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Duc Thien Tran, Tien Dat Nguyen, Minh Khiem Tran and Kyoung Kwan Ahn
A control method for a cable-driven robot in a teleoperation system is proposed using the hardware-in-the-loop (HIL) simulation technique. The main components of the teleoperated robotic system are a haptic device, also called a delta robot, and a cable-...
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Martin Varga, Ivan Virgala, Michal Kelemen, L?ubica Miková, Zdenko Bobovský, Peter Jan Sincak and Tomá? Merva
The outcomes of this research can be implemented in the design of fast and easily tunable low-level controllers of redundant pneumatic parallel robots. This control algorithm allows for online stiffness changes of the robot, providing safe manipulation w...
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Okan Minnetoglu and Erdinc Sahin Conkur
An effective path-planning algorithm in three-dimensional (3D) environments based on a geometric approach for redundant/hyper-redundant manipulators are presented in this paper. The method works within confined spaces cluttered with obstacles in real-tim...
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Seongil Kwon, Jeongryul Kim, Yonghwan Moon and Keri Kim
Hyper-redundant manipulators are widely used in minimally invasive surgery because they can navigate through narrow passages in passive compliance with the human body. Although their stability and dexterity have been significantly improved over the years...
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Ferdinando Vitolo, Andrea Rega, Castrese Di Marino, Agnese Pasquariello, Alessandro Zanella and Stanislao Patalano
Enabling technologies that drive Industry 4.0 and smart factories are pushing in new equipment and system development also to prevent human workers from repetitive and non-ergonomic tasks inside manufacturing plants. One of these tasks is the order-picki...
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Jingyao Wang, Xiaogang Ruan and Jing Huang
Algorithms such as RRT (Rapidly exploring random tree), A* and their variants have been widely used in the field of robot path planning. A lot of work has shown that these detectors are unable to carry out effective and stable results for moving objects ...
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Juan Carlos Oliveros and Hashem Ashrafiuon
The trajectory planning and control of multi-agent systems requires accurate localization, which may not be possible when GPS signals and fixed features required for SLAM are not available. Cooperative Localization (CL) in multi-agent systems offers a sh...
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Seonwoo Kim, Seongseop Yun and Dongjun Shin
Redundant motion, which is possible when robotic manipulators are over-actuated, can be used to control robot arms for a wide range of tasks. One of the best known methods for controlling redundancy is the null space projection, which assigns a priority ...
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Iwona Pajak and Grzegorz Pajak
This paper presents the usage of holonomic mobile humanoid manipulators to carry out autonomous tasks in industrial environments, according to the smart factory concept and the Industry 4.0 philosophy. The problem of transporting lengthy objects, taking ...
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Qingni Yuan, Junhui Yi, Ruitong Sun and Huan Bai
To improve the path planning efficiency of a robotic arm in three-dimensional space and improve the obstacle avoidance ability, this paper proposes an improved artificial potential field and rapid expansion random tree (APF-RRT) hybrid algorithm for the ...
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