This paper presents a novel approach for seam tracking using ultrasonics. An ultrasonic seam tracking system has been developed for robotic welding which tracks a seam that curves freely on a two-dimensional surface. The seam is detected by scanning the area ahead of the torch and monitoring the amplitude of the waves received after reflection from the workpiece surface. Scanning is accomplished by using two ultrasonic sensors (a transmitter and a receiver) mounted on a stepper motor such that the transmitter angle is the same as the receiver angle. The motor is mounted on the end-effector just ahead of the welding torch and covers a ninety degree arc in front of the torch. If there is no seam then the receiver receives most of the transmitted waves after reflection, but if there is a seam then most of the transmitted waves are dispersed in directions other than that of the receiver. The system has been tested and is very robust in the harsh environments generated by the arc welding process. The robustness of the system stems from using various schemes such as time windowing, a waveguide, air and metal shields, and an intelligent sensor manager. This ultrasonic system offers some distinct advantages over traditional systems using vision and other sensing techniques. It can be used to weld very shiny surfaces, and is a very economical method in terms of cost as well as computational intensity. The system can be used to detect seams less than 0.5 mm wide and 0.5 mm deep.

This paper investigates the problem of concurrent mapping and localization (CML) using forward look sonar data. Results are presented from processing of an oceanic data set from an 87 kHz US Navy forward look imaging sonar using the stochastic mapping method for CML. The goal is to detect objects on the seabed, map their locations, and concurrently compute an improved trajectory for the vehicle. The resulting trajectory is compared with position estimates computed with an inertial navigation system and Doppler velocity sonar. The results demonstrate the potential of concurrent mapping and localization algorithms to satisfy the navigation requirements of undersea vehicles equipped with forward look sonar.

This paper presents a dynamic model of a planar parallel manipulator including structural flexibility of several linkages. The equations of motion are formulated using the Lagrangian equations of the first type and Lagrangian multipliers are introduced to represent the geometry of multiple closed loop chains. Then, an active damping approach using a PZT actuator is described to attenuate structural vibration of the linkages. Overall dynamic behavior of the manipulator, induced from structural flexibility of the linkage, is well illustrated through simulations. This analysis will be used to develop a prototype parallel manipulator.

Screw theory has demonstrated its wide applications in robot kinematics and statics. We aim to propose an intuitive geometrical approach to obtain the reciprocal screws for a given screw system. Compared with the traditional Plücker coordinate method, the new approach is free from algebraic manipulation and can be used to obtain the reciprocal screws just by inspecting the structure of manipulator. The approach is based on three observations that describe the geometrical relation for zero pitch screw and infinite pitch screw. Based on the observations, the reciprocal screw systems of several common kinematic elements are analyzed, including usual kinematic pairs and chains. We also demonstrate usefulness of the geometrical approach by a variety of applications in mobility analysis, Jacobian formulation, and singularity analysis for parallel manipulator. This new approach can facilitate the parallel manipulator design process and provide sufficient insights for existing manipulators.

This paper presents a novel control algorithm for electrically driven robot manipulators. The proposed control law is simple and model-free based on the voltage control strategy with the decentralized structure and only joint position feedback. It works for both repetitive and non-repetitive tasks. Recently, some control approaches based on the uncertainty estimation using the Fourier series have been presented. However, the proper value for the fundamental period duration has been left as an open problem. This paper addresses this issue and intuitively shows that in order to perform repetitive tasks; the least common multiple (LCM) of fundamental period durations of the desired trajectories of the joints is a proper value for the fundamental period duration of the Fourier series expansion. Selecting the LCM results in the least tracking error. Moreover, the truncation error is compensated by the proposed control law to make the tracking error as small as possible. Adaptation laws for determining the Fourier series coefficients are derived according to the stability analysis. The case study is an SCARA robot manipulator driven by permanent magnet DC motors. Simulation results and comparisons with a voltage-based controller using adaptive neuro-fuzzy systems show the effectiveness of the proposed control approach in tracking various periodic trajectories. Moreover, the experimental results on a real SCARA robot manipulator verify the successful practical implementation of the proposed controller.

The paper focuses on the problem of point-to-point trajectory planning for flexible redundant robot manipulators (FRM) in joint space. Compared with irredundant flexible manipulators, a FRM possesses additional possibilities during point-to-point trajectory planning due to its kinematics redundancy. A trajectory planning method to minimize vibration and/or executing time of a point-to-point motion is presented for FRMs based on Genetic Algorithms (GAs). Kinematics redundancy is integrated into the presented method as planning variables. Quadrinomial and quintic polynomial are used to describe the segments that connect the initial, intermediate, and final points in joint space. The trajectory planning of FRM is formulated as a problem of optimization with constraints. A planar FRM with three flexible links is used in simulation. Case studies show that the method is applicable.

In this paper, a consensus-based control strategy is presented to gather formation for a group of differential-wheeled robots. The formation shape and the avoidance of collisions between robots are obtained by exploiting the properties of weighted graphs. Since mobile robots are supposed to move in unknown environments, the presented approach to multi-robot coordination has been extended in order to include obstacle avoidance. The effectiveness of the proposed control strategy has been demonstrated by means of analytical proofs. Moreover, results of simulations and experiments on real robots are provided for validation purposes.

In this paper, two methods are proposed and implemented for collision detection between the robot and a human based on fuzzy identification and time series modelling. Both methods include a collision detection system for each joint of the robot that is trained to approximate the external torque. In addition, the proposed methods are able to detect the occurrence of a collision, the link that collided and to some extent the magnitude of the collision without using the explicit model of the robot. Since the speed of the detection is of critical importance for mitigating the danger, attention is paid to recognise a collision as soon as possible. Experimental results conducted with a KUKALWR manipulator using two joints in planar motion, verify the validity on both methods.

Kinematic calibration is essential to improve the accuracy of the manipulator. This paper presents a complete description of the Gough platform modeling and a unified scheme to identify its kinematic parameters. The interest of this formulation is that it may be applied whatever information is available on the state of the robot (measurement or constraints) without using the kinematics to obtain the basic system of constraint equations. Moreover, the scheme may be applied for all parallel robots. We propose to experiment and compare three methods of calibration, using either (or both) external measurement and internal redundant sensors. Finally, we show how to reduce the initial error in pose determination by 99% for the Hexapode 300, CMW's machining center, and validate the choice of a self-calibration method in an industrial context.

The present paper addresses the issues that should be covered in order to develop walk-through programming techniques (i.e. a manual guidance of the robot) in an industrial scenario. First, an exact formulation of the dynamics of the tool the human should feel when interacting with the robot is presented. Then, the paper discusses a way to implement such dynamics on an industrial robot equipped with an open robot control system and a wrist force/torque sensor, as well as the safety issues related to the walk-through programming. In particular, two strategies that make use of admittance control to constrain the robot motion are presented. One slows down the robot when the velocity of the tool centre point exceeds a specified safety limit, the other one limits the robot workspace by way of virtual safety surfaces. Experimental results on a COMAU Smart Six robot are presented, showing the performance of the walk-through programming system endowed with the two proposed safety strategies.

In this paper, adaptive control of kinematically redundant robot manipulators is considered. An end-effector tracking controller is designed and the manipulator's kinematic redundancy is utilized to integrate a general sub-task controller for self-motion control. The control objectives are achieved by designing a feedback linearizing controller that includes a least-squares estimation algorithm to compensate for the parametric uncertainties. Numerical simulation results are presented to show the validity of the proposed controller.

This paper addresses the map merging problem, which is the most important issue in multi-robot simultaneous localization and mapping (SLAM) using the Rao–Blackwellized particle filter (RBPF-SLAM) with unknown initial poses. The map merging is performed using the map transformation matrix and the pair of map merging bases (MMBs) of the robots. However, it is difficult to find appropriate MMBs because each robot pose is estimated under multi-hypothesis in the RBPF-SLAM. In this paper, probabilistic map merging (PMM) using the Gaussian process is proposed to solve the problem. The performance of PMM was verified by reducing errors in the merged map with computer simulations and real experiments.

General-purpose autonomous robots must have the ability to combine the available sensorimotor knowledge in order to solve more complex tasks. Such knowledge is often given in the form of movement primitives. In this paper, we investigate the problem of sequencing of movement primitives. We selected nonlinear dynamic systems as the underlying sensorimotor representation because they provide a powerful machinery for the specification of primitive movements. We propose two new methodologies which both ensure that consecutive movement primitives are joined together in a continuous way (up to second-order derivatives). The first is based on proper initialization of the third-order dynamic motion primitives and the second uses online Gaussian kernel functions modification of the second-order dynamic motion primitives. Both methodologies were validated by simulation and by experimentally using a Mitsubishi PA-10 articulated robot arm. Experiments comprehend pouring, table wiping, and carrying a glass of liquid.

Interaction between a robot and its environment requires perception about the environment, which helps the robot in making a clear decision about the object type and its location. After that, the end effector will be brought to the object’s location for grasping. There are many research studies on the reaching and grasping of objects using different techniques and mechanisms for increasing accuracy and robustness during grasping and reaching tasks. Thus, this paper presents an extensive review of research directions and topics of different approaches such as sensing, learning and gripping, which have been implemented within the current five years.

Parallel mechanisms possess several advantages such as the possibilities for high acceleration and high accuracy positioning of the end effector. However, most of the proposed parallel manipulators suffer from a limited workspace. In this paper, a novel 6-DOF parallel manipulator with coaxial actuated arms is introduced. Since parallel mechanisms have more workspace limitations compared to that of serial mechanisms, determination of the workspace in parallel manipulators is of the utmost importance. For finding position, angular velocity, and acceleration, in this paper, inverse and forward kinematics of the mechanism are studied and after presenting the workspace limitations, workspace analysis of the hexarot manipulator is performed by using MATLAB software. Next, using the obtained cloud of points from simulation, the overall borders of the workspace are illustrated. Finally, it is shown that this manipulator has the important benefits of combining a large positional workspace in relation to its footprint with a sizable range of platform rotations.

This paper presents a general control architecture for bipedal walking which is based on a divide-and-conquer approach. Based on the architecture, the sagittal-plane motion-control algorithm is formulated using a control approach known as Virtual Model Control. A reinforcment learning algorithm is used to learn the key parameter of the swing leg control task so that speed control can be achieved. The control algorithm is applied to two simulated bipedal robots. The simulation analyses demonstrate that the local speed control mechanism based on the stance ankle is effective in reducing the learning time. The algorithm is also demonstrated to be general in that it is applicable across bipedal robots that have different length and mass parameters.

In this paper we propose an analytical formulation for simulation and design of a one d.o.f. articulated finger mechanism with three phalanges. The formulation is based on a study of the design and operation of an index human finger. In particular, we have proposed a suitable mechanical design for an anthropomorphic finger as both an approximation of human architecture and an easy practical design. Kinematic characteristics are illustrated with numerical examples.

In our previous work, we developed a compact 6-DOF haptic interface as a master device which achieved an effective manual teleoperation. The haptic interface contains a modified Delta parallel-link positioning mechanism. Parallel mechanisms are usually characterized by a high stiffness, which, however, is reduced by elastic deformations of both parts and bearings. Therefore, to design such a parallel mechanism, we should analyze its structural stiffness, including elastic deformations of both parts and bearings. Then we propose a simple method to analyze structural stiffness in a parallel mechanism using bearings. Our method is based on standard concepts such as static elastic deformations. However, the important aspect of our method is the manner in which we combine these concepts and how we obtain the value of the elasticity coefficient of a rotation axis in a bearing. Finally, we design a modified Delta mechanism, with a well-balanced stiffness, based on our method of stiffness analysis.

In this paper, we present a simple method to obtain joint inputs needed to attain any point in the reachable workspace of a class of five-bar planar parallel manipulators which are based on five rigid links and five single degree of freedom joints – revolute and prismatic joints. Depending on the topology of the manipulators, two mathematical expressions describing the path traced by the tip of two links connected to each other are obtained and solved simultaneously in order to determine the intersection points of the two paths which are the Cartesian coordinates of the connection points for the links. For the class of manipulators considered in this study, one of the links is the link activated by an actuator fixed to the ground. So, rotational and/or translational joint inputs can be determined from the Cartesian coordinates of the tip of the activated links. Sylvester's dialytic elimination method is employed to solve the equations. Such a methodology is easy to implement, computationally efficient and sound to compute all possible solutions. A numerical example is provided for each manipulator and the inverse position solutions are verified by substituting them into forward position equations. It is concluded that the proposed method is useful in trajectory planning and control of five-bar planar parallel manipulators in joint space.