Intelligent Robotics and Applications

Name: Intelligent Robotics and Applications | 14th International Conference, ICIRA 2021, Yantai, China, October 22-25, 2021, Proceedings, Part II
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14th International Conference, ICIRA 2021, Yantai, China, October 22-25, 2021, Proceedings, Part II

Xin-Jun Liu Zhenguo Nie Jingjun Yu Fugui Xie Rui Song(Editor)

Springer (Publisher)

Published on 17. October 2021

XVI, 846 pages

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Content

Intro
Preface
Organization
Contents - Part II
Hybrid System Modeling and Human-Machine Interface
Generation of Collision-Free Five-Axis Sweep Scanning Path Using Graphics Engine
1 Introduction
2 Preliminary
3 Collision-Free Scanning Path Planning
3.1 Image-Based Representation of Collision-Free Conditions
3.2 Collision Detection by Graphics Engine
3.3 Incremental Algorithm for Generating Admissible Areas
4 Experiment
5 Conclusion
References
Multi-robot Cooperative System Modeling and Control Software Development
1 Introduction
2 Multi-robot Collaborative System Modeling
2.1 Coordinated Operation Model
2.2 Kinematic Modeling
2.3 Dynamics Modeling
3 Collaborative Control System Frame and Methods
3.1 Control Frame Design
3.2 Position and Force Distribution
3.3 Motor Control and Motion Planning
3.4 Multi-arm Compliance Control Method
4 Control System Software
4.1 Demand Analysis
4.2 Overall Design
4.3 Design of Each Layer
4.4 Main Modules
4.5 Software Interface
5 Experiment Verification
5.1 Experimental System
5.2 Motion Planning Experiment
5.3 Compliance Control Experiment
6 Conclusion
References
Gesture Recognition and Conductivity Reconstruction Parameters Analysis with an Electrical-Impedance-Tomography (EIT) Based Interface: Preliminary Results
1 Introduction
2 The Hardware and Algorithm of Measurement System
2.1 Hardware
2.2 Construction Algorithms
3 Methods
3.1 Gesture Recognition Based on EIT
3.2 Conductivity Reconstruction Parameters Analysis
4 Results
4.1 Recognition Accuracy
4.2 The Effect of EIT Parameters
5 Discussions and Conclusions
References
Robot Manipulation Skills Learning
Depth from Shading Based on Online Illumination Estimation Under RAMIS Environment
1 Introduction
2 Shape from Shading
3 Method
4 Experiment and Result
5 Conclusion
References
Self-learning Visual Servoing for Robot Manipulation in Unstructured Environments
1 Introduction
2 Descriptions on Visual Servoing
3 Robust MCSIS Learning Estimator
4 Nonparametric Visual Servoing Framework
5 Results and Discussions
6 Conclusion
References
Obstacle Avoidance Methods Based on Geometric Information Under the DMPs Framework
1 Introduction
2 Obstacle Avoidance Based on Geometric Information
2.1 The Fundamental Principle of DMPs Framework
2.2 Obstacle Avoidance Based on Ellipsoidal Offset of Static Obstacles
2.3 Obstacle Avoidance Based on Dangerous Zone Offset of a Moving Obstacle
3 Simulation and Analysis
3.1 Simulation
3.2 Trajectory Evaluation in Static Obstacle Avoidance
4 Real Experiments in Static and Dynamic Environment
5 Conclusion
References
Integrated Classical Planning and Motion Planning for Complex Robot Tasks
1 Introduction
2 Literture Review
3 Methods
3.1 High-Level Task Planning
3.2 Low-Level Motion Planning
4 Experimental Results
5 Conclusion
References
Deep Reinforcement Learning for an Anthropomorphic Robotic Arm Under Sparse Reward Tasks
1 Introduction
2 Related Work
2.1 Curiosity Module
2.2 Curriculum Learning
2.3 Hierarchy Reinforcement Learning
3 Background
3.1 Reinforcement Learning
3.2 Policy Gradient Optimization
4 Method
4.1 Base Algorithm: Deep Deterministic Policy Gradient
4.2 Techniques for Sparse Rewards
5 Experiments and Results
5.1 Environments
5.2 Experimental Details and Results
6 Conclusion
References
Design and Experiment of Actuator for Semi-automatic Human-Machine Collaboration Percutaneous Surgery
1 Introduction
2 Actuator Design
2.1 Actuator Structure
2.2 Guide Hole
3 Minimize Damage Insertion
4 Human-Machine Collaboration Workflow
5 Experiment and Results
6 Discussion
References
A Robot Learning from Demonstration Platform Based on Optical Motion Capture
1 Introduction
2 System Setup
2.1 The Optical MoCap System
2.2 Human-Machine Interface
3 Robot Learning from Demonstration
3.1 Data Pre-process
3.2 Policy Learning
4 Robot Assembly Experiment
4.1 Experiment Settings
4.2 Experimental Results and Discussion
5 Conclusion
References
Real-Time Collision Avoidance in a Dynamic Environment for an Industrial Robotic Arm
1 Introduction
2 Methods
2.1 Learning Dynamic Movement Primitives
2.2 Cost Function Formulation
2.3 Obstacle Position Estimation
2.4 Experimental Results
2.5 Conclusion
References
DOREP 2.0: An Upgraded Version of Robot Control Teaching Experimental Platform with Reinforcement Learning and Visual Analysis
1 Introduction
2 Overview of the DOREP 2.0
2.1 DOREP 2.0 Components and Operational Procedures
2.2 Synchronization Between MATLAB and Bus Server
2.3 SIA Robot Toolbox
3 Visual Robot Inverted Pendulum Control Based on Reinforcement Learning
3.1 Introduction of Reinforcement Learning Algorithm
3.2 Introduction of Visual Analysis
3.3 Results of Experiment
4 Conclusion
References
An Improved TCN-Based Network Combining RLS for Bearings-Only Target Tracking
1 Introduction
2 Dynamic Model of Bearings-Only Target Tracking
3 TCN-Based Network Combining RLS
3.1 TCN-Based Network
3.2 Recursive Least Squares
4 Simulation
4.1 Initial Conditions
4.2 Simulation Results
5 Conclusions
References
Learning Robot Grasping from a Random Pile with Deep Q-Learning
1 Introduction
2 Background
2.1 Reinforcement Learning
2.2 Deep Q-learning Network
3 Design of Grasping Strategy with DQN
3.1 Representations of the Target State
3.2 Representations of the Grasping Action
3.3 Design of the Rewards
3.4 Design of the Q-networks
3.5 Training of the Grasping DQN
4 Simulation and Experiment
4.1 Simulations
4.2 Strategy Transferring from Simulation to Real
5 Conclusion
References
Surplus Force Control Strategy of an Active Body-Weight Support Training System
1 Introduction
2 Mechanical Structure of BWSTS
3 Active Loading Compound Control Strategy
4 Surplus Force Compensation Control Strategy
5 Conclusion
References
Process Learning of Robot Fabric Manipulation Based on Composite Reward Functions
1 Introduction
2 Problem Description
3 Proposed Method
3.1 Compound Reward Function
3.2 Network Structure
4 Experiments
4.1 Single Task
4.2 Process Task
4.3 Compound Reward Function
5 Conclusions
References
Surface Crack Detection of Rubber Insulator Based on Machine Vision
1 Introduction
2 Surface Crack Detection System of Rubber Insulator
3 Surface Crack Detection Algorithm of Rubber Insulator
3.1 Dimension-Increased Bilateral Filtering
3.2 Image Segmentation
3.3 Crack Detection and Localization
4 Experiment and Analysis
5 Conclusion
References
A Hierarchical Force Guided Robot Assembly Method Using Contact State Model
1 Introduction
2 The Description of Robot Assembly
3 Hierarchical Force Guided Assembly Strategy
3.1 Assembly Process Modeling
3.2 Assembly Process
3.3 Phased Guidance Stage
4 Experiments
4.1 Experimental Platform
4.2 Results
5 Conclusion
References
A BAS-Based Strategy for Redundant Manipulator Tracking Continuous Moving Object in 3D Relative Velocity Coordinate
1 Introduction
2 Problem Formulation
2.1 Tracking Moving Object
2.2 3D Relative Velocity Coordinate
2.3 The Principle for Tracking Moving Object
3 Control System Design
4 Simulation Results
4.1 Simulation Methodology
4.2 The Results of Tracking Moving Target
5 Conclusions
References
Leveraging Expert Demonstrations in Robot Cooperation with Multi-Agent Reinforcement Learning
1 Introduction
2 Related Work
2.1 Multi-Agent Reinforcement Learning
2.2 Imitation Learning
3 Methods
3.1 Reinforcement Learning Setup
3.2 Multiple Hindsight Experience Replay
3.3 Robot Teams Learning from Demonstrations
3.4 Imperfect Demonstrations
4 Experiments
4.1 Experimental Setup
4.2 Robot Training
4.3 Imperfect Demonstrations
5 Conclusions
References
Fault Diagnosis Method Based on Control Performance of Single-Leg Robot
1 Introduction
2 Robot Model Description
2.1 Physical Model
2.2 Feedback Linearization of Nonlinear Dynamic Model
3 LQ Controller Design
4 Fault Detection Based on LQ Control Performance
5 Verified Result
6 Conclusion
References
Robot Bolt Skill Learning Based on GMM-GMR
1 Introduction
2 Related Work
3 Method
3.1 Dynamic Time Warping (DTW)
3.2 GMM-GMR
4 Experimernts Results
4.1 The Setting of the Experimental Environment
4.2 The Results of the Experiment
5 Conclusion
References
Traversability Analysis for Quadruped Robots Navigation in Outdoor Environment
1 Instruction
2 Related Works
3 Terrain Traversability Analysis
3.1 Geometric Features Extraction
3.2 Visual Features from CNN
3.3 Fusing of Geometric and Visual Features
4 Experiment Rusults
4.1 CNN Training Results
4.2 Traversability Analysis
5 Conclusions
References
MicroNano Materials, Devices, and Systems for Biomedical Applications
A Calibration Method of Compliant Planar Parallel Manipulator
1 Introduction
2 Kinematics Model of Micro-nano Parallel Manipulator
2.1 3-RPR Micro-nano Parallel Manipulator
2.2 Kinematic Modeling
3 Stiffness Modeling of Micro-nano Manipulator Based on Virtual Work Principle
3.1 Kinematics Modeling of Branch Chains
3.2 Stiffness Modeling of Parallel Manipulator Based on Virtual Work Principle
4 Finite Element Analysis
5 Simulation Verification
6 Conclusion
References
A Jumping Soft Robot Driven by Magnetic Field
1 Introduction
2 Fabrication Procedure
3 The Kinematic Performance Experiment of Robot
4 Discussion
References
Error Modeling and Analysis of 6-UPS Micro Parallel Mechanism
1 Introduction
2 Error Modeling
3 Case Study and Error Parameter Analysis
3.1 Method Verification
3.2 Influence of Structural and Pose Parameters on Output Pose Accuracy
4 Conclusion
References
Micro-nano Scale Longitudinal Displacement Measurement of Microspheres Based on Digital Holography
1 Introduction
2 Methodology
2.1 The Experimental System
2.2 Measuring Principle
2.3 Computer Simulation of Microspheres Position
3 Experimental Results
4 Conclusion
References
Study on Dual-Deformation of Sheath-Like Carbon Nanotube Composite Yarns
1 Introduction
2 Experimental Methods
2.1 Materials
2.2 Preparation of Uncured PDMS Solution
2.3 Fabrication of Sheath-Like Carbon Nanotube Composite Yarns
2.4 Characterization of Carbon Nanotube Composite Yarns
3 Results and Discussion
4 Conclusion
References
Actuating, Sensing, Control, and Instrumentation for Ultra-precision Engineering
A Compensation Strategy for Positioning Errors in Two-Axis Servo System
1 Introduction
2 DH Modeling for Two-Axis Positioning Servo Platform
2.1 Kinematics Modeling with DH Method
2.2 Kinematics Modeling for Positioning Servo Platform
3 Error Identification Strategy of Axis Method
3.1 Identification of Linear Axis
3.2 Identification of Rotary Axis
3.3 Rebuild the Coordinate System
3.4 Cubic Spline Curve Fitting Matrix Element Errors
4 Simulation
4.1 Effect of Linear Axis Fitting Accuracy on Positioning Error Forward Compensation
4.2 The Effect of Fitting Accuracy of Rotating Axis on Compensation
4.3 Influence of Modeling Parameter Errors' Distribution on Compensation
4.4 The Influence of Modeling Parameter Errors' Distribution on Compensation Effects
5 Conclusions
References
A Structured Light Small Field Three-Dimensional Measurement System Based on Three-Frequency Heterodyne Method
1 Introduction
2 Principle of Fringe Projection
2.1 Fringe Projection Three-Dimensional Measurement Principle
2.2 Multi-frequency Heterodyne Principle
2.3 The Principle of Calibration of the Relationship Between Phase and Height
3 Measurement System and Experimental Results
4 Conclusion
References
Design and Control of a Normal-Stressed Electromagnetic Actuated Nano-positioning Stage
1 Introduction
2 Design and Analysis of the Nano-Positioning Stage
2.1 Principle and Analysis of the Normal-Stressed Electromagnetic Actuator
2.2 Design and Analysis of the Mechanical Structure
3 Experimental Setup and Performance Evaluation
3.1 Experimental Setup
3.2 Testing of the Working Stroke
3.3 Testing of Open-Loop Frequency Response
4 Controller Design and Experimental Verification
4.1 Controller Design
4.2 Trajectory Tracking Tests
5 Conclusions
References
A Two-DOF Ultrasonic Motor Based on Longitudinal and Bending-Bending Vibrations for Manipulator
1 Introduction
2 Structure and Driving Mechanism
2.1 The Structure of the Two-DOF Ultrasonic Motor
2.2 The Driving Mechanism of the Two-DOF Ultrasonic Motor
3 Finite Element Model and Analysis
4 Conclusion
References
Non-metal Piezoelectric Motor Utilizing Langevin-Type Alumina/PZT Transducer Working in Orthogonal Bending Modes
1 Introduction
2 Alumina/PZT Transducer
3 Vibration Characteristics of Transducers
3.1 Vibration Velocity Distribution
3.2 Equivalent Circuit Parameters
3.3 Resonance Frequency, Elliptical Motion Shape, and Force Factor
4 Motor Performance
4.1 Load Characteristics of Alumina/PZT Motor
4.2 Comparison with Metal/PZT Motors with Identical Structures
5 Conclusions
References
MIMO Data-Driven Feedforward Tuning for the Ultra-precision Wafer Stage Using Rational Basis Functions
1 Introduction
2 Problem Fomulation
3 The Proposed Parameter Tuning Algorithm
3.1 Global Optimization Algorithm for the Feedforward Controllers
3.2 Parameter Updating in Noisy Condition
3.3 Optimization of the Parameter Estimation Accuracy in Terms of Variance
3.4 Procedures of the Proposed Approach
4 Experiments
4.1 Setups
4.2 Results
5 Conclusions
References
A High-Performance Normal-Stressed Electromagnetic Fast Tool Servo
1 Introduction
2 System Configuration of the FTS
3 Parameters Determination and Simulation
3.1 Parameters Determination
3.2 Finite Element Verification
4 Performance Testing and Discussion
4.1 Experiment Setup
4.2 Open-Loop Performance Testing
4.3 Closed-Loop Performance Testing
4.4 Performance Comparison and Discussion
5 Conclusion
References
Vibration Test and Analysis of a Six-Degree-of-Freedom Cooperative Robot Manipulator End
1 Introduction
2 Principle and Method of Vibration Test of Mechanical Arm
3 The Construction of the Vibration Test Platform of the Robotic Arm
4 Test Plan and Process
5 Test and Result Analysis
5.1 The Effect of Motion Trajectory on the Vibration of the End of the Robotic Arm
5.2 The Effect of Movement Speed on the Vibration of the End of the Robotic Arm
5.3 The Effect of Single-Axis Motion on the End Vibration of the Manipulator
6 Conclusion
References
Design and Analysis of a New Symmetrical Fast Steering Mirror
1 Introduction
2 Mechanical Layout of SFSM
3 Analytical Model of SFSM
4 Simulation and Analysis
4.1 Mesh Generation
4.2 Kinematic Analysis
4.3 Stiffness Analysis
4.4 Modal Analysis
5 Conclusion
References
Sample-Efficiency, Stability and Generalization Analysis for Deep Reinforcement Learning on Robotic Peg-in-Hole Assembly
1 Introduction
2 Peg-in-Hole Assembly Platform
2.1 Hardware
2.2 Software
3 RL Algorithms Analysis
3.1 Problem Statement
3.2 Sample-Efficiency
3.3 Stability
3.4 Generalization Improvement
4 Experiment
4.1 Performance: Sample-Efficiency and Stability
4.2 Performance: Generalization
5 Conclusion and Discussion
References
Kinetostatic Modeling of Piezoelectric Displacement Amplifiers Based on Matrix Displacement Method
1 Introduction
2 Element Stiffness Matrix
2.1 Compliance Matrix of the Flexure Hinge
2.2 Stiffness Matrix of the Flexure Hinge/Element
3 Matrix Displacement Model of Amplifiers
3.1 Rhombus-Type PDA
3.2 Bridge-Type PDA and Compound Bridge-Type PDA
4 Simulation and Verification
4.1 Rhombus-Type
4.2 Bridge-Type and Compound Bridge-Type
5 Conclusions
References
Design and Development of a Portable Electrical Impedance Tomography System
1 Introduction
2 System Design
2.1 System Architecture
2.2 Voltage-Controlled Current Source
2.3 Multiplexer Module
3 Image Reconstruction
3.1 Amplitude Extraction Based on FFT
3.2 Image Reconstruction with Tikhonov Regularization
4 Experiments and Results
4.1 Measurement Channel SNR
4.2 Imaging Signal Accuracy
4.3 Imaging Experiments
5 Conclusion
References
Systematic Analyses of Passive Vibration Isolation System for Atomic Force Microscopes
1 Introduction
2 Analyses of Passive Vibration Isolation
3 Experiment and Result
3.1 Experiment Platform
3.2 Effect of Stiffness on the Vibration Isolation Performance
3.3 Effect of Damping on the Vibration Isolation Performance
3.4 Effect on the AFM Mechanical Noise Reduction
4 Conclusion
References
Loop Compensation Method to Improve Stability of Power Amplifier for Inertial Stick-Slip Driving
1 Introduction
2 High Dynamic Amplification Circuit
3 Analysis of Self-excited Oscillation
3.1 Low Frequency Analysis
3.2 High Frequency Analysis
4 Loop Compensation Method
5 Experiments
5.1 Loop Response Testing
6 Conclusions
References
Human-Robot Collaboration
IoT-Enabled Robot Skin System for Enhancement of Safe Human-Robot Interaction
1 Introduction
2 The IoT-Enabled Robot Skin System Architecture
2.1 Perception Layer
2.2 Network Layer
2.3 Data Processing and Application Layer
3 Discussion
4 Conclusion
References
Compliance Auxiliary Assembly of Large Aircraft Components Based on Variable Admittance Control
1 Introduction
2 Variable Admittance Control Model
2.1 Variable Admittance Coefficient Setting
2.2 Human Intention Recognition
2.3 Proportionality Coefficient
2.4 Admittance Coefficient Selection
3 Simulation of the Admittance Controls
4 Experiment
4.1 Reverse Intention Experiment
4.2 Bolting Experiment
5 Conclusion
References
Variable Admittance Control by Measuring Arm Impedance
1 Introduction
2 Human Arm Impedance Model
3 Variable Admittance Control
3.1 Admittance Control Model
3.2 Human-Machine Interaction Stability Analysis
3.3 Variable Admittance Strategy
4 Experimental Results
4.1 Human Arm Impedance Identification
4.2 Identification Results
4.3 Variable Admittance Control Experiment
5 Conclusions
References
Event-Driven Collision-Free Path Planning for Cooperative Robots in Dynamic Environment
1 Introduction
2 Event-Driven Quintic-RRT Path Planning
2.1 Quintic Polynomial
2.2 RRT
2.3 Event-Driven Method
2.4 Collision Prediction Based on Kinematics
3 Simulation
4 Conclusion
References
The Analysis of Concurrent-Task Operation Ability: Peripheral-Visual-Guided Grasp Performance Under the Gaze
1 Introduction
2 Method
2.1 Participants
2.2 Apparatus
2.3 Procedure
2.4 Data Analysis
3 Result
3.1 Workspace Division When Chair-Height Differs
3.2 Workspace Division Angle
3.3 Head and Trunk Peak Rotation Angle of Each Area
4 Discussion
5 Conclusion and Limitation
References
Research on Collision Detection and Collision Reaction of Collaborative Robots
1 Introduction
2 Preliminaries
3 Second-Order Observer
3.1 The Frequency Distribution of the Signal
3.2 Second-Order Damped System (Damp)
3.3 Second-Order Damped System with PD Regulation (PD)
3.4 Band-Pass Filter (BPF)
4 Collision Reaction Strategy in Position Control Mode
5 Experiment
6 Conclusion
References
An Outdoor Navigation System for Mobile Robots Based on Human Detection
1 Introduction
2 Method
2.1 Localization
2.2 Human Detection
2.3 Local Path Planning
3 Experiments
3.1 3D Point Cloud Map
3.2 Human Detection
3.3 Path Planning
3.4 Mobile Robot Navigation
4 Conclusion
References
Experiments of Composite Learning Admittance Control on 7-DoF Collaborative Robots
1 Introduction
2 Panda Robot Dynamics
3 Composite Learning Admittance Control
4 Experimental Studies
4.1 Experimental Setup
4.2 Force Tracking Experiments
4.3 Compliance Control Experiments
5 Conclusions
References
Analysis and Optimization of Interior Noise Based on Transfer Path Analysis
1 Introduction
2 Principle of OTPA Analysis Method
3 OTPA Transmission Path Identification
4 CAE Optimization Analysis of the Delivery Path
5 Conclusion
References
Enhanced Admittance Control for Time-Varying Force Tracking of Robots in Unknown Environment
1 Introduction
2 Principle of Admittance Control Algorithm
2.1 Overview of Admittance Control
3 Environmental Parameter Estimation
4 Enhanced Admittance Control (EAC)
4.1 Theoretical Analysis
4.2 Design of Fuzzy Controller
4.3 Stability and Boundary Analysis
5 Simulation
5.1 Simulation Parameter Setting
5.2 Simulation Results
6 Conclusion
References
Variable Impedance Force Tracking with a Collaborative Joint Based on Second-Order Momentum Observer Under Uncertain Environment
1 Introduction
2 External Force Detection Based on Second-Order Momentum Observer
2.1 Integrated Collaborative Joint Dynamic Model
2.2 Second-Order Momentum External Force Observer
3 Variable Impedance Force Tracking Algorithm Based on External Force Observer
3.1 Model of Variable Impedance Force/position Tracking
3.2 Force Tracking Control Method
4 Simulation Verification
4.1 External Force Observation with Variable Force Environment
4.2 Force Tracking with Time Varying Desired Force
4.3 Force Tracking with Time Varying Impedence Environment
5 Experiments with a Collaborative Joint
5.1 Joint External Force Observation (sensitive Collision Detection) Experiment
5.2 Joint Force Tracking with Stationary Environment
5.3 Joint Force Tracking with Moving Environment
6 Conclusion
References
An Surface Defect Detection Framework for Glass Bottle Body Based on the Stripe Light Source
1 Introduction
2 An Surface Defect Detection Framework for Glass Bottle Body
2.1 System Structure Design
2.2 Proposed Method
2.3 Determine the Type of Stripes (DTST)
2.4 Defect Detection with Vertical Stripes (DDVS)
2.5 Defect Detection with Horizontal Stripes (DDHS)
3 Experiment
3.1 Performance of DTST
3.2 Performance of DDVS
3.3 Performance of DDHS
3.4 Performance of the Entire Framework
4 Conclusion
References
Transfer Learning - Based Intention Recognition of Human Upper Limb in Human - Robot Collaboration
1 Introduction
2 Methodology
2.1 Data Collection
2.2 Generate Feature Image
2.3 Transfer Learning
3 Experimental
4 Conclusion
References
Real-Time Design Based on PREEMPTRT and Timing Analysis of Collaborative Robot Control System
1 Introduction
2 Real-Time Design of Robotic System
3 Timing Analysis of Real-Time System Based on PREEMPTRT Patch
4 Real-Time System Performance Analysis of ROS
5 Conclusions and Further Work
References
Robotic Machining
Modeling of Chatter Stability in Robot Milling
1 Introduction
2 Modeling of Robot TTE in Robot Milling
2.1 Multiple Delay Modeling Under the Robot TTE Effect
2.2 A Modified Dynamic Model Considering the Robotic TTE
3 Robotic Milling System Experiments
3.1 Experiment and Analysis of Robot TTE and Modal Tests
3.2 Generation of Stability Lobe Diagrams
3.3 Robot Milling Tests and Verification
4 Conclusion
References
Teleoperation Robot Machining for Large Casting Components
1 Introduction
2 Teleoperation Machining Approach Based on Robot
2.1 Machining Robot
2.2 Teleoperation Machining Approach
3 Experiment and Discussion
4 Conclusions
References
Research on Short Term Power Load Forecasting Combining CNN and LSTM Networks
1 Introduction
2 Process of Power Distribution Load Forecasting
2.1 Data Collection and Short-Term Load Forecasting
2.2 Construction of the CNN-LSTM Model by Host Computer
3 Data Process and Model Training with On-Duty Robot
3.1 Construction of Time Series Feature
3.2 Training of Model
3.3 Criteria of Experimental Evaluation
4 Results Analysis
4.1 Description of Samples
4.2 Selection of Hyperparameter
4.3 Experimental Results
5 Conclusions
References
Effect of Postures and Cutting Process on Robot Milling Performance and Surface Quality
1 Introduction
2 Experiment Design
3 Result and Discussion
3.1 Robot Postures
3.2 Process Parameters
3.3 Milling Modes and Cutting Directions
4 Conclusion
References
Development of Assembly Process Information Management System Using Model-Based Definition Technology
1 Introductions
2 Requirement Analysis of System Development
2.1 Description of Product Assembly Technological Process
2.2 MBD Information Model of Assembly Process
2.3 UG Open API and Secondary Development Technology
3 System Design and Information Extraction Key Technology
3.1 UG NX Function Menu Design
3.2 Function Design of MBD Information Management
3.3 Information Traverse of MBD Assembly Tree
3.4 MBD Model Information Extraction Method
4 System Development and Implementation
4.1 Database Storage Design
4.2 Data Relationship Design of Process Information Management
4.3 System Implementation
4.4 Cross System Information Integration
5 Conclusions
References
Dimensional Optimization of the 3RRR Parallel Manipulator with Specified Workspace
1 Introduction
2 Inverse Kinematics of the 3-RRR Parallel Manipulator
2.1 Description of the 3-RRR Parallel Manipulator
2.2 Inverse Kinematic Model
3 Dimensional Optimization of the 3RRR Parallel Manipulator
3.1 Solution of Local Transmission Indices (LTI)
3.2 Task Workspace Design Indices
3.3 Dimensional Parameters Design Space
3.4 Dimensional Optimization
4 LTI Distribution of the Optimized 3RRR Manipulator
5 Conclusions
References
Positioning Accuracy Compensation Method of Mobile Robot Based on Inverse Distance Weight
1 Introduction
2 Robot Kinematics Model
3 Inverse Distance Weight Based Accuracy Compensation Method
4 Experiment and Analysis
5 Conclusion
References
An Improved Monocular-Vision-Based Method for the Pose Measurement of the Disc Cutter Holder of Shield Machine
1 Introduction
2 Mathematical Model and Method
2.1 Image Processing
2.2 Initial Pose Estimation
2.3 The Proposed Distance Matching Method
3 Experimental Results
3.1 Experiments with Synthetic Data
3.2 Experiments with Real Images
4 Conclusion
References
Research on Escape Strategy of Local Optimal Solution for Underwater Hexapod Robot Based on Energy Consumption Optimization
1 Introduction
2 Dynamic Modeling and Energy Consumption Calculation of Underwater Hexapod Robot
2.1 Dynamic Modeling of Underwater Hexapod Robot
2.2 Distribution Method of Foot Contact Forces
2.3 Energy Consumption Coefficient Based on Typical Gaits
3 Energy Consumption Based Simulated Annealing Local Minimum Escape Algorithm
4 Modeling and Simulation Results
5 Conclusion
References
Trajectory-Smooth Optimization and Simulation of Dual-Robot Collaborative Welding
1 Introduction
2 Dual-Robot Welding System
3 Determination of Dual-Robot Workspace
4 Optimization Methodology of Trajectory-Smooth Generation
5 Simulation and Discussions
6 Conclusions
References
Investigation of Robotic Belt Grinding Methods Used for Dimension Restore of Repaired Blades
1 Introduction
2 Method Research
2.1 Grinding Scheme and Device
2.2 Detection and Model Processing
2.3 Robot Operation Calibration
3 Experiments
4 Conclusion
References
A Robust Blade Profile Feature Parameter Identifying Method
1 Introduction
2 Profile Segmentation
2.1 Theoretical Profile Identifying
2.2 Identifying Actual Profile
3 Calibrating Profile Feature Parameters
3.1 Calibrating Chord Length
3.2 Calibrating the Thickness of the Edge
4 Simulation and Experiments
4.1 Simulation
4.2 Experiments
5 Conclusion
References
Feedrate Optimization for Pocket Machining Considering Cutting Force Constraints
1 Introduction
2 Spiral Path Generation
3 Cutting Force Limitation Strategy
3.1 Cutting Force Estimation
3.2 Cutting Force Constraints Conversion
4 Feedrate Optimization Using Linear Programming
5 Experimental Verification
6 Conclusion
References
Conceptual Design and Kinematic Optimization of a Gantry Hybrid Machining Robot
1 Introduction
2 Conceptual Design
3 Dimension Synthesis of Parallel Machining Module
3.1 Parameter Optimization Method Introduction
3.2 Local Parameter Optimization
3.3 Global Parameter Optimization
4 Evaluation of Optimization Results
5 Conclusion
References
Kinematics and Dimensional Synthesis of a Novel 2RPU-PUR Parallel Manipulator
1 Introduction
2 Description of the 2RPU-PUR Parallel Manipulator
3 Mobility Analysis
4 Inverse Kinematics
5 Velocity Analysis
6 Singularity Analysis
6.1 Inverse Singularity
6.2 Forward Singularity
6.3 Combined Singularity
7 Performance Analysis
7.1 Local Transmission Index (LTI) for PMs
7.2 Global Transmission Index (GTI) for PMs
8 Conclusion
References
Dynamic Model and Vibration Characteristic of the Cartesian Robotic Arm with Deploying Motion
1 Introduction
2 Dynamic Model and Vibration Equation of the CRMdm
3 Results and Discussion
4 Conclusions
References
An Adsorption Machining Robot and Its Force Design
1 Introduction
2 Concept Design and Kinematic Modeling
2.1 Concept Design
2.2 Kinematic Analysis of Omnidirectional Mobile Platform
3 Adsorption Force and Driving Force Design
3.1 Machining Stage
3.2 Moving Stage
3.3 Force Matching Design
4 Conclusion
References
Research on Mobile Robot Processing System Based on Shape and Position Measurement
1 Introduction
2 Detection and Processing System for Mating Surfaces of Large Aeronautical Components
3 Research on Detection and Processing Methods
3.1 Processing of Point Cloud Data
3.2 The Optimized Design of the Docking Process
4 Experimental Validation
4.1 Extracts the Characteristics of the Docking Face
4.2 The Fitting of the Spatial Profile of the Closed Surface and the Calculation of the Machining Margin
4.3 Testing of Processing Results
5 Conclusion
References
Load Balance Optimization Based Multi-robot Cooperative Task Planning for Large-Scale Aerospace Structures
1 Introduction
2 Problem Statement
2.1 Processing Area Division
2.2 Task Planning Problem Modeling
3 Base Position Planning Strategy of Multi-robot System
4 Load Distribution Optimization Based Task Allocation Method of Multi-robot System
4.1 Task Reallocation Algorithm
4.2 Task Auction Algorithm Combined with Load Distribution
5 Simulation and Analysis
5.1 Simulation 1
6 Conclusion
References
Surface Defect Detection of High Precision Cylindrical Metal Parts Based on Machine Vision
1 Introduction
2 Image Acquisition
2.1 Design of Image Acquisition System
2.2 Types and Causes of Defects
3 Image Processing
3.1 Image Enhancement
3.2 Line Detection Based on Gradient Image
3.3 Image Segmentation Algorithm Based on Edge
3.4 Frequency Domain Method
4 Experiment and Analysis
5 Summary
References
Research on Robot Grinding Force Control Method
1 Induction
2 Device Structure Design and Kinetics Analysis
2.1 Structure Design
2.2 Kinetic Modeling
3 Control Strategy
4 Experimental Application
4.1 Experimental Platform Description
4.2 Force Tracking Experiment
5 Conclusion
References
Research on Recognition Algorithm of Scattered Rivets Based on Feature in Robot Automatic Nail Feeding System
1 Introduction
2 Preprocessing of Scattered Rivets Images
3 Random Rivet Recognition Algorithm Based on Feature
3.1 Segmentation of Rivet Images
3.2 Morphologic Filter
3.3 Removal of Small Blocks
3.4 Connected-Component Labeling and Calculation of Minimum Bounding Rectangle Calculation
3.5 Extraction and Recognition of Rivet Features
4 Conclusion Verification of Feature-Based for Scattered Rivet Recognition Algorithm
4.1 Algorithm Validity Verification
4.2 Robustness Verification of Lighting Brightness Changes
4.3 Algorithm Real-Time Verification
5 Conclusion
References
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Intelligent Robotics and Applications

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