the non-faulty ones, but also to isolate these two different fault types from each other.\u0000","PeriodicalId":54987,"journal":{"name":"Industrial Robot-The International Journal of Robotics Research and Application","volume":null,"pages":null},"PeriodicalIF":1.8,"publicationDate":"2022-05-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88544763","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Purpose Many metal workpieces have the characteristics of less texture, symmetry and reflectivity, which presents a challenge to existing pose estimation methods. The purpose of this paper is to propose a pose estimation method for grasping metal workpieces by industrial robots. Design/methodology/approach Dual-hypothesis robust point matching registration network (RPM-Net) is proposed to estimate pose from point cloud. The proposed method uses the Point Cloud Library (PCL) to segment workpiece point cloud from scenes and a trained-well robust point matching registration network to estimate pose through dual-hypothesis point cloud registration. Findings In the experiment section, an experimental platform is built, which contains a six-axis industrial robot, a binocular structured-light sensor. A data set that contains three subsets is set up on the experimental platform. After training with the emulation data set, the dual-hypothesis RPM-Net is tested on the experimental data set, and the success rates of the three real data sets are 94.0%, 92.0% and 96.0%, respectively. Originality/value The contributions are as follows: first, dual-hypothesis RPM-Net is proposed which can realize the pose estimation of discrete and less-textured metal workpieces from point cloud, and second, a method of making training data sets is proposed using only CAD models with the visualization algorithm of the PCL.
{"title":"Pose estimation of metal workpieces based on RPM-Net for robot grasping from point cloud","authors":"Lin Li, Xi Chen, Tie Zhang","doi":"10.1108/ir-03-2022-0081","DOIUrl":"https://doi.org/10.1108/ir-03-2022-0081","url":null,"abstract":"\u0000Purpose\u0000Many metal workpieces have the characteristics of less texture, symmetry and reflectivity, which presents a challenge to existing pose estimation methods. The purpose of this paper is to propose a pose estimation method for grasping metal workpieces by industrial robots.\u0000\u0000\u0000Design/methodology/approach\u0000Dual-hypothesis robust point matching registration network (RPM-Net) is proposed to estimate pose from point cloud. The proposed method uses the Point Cloud Library (PCL) to segment workpiece point cloud from scenes and a trained-well robust point matching registration network to estimate pose through dual-hypothesis point cloud registration.\u0000\u0000\u0000Findings\u0000In the experiment section, an experimental platform is built, which contains a six-axis industrial robot, a binocular structured-light sensor. A data set that contains three subsets is set up on the experimental platform. After training with the emulation data set, the dual-hypothesis RPM-Net is tested on the experimental data set, and the success rates of the three real data sets are 94.0%, 92.0% and 96.0%, respectively.\u0000\u0000\u0000Originality/value\u0000The contributions are as follows: first, dual-hypothesis RPM-Net is proposed which can realize the pose estimation of discrete and less-textured metal workpieces from point cloud, and second, a method of making training data sets is proposed using only CAD models with the visualization algorithm of the PCL.\u0000","PeriodicalId":54987,"journal":{"name":"Industrial Robot-The International Journal of Robotics Research and Application","volume":null,"pages":null},"PeriodicalIF":1.8,"publicationDate":"2022-05-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76182951","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Purpose Variable stiffness structure can significantly improve the interactive capabilities of grippers. Shape memory alloys have become a popular option for materials with variable stiffness structures. However, its variable stiffness range is limited by its stiffness in two phases. The purpose of this paper is to enhance the manipulation capabilities of tendon-driven flexible grippers by designing a wide-range variable stiffness structure. Design/methodology/approach Constitutive models of shape memory alloy and mechanical models are used to analyze the performance of the variable stiffness structure. A separated solution was used to combine the tendon-driven gripper and the variable stiffness structure. The feed-forward control algorithm is used to enhance the control stability of the variable stiffness structure. Findings The stiffness variable capability of the proposed variable stiffness structure is verified by experiments. The stability of the feedback control algorithm was verified by sinusoidal tracking experiments. The variable stiffness range of 8.41 times of the flexible gripper was tested experimentally. The interaction capability of the variable stiffness flexible gripper is verified by the object grasping experiments. Originality/value A new wide-range variable stiffness structure is proposed and validated. The new variable stiffness structure has a larger range of stiffness variation and better control stability. The new flexible structure can be applied to conventional grippers to help them gain stiffness variable capability and improve their interaction ability.
{"title":"A flexible gripper with a wide-range variable stiffness structure based on shape memory alloy","authors":"Canjun Yang, Weitao Wu, Xin Wu, Jifei Zhou, Zhangpeng Tu, Mingwei Lin, Sheng Zhang","doi":"10.1108/ir-12-2021-0286","DOIUrl":"https://doi.org/10.1108/ir-12-2021-0286","url":null,"abstract":"\u0000Purpose\u0000Variable stiffness structure can significantly improve the interactive capabilities of grippers. Shape memory alloys have become a popular option for materials with variable stiffness structures. However, its variable stiffness range is limited by its stiffness in two phases. The purpose of this paper is to enhance the manipulation capabilities of tendon-driven flexible grippers by designing a wide-range variable stiffness structure.\u0000\u0000\u0000Design/methodology/approach\u0000Constitutive models of shape memory alloy and mechanical models are used to analyze the performance of the variable stiffness structure. A separated solution was used to combine the tendon-driven gripper and the variable stiffness structure. The feed-forward control algorithm is used to enhance the control stability of the variable stiffness structure.\u0000\u0000\u0000Findings\u0000The stiffness variable capability of the proposed variable stiffness structure is verified by experiments. The stability of the feedback control algorithm was verified by sinusoidal tracking experiments. The variable stiffness range of 8.41 times of the flexible gripper was tested experimentally. The interaction capability of the variable stiffness flexible gripper is verified by the object grasping experiments.\u0000\u0000\u0000Originality/value\u0000A new wide-range variable stiffness structure is proposed and validated. The new variable stiffness structure has a larger range of stiffness variation and better control stability. The new flexible structure can be applied to conventional grippers to help them gain stiffness variable capability and improve their interaction ability.\u0000","PeriodicalId":54987,"journal":{"name":"Industrial Robot-The International Journal of Robotics Research and Application","volume":null,"pages":null},"PeriodicalIF":1.8,"publicationDate":"2022-05-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85396201","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Purpose This paper aims to provide an insight into recent developments in the robotic exoskeleton business by considering research, corporate activities, products and emerging applications. Design/methodology/approach Following a short introduction, this first provides examples of exoskeleton research involving artificial intelligence (AI). It then identifies recent market entrants and their products and discusses emerging industrial applications. Finally, conclusions are drawn. Findings The exoskeleton business is in a highly dynamic state. A research effort involving AI techniques seeks to impart exoskeletons with greatly enhanced capabilities, particularly in clinical applications. Many new companies have been established during the past decade, and several are exploiting academic research. The majority are targeting applications in the clinical market. The industrial sector is viewed as a key growth area, but applications remain limited, although some exist for robotic gloves, upper-body, waist and lower-body devices in the logistics, construction, automotive and other industries. Industrial applications for full-body exoskeleton are yet to progress beyond the trial stage. Originality/value This provides details of recent academic and corporate developments and emerging industrial applications in the robotic exoskeleton business.
{"title":"Exoskeletons: a review of recent progress","authors":"R. Bogue","doi":"10.1108/ir-04-2022-0105","DOIUrl":"https://doi.org/10.1108/ir-04-2022-0105","url":null,"abstract":"\u0000Purpose\u0000This paper aims to provide an insight into recent developments in the robotic exoskeleton business by considering research, corporate activities, products and emerging applications.\u0000\u0000\u0000Design/methodology/approach\u0000Following a short introduction, this first provides examples of exoskeleton research involving artificial intelligence (AI). It then identifies recent market entrants and their products and discusses emerging industrial applications. Finally, conclusions are drawn.\u0000\u0000\u0000Findings\u0000The exoskeleton business is in a highly dynamic state. A research effort involving AI techniques seeks to impart exoskeletons with greatly enhanced capabilities, particularly in clinical applications. Many new companies have been established during the past decade, and several are exploiting academic research. The majority are targeting applications in the clinical market. The industrial sector is viewed as a key growth area, but applications remain limited, although some exist for robotic gloves, upper-body, waist and lower-body devices in the logistics, construction, automotive and other industries. Industrial applications for full-body exoskeleton are yet to progress beyond the trial stage.\u0000\u0000\u0000Originality/value\u0000This provides details of recent academic and corporate developments and emerging industrial applications in the robotic exoskeleton business.\u0000","PeriodicalId":54987,"journal":{"name":"Industrial Robot-The International Journal of Robotics Research and Application","volume":null,"pages":null},"PeriodicalIF":1.8,"publicationDate":"2022-05-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83200147","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Shijie Dai, Wenhua Zhang, Wenbin Ji, Yufeng Zhao, Hongwei Zheng, Jiaheng Mu, Pengwei Li, Riqing Deng
Purpose Considering the influence of environmental noise and modeling error during the process of the robotic automatic grinding aero-engine blade, this study aims to propose a method based on the extended state observer (ESO) to reduce the fluctuation of normal grinding force. Design/methodology/approach First, the measurement range of the six-dimensional force sensor is calibrated according to the maximum acceleration of end-effector and grinding force. Second, the gravity and zero drift compensation model is built to compensate for measurement error. Finally, the switching function is designed based on the difference between the expected grinding force and the actual feedback value. When the value of function stays within the switching band, a nonlinear active disturbance rejection control (ADRC) loop is applied. When the function value reaches outside the switching band, an ESO-based sliding mode control (SMC) loop is applied. Findings The simulated and experimental results show that the proposed control method has higher robustness compared with proportion-integral-derivative (PID), Fuzzy PID and ADRC. Research limitations/implications The processing parameters of this paper are obtained based on the single-factor experiment without considering the correlation between these variables. A new control strategy is proposed, which is not only used to control the grinding force of blades but also promotes the development of industrial control. Originality/value ESO is used to observe environmental interference and modeling errors of the system for real-time compensation. The segment control method consisting of ESO-based SMC and ESO-based ADRC is designed to improve the robustness. The common application of the two parts realizes suppression of fluctuation of grinding force.
{"title":"Research on constant force grinding control of aero-engine blades based on extended state observer","authors":"Shijie Dai, Wenhua Zhang, Wenbin Ji, Yufeng Zhao, Hongwei Zheng, Jiaheng Mu, Pengwei Li, Riqing Deng","doi":"10.1108/ir-12-2021-0294","DOIUrl":"https://doi.org/10.1108/ir-12-2021-0294","url":null,"abstract":"\u0000Purpose\u0000Considering the influence of environmental noise and modeling error during the process of the robotic automatic grinding aero-engine blade, this study aims to propose a method based on the extended state observer (ESO) to reduce the fluctuation of normal grinding force.\u0000\u0000\u0000Design/methodology/approach\u0000First, the measurement range of the six-dimensional force sensor is calibrated according to the maximum acceleration of end-effector and grinding force. Second, the gravity and zero drift compensation model is built to compensate for measurement error. Finally, the switching function is designed based on the difference between the expected grinding force and the actual feedback value. When the value of function stays within the switching band, a nonlinear active disturbance rejection control (ADRC) loop is applied. When the function value reaches outside the switching band, an ESO-based sliding mode control (SMC) loop is applied.\u0000\u0000\u0000Findings\u0000The simulated and experimental results show that the proposed control method has higher robustness compared with proportion-integral-derivative (PID), Fuzzy PID and ADRC.\u0000\u0000\u0000Research limitations/implications\u0000The processing parameters of this paper are obtained based on the single-factor experiment without considering the correlation between these variables. A new control strategy is proposed, which is not only used to control the grinding force of blades but also promotes the development of industrial control.\u0000\u0000\u0000Originality/value\u0000ESO is used to observe environmental interference and modeling errors of the system for real-time compensation. The segment control method consisting of ESO-based SMC and ESO-based ADRC is designed to improve the robustness. The common application of the two parts realizes suppression of fluctuation of grinding force.\u0000","PeriodicalId":54987,"journal":{"name":"Industrial Robot-The International Journal of Robotics Research and Application","volume":null,"pages":null},"PeriodicalIF":1.8,"publicationDate":"2022-04-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83906859","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Purpose The bisection inverse search bow height control interpolation (BIS-BHCI) method for nonuniform rational B-splines (NURBS) curve is proposed to accomplish the serial robotic plasma cladding of planar complex curve coating with high precision. Design/methodology/approach A plasma–computer integrated cladding system is constructed based on a Motoman-UP6 serial robot and a plasma power. Based on the BIS-BHCI method, combining the serial robotic kinematics with the NURBS curve model, an offline plasma cladding software is developed for Motoman-UP6. Before plasma cladding, a planar NURBS curve coating is designed and defined and its BIS-BHCI is carried out with proper parameters. Then, the cladding programs are generated using the BIS-BHCI results and the robotic kinematics and inputted into the serial robotic controller. After that, the plasma cladding of the planar NURBS curve coating is implemented based on the Motoman-UP6 serial robot. Findings The simulation and plasma cladding for the NURBS curve coating shows that the BIS-BHCI method is feasible and effective. Plasma cladding of complex NURBS curve coating based on serial robot is feasible and effective. Originality/value The complex NURBS curve coating is prepared based on a serial robot platform for the first time. It provides a theoretical and technical basis for plasma cladding to produce surface coatings of industrial complex parts. With the increasing application of complex parts, the plasma cladding process of complex NURBS curve coatings has a broad application prospect.
{"title":"Robotic plasma cladding complex NURBS curve coating using the bisection inverse search bow height control interpolation method","authors":"Zhaoqin Wang, Yu Shi, Xiao-Rong Wang","doi":"10.1108/ir-01-2022-0012","DOIUrl":"https://doi.org/10.1108/ir-01-2022-0012","url":null,"abstract":"\u0000Purpose\u0000The bisection inverse search bow height control interpolation (BIS-BHCI) method for nonuniform rational B-splines (NURBS) curve is proposed to accomplish the serial robotic plasma cladding of planar complex curve coating with high precision.\u0000\u0000\u0000Design/methodology/approach\u0000A plasma–computer integrated cladding system is constructed based on a Motoman-UP6 serial robot and a plasma power. Based on the BIS-BHCI method, combining the serial robotic kinematics with the NURBS curve model, an offline plasma cladding software is developed for Motoman-UP6. Before plasma cladding, a planar NURBS curve coating is designed and defined and its BIS-BHCI is carried out with proper parameters. Then, the cladding programs are generated using the BIS-BHCI results and the robotic kinematics and inputted into the serial robotic controller. After that, the plasma cladding of the planar NURBS curve coating is implemented based on the Motoman-UP6 serial robot.\u0000\u0000\u0000Findings\u0000The simulation and plasma cladding for the NURBS curve coating shows that the BIS-BHCI method is feasible and effective. Plasma cladding of complex NURBS curve coating based on serial robot is feasible and effective.\u0000\u0000\u0000Originality/value\u0000The complex NURBS curve coating is prepared based on a serial robot platform for the first time. It provides a theoretical and technical basis for plasma cladding to produce surface coatings of industrial complex parts. With the increasing application of complex parts, the plasma cladding process of complex NURBS curve coatings has a broad application prospect.\u0000","PeriodicalId":54987,"journal":{"name":"Industrial Robot-The International Journal of Robotics Research and Application","volume":null,"pages":null},"PeriodicalIF":1.8,"publicationDate":"2022-04-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"82288281","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Guest editorial: Industry 4.0 special issue","authors":"Abid Haleem, M. Javaid, R. Singh, Shahbaz Khan","doi":"10.1108/ir-05-2022-459","DOIUrl":"https://doi.org/10.1108/ir-05-2022-459","url":null,"abstract":"","PeriodicalId":54987,"journal":{"name":"Industrial Robot-The International Journal of Robotics Research and Application","volume":null,"pages":null},"PeriodicalIF":1.8,"publicationDate":"2022-04-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80631846","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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