Robotic Intelligence and Automation: Volume 43 Issue 3

Stiffness optimization based on muscle fatigue and muscle synergy for passive waist assistive exoskeleton

Muye Pang, Ruiqing Li, Ying Ding, Biwei Tang, Jing Luo, Kui Xiang

This paper aims to optimize the stiffness coefficient of the elastic element for a passive waist assistive exoskeleton (WAE). There is a tradeoff between stiffness coefficient of…

Research on assembly accuracy of deployable arm based on Jacobian-Torsor model

Ligang Lu, Pengfei Li, Dongbo Wu, Jiawei Liang, Hui Wang, Pengpeng He

The purpose of this study is to establish an assembly accuracy analysis model of deployable arms based on Jacobian–Torsor theory to improve the assembly accuracy. Spacecraft…

Trajectory planning method for docking of large aircraft components

Shuang-Gao Li, Wenmin Chu, Xiang Huang, Jinggang Xu

In the digital assembly system of large aircraft components (LAC), the docking trajectory of LAC is an important factor affecting the docking accuracy and stability of the LAC…

FADM-SLAM: a fast and accurate dynamic intelligent motion SLAM for autonomous robot exploration involving movable objects

Qamar Ul Islam, Haidi Ibrahim, Pan Kok Chin, Kevin Lim, Mohd Zaid Abdullah

Many popular simultaneous localization and mapping (SLAM) techniques have low accuracy, especially when localizing environments containing dynamically moving objects since their…

Dynamic cyclic kitting part-feeding scheduling for mixed-model assembly line by a hybrid quantum-behaved particle swarm optimization

Binghai Zhou, Yufan Huang

The purpose of this paper is to cut down energy consumption and eliminate production waste on mixed-model assembly lines. Therefore, a supermarket integrated dynamic cyclic…

Low-level control with actuator dynamics for multirotor UAVs

Jian Di, Yu Kang, Haibo Ji, Xinghu Wang, Shaofeng Chen, Fei Liao, Kun Li

A low-level controller is critical to the overall performance of multirotor unmanned aerial vehicles. The purpose of this paper is to propose a nonlinear low-level angular…

Research on control of electro-hydraulic servo system based on third-order linear ADRC

Bingwei Gao, Wei Zhang, Lintao Zheng, Hongjian Zhao

The purpose of this paper is to design a third-order linear active disturbance rejection controller (LADRC) to improve the response characteristics and robustness of the…

Stewart-inspired parallel spatial docking robot: design, analysis and experimental results

Gan Zhan, Zhenyu Zhang, Zhihua Chen, Tianzhen Li, Dong Wang, Jigang Zhan, Zhengang Yan

This paper aims to focus on the spatial docking task of unmanned vehicles under ground conditions. The docking task of military unmanned vehicle application scenarios has strict…

A novel human-robot skill transfer method for contact-rich manipulation task

Jiale Dong, Weiyong Si, Chenguang Yang

The purpose of this paper is to enhance the robot’s ability to complete multi-step contact tasks in unknown or dynamic environments, as well as the generalization ability of the…

Optimization method for the assembly pose of parts considering manufacturing deviations and contact deformations

Yuming Liu, Yong Zhao, Qingyuan Lin, Sheng Liu, Ende Ge, Wei Wang

This paper aims to propose a framework for optimizing the pose in the assembly process of the non-ideal parts considering the manufacturing deviations and contact deformations…

A study of the operator assignment problem in powder-coating processing using simulation optimization

Taho Yang, Mei-Chuan Wang, Yiyo Kuo

The main operations of the powder-coating process are staggered along a closed-loop conveyor. Given the volatile market demands, using a fixed level of staffing may result in…