Topic Editors

Department of Industrial Engineering, University of Padova, 35131 Padova, Italy
Department of Mechanical Engineering, IDMEC, Instituto Superior Tecnico, Universidade de Lisboa, 1049-001 Lisboa, Portugal

Industrial Robotics: 2nd Volume

Abstract submission deadline
closed (31 July 2023)
Manuscript submission deadline
closed (31 October 2023)
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13613

Topic Information

Dear Colleagues,

Nowadays, industrial robotics has become a science in continuous evolution. The implementation and role of robots in production lines and other traditional frames are being widely revised, since robots are rapidly changing from slave devices to cyber-physical systems in the Industry 4.0 framework. In this context, research on robot mechanics, modelling, design, and control is going to play an increasingly central role. Furthermore, new robot architectures have been developed: cable-driven robotics allow one to increase the performance of manipulators in terms of both small moving masses and large work areas; collaborative and mobile robotics allow a greater human-machine interaction, in terms of both collaboration and cooperation, as well as within industrial production lines.

The aim of this topic is to attract recent and relevant research in the following fields:

  • Robot design and kinematics;
  • Dynamics of robots and mechanical systems;
  • Control of robots;
  • Trajectory planning;
  • Industrial applications;
  • Performance evaluation;
  • Collaborative robotics;
  • Mobile robotics;
  • Industrial cable driven robots.

Prof. Dr. Giovanni Boschetti
Prof. Dr. João Miguel da Costa Sousa
Topic Editors

Keywords

  • kinematics
  • dynamics
  • control
  • performance evaluation
  • trajectory planning
  • collaborative robotics
  • mobile robotics
  • cable driven robots

Participating Journals

Journal Name Impact Factor CiteScore Launched Year First Decision (median) APC
Applied Sciences
applsci
2.7 4.5 2011 16.9 Days CHF 2400
Robotics
robotics
3.7 5.9 2012 17.3 Days CHF 1800
Automation
automation
- - 2020 26.3 Days CHF 1000
Machines
machines
2.6 2.1 2013 15.6 Days CHF 2400
Electronics
electronics
2.9 4.7 2012 15.6 Days CHF 2400
Actuators
actuators
2.6 3.2 2012 16.7 Days CHF 2400

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Published Papers (9 papers)

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19 pages, 7742 KiB  
Article
Cascaded Fuzzy Reward Mechanisms in Deep Reinforcement Learning for Comprehensive Path Planning in Textile Robotic Systems
by Di Zhao, Zhenyu Ding, Wenjie Li, Sen Zhao and Yuhong Du
Appl. Sci. 2024, 14(2), 851; https://doi.org/10.3390/app14020851 - 19 Jan 2024
Viewed by 529
Abstract
With the rapid advancement of industrial automation and artificial intelligence technologies, particularly in the textile industry, robotic technology is increasingly challenged with intelligent path planning and executing high-precision tasks. This study focuses on the automatic path planning and yarn-spool-assembly tasks of textile robotic [...] Read more.
With the rapid advancement of industrial automation and artificial intelligence technologies, particularly in the textile industry, robotic technology is increasingly challenged with intelligent path planning and executing high-precision tasks. This study focuses on the automatic path planning and yarn-spool-assembly tasks of textile robotic arms, proposing an end-to-end planning and control model that integrates deep reinforcement learning. The innovation of this paper lies in the introduction of a cascaded fuzzy reward system, which is integrated into the end-to-end model to enhance learning efficiency and reduce ineffective exploration, thereby accelerating the convergence of the model. A series of experiments conducted in a simulated environment demonstrate the model’s exceptional performance in yarn-spool-assembly tasks. Compared to traditional reinforcement learning methods, our model shows potential advantages in improving task success rates and reducing collision rates. The cascaded fuzzy reward system, a core component of our end-to-end deep reinforcement learning model, offers a novel and more robust solution for the automated path planning of robotic arms. In summary, the method proposed in this study provides a new perspective and potential applications for industrial automation, especially in the operation of robotic arms in complex and uncertain environments. Full article
(This article belongs to the Topic Industrial Robotics: 2nd Volume)
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20 pages, 3455 KiB  
Article
Manipulation Planning for Cable Shape Control
by Karam Almaghout and Alexandr Klimchik
Robotics 2024, 13(1), 18; https://doi.org/10.3390/robotics13010018 - 17 Jan 2024
Viewed by 1340
Abstract
The control of deformable linear objects (DLOs) such as cables presents a significant challenge for robotic systems due to their unpredictable behavior during manipulation. This paper introduces a novel approach for cable shape control using dual robotic arms on a two–dimensional plane. A [...] Read more.
The control of deformable linear objects (DLOs) such as cables presents a significant challenge for robotic systems due to their unpredictable behavior during manipulation. This paper introduces a novel approach for cable shape control using dual robotic arms on a two–dimensional plane. A discrete point model is utilized for the cable, and a path generation algorithm is developed to define intermediate cable shapes, facilitating the transformation of the cable into the desired profile through a formulated optimization problem. The problem aims to minimize the discrepancy between the cable configuration and the targeted shape to ensure an accurate and stable deformation process. Moreover, a cable dynamic model is developed in which the manipulation approach is validated using this model. Additionally, the approach is tested in a simulation environment in which a framework of two manipulators grasps a cable. The results demonstrate the feasibility and accuracy of the proposed method, offering a promising direction for robotic manipulation of cables. Full article
(This article belongs to the Topic Industrial Robotics: 2nd Volume)
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18 pages, 5038 KiB  
Article
A Novel Control Architecture Based on Behavior Trees for an Omni-Directional Mobile Robot
by Rodrigo Bernardo, João M. C. Sousa, Miguel Ayala Botto and Paulo J. S. Gonçalves
Robotics 2023, 12(6), 170; https://doi.org/10.3390/robotics12060170 - 16 Dec 2023
Cited by 1 | Viewed by 1449
Abstract
Robotic systems are increasingly present in dynamic environments. This paper proposes a hierarchical control structure wherein a behavior tree (BT) is used to improve the flexibility and adaptability of an omni-directional mobile robot for point stabilization. Flexibility and adaptability are crucial at each [...] Read more.
Robotic systems are increasingly present in dynamic environments. This paper proposes a hierarchical control structure wherein a behavior tree (BT) is used to improve the flexibility and adaptability of an omni-directional mobile robot for point stabilization. Flexibility and adaptability are crucial at each level of the sense–plan–act loop to implement robust and effective robotic solutions in dynamic environments. The proposed BT combines high-level decision making and continuous execution monitoring while applying non-linear model predictive control (NMPC) for the point stabilization of an omni-directional mobile robot. The proposed control architecture can guide the mobile robot to any configuration within the workspace while satisfying state constraints (e.g., obstacle avoidance) and input constraints (e.g., motor limits). The effectiveness of the controller was validated through a set of realistic simulation scenarios and experiments in a real environment, where an industrial omni-directional mobile robot performed a point stabilization task with obstacle avoidance in a workspace. Full article
(This article belongs to the Topic Industrial Robotics: 2nd Volume)
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16 pages, 442 KiB  
Article
Fault-Estimation Design Based on an Iterative Learning Scheme for Interconnected Multi-Flexible Manipulator Systems with Arbitrary Initial Value
by Li Feng, Guangxi Chen, Shuiqing Xu and Kenan Du
Actuators 2023, 12(12), 443; https://doi.org/10.3390/act12120443 - 28 Nov 2023
Viewed by 1100
Abstract
This paper reports the design of an iterative-learning-scheme-based fault-estimation method for interconnected nonlinear multi-flexible manipulator systems with arbitrary initial value. For state estimation, observers are employed to reconstruct the state. The proposed scheme ensures that each flexible manipulator subsystem’s states can track their [...] Read more.
This paper reports the design of an iterative-learning-scheme-based fault-estimation method for interconnected nonlinear multi-flexible manipulator systems with arbitrary initial value. For state estimation, observers are employed to reconstruct the state. The proposed scheme ensures that each flexible manipulator subsystem’s states can track their desired reference signals within a finite time. In the next step, an iterative learning fault-estimation law is proposed to track the actual fault signal. In contrast to the previous literature, this approach utilizes potential information from previous iterations to enhance the accuracy of the estimation in the current iteration. Based on these efforts, the obstacle caused by the arbitrary initial value is circumvented, and addressing the fault-estimation errors of each flexible manipulator subsystem are uniformly ultimately bounded is successfully achieved. Then, the λ-norm is developed to explore the convergence conditions of the presented methods. Finally, the effectiveness and feasibility of the proposed approach are verified through assessment of simulation results. Full article
(This article belongs to the Topic Industrial Robotics: 2nd Volume)
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28 pages, 14306 KiB  
Article
Computer-Aided Choosing of an Optimal Structural Variant of a Robot for Extracting Castings from Die Casting Machines
by Ivo Malakov, Velizar Zaharinov, Stiliyan Nikolov and Reneta Dimitrova
Actuators 2023, 12(9), 363; https://doi.org/10.3390/act12090363 - 15 Sep 2023
Viewed by 859
Abstract
In the present article, the solution for choosing the optimal structural variant of an industrial robot for extracting castings from die casting machines is considered. For this purpose, the process of extracting the castings from the mold is analyzed. On this basis, functions [...] Read more.
In the present article, the solution for choosing the optimal structural variant of an industrial robot for extracting castings from die casting machines is considered. For this purpose, the process of extracting the castings from the mold is analyzed. On this basis, functions are defined, and a functional structure of the robot is built. Alternative variants of devices for each function are developed. The set of possible structural variants are constructed, considering the compatibility between devices and the possibility of performing more than one function with one device. The problem of choosing an optimal structural variant is formulated, and its characteristic features are determined. The main stages of a methodology and application software for the problem’s solution are presented. After an analysis of requirements for the extractor, the set of criteria for evaluating the structural variants are determined. The set includes criteria that minimize the production costs, production floor space, as well as the energy costs in the operation process, which is of particular importance in the conditions of global energy crisis. A mathematical model of the problem is built. The formulated multi-criteria optimization problem is solved, both with equal objective functions and with different priority. Full article
(This article belongs to the Topic Industrial Robotics: 2nd Volume)
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20 pages, 16886 KiB  
Article
Dual-Loop Control of Cable-Driven Snake-like Robots
by Xiantong Xu, Chengzhen Wang, Haibo Xie, Cheng Wang and Huayong Yang
Robotics 2023, 12(5), 126; https://doi.org/10.3390/robotics12050126 - 04 Sep 2023
Cited by 1 | Viewed by 1622
Abstract
Snake-like robots, which have high degrees of freedom and flexibility, can effectively perform an obstacle avoidance motion in a narrow and unstructured space to complete assignments efficiently. However, accurate closed-loop control is difficult to achieve. On the one hand, this is because adding [...] Read more.
Snake-like robots, which have high degrees of freedom and flexibility, can effectively perform an obstacle avoidance motion in a narrow and unstructured space to complete assignments efficiently. However, accurate closed-loop control is difficult to achieve. On the one hand, this is because adding too many sensors to the robot will significantly increase its mass, size, and cost. On the other hand, the more complex structure of the hyper-redundant robot also challenges the more elaborate closed-loop control strategy. For these reasons, a cable-driven snake-like robot, which is compact and low cost, with force transducers and angle sensors, is designed in this article. The simpler and more direct kinematic model is studied, which applies to a widely used kinematics algorithm. Based on the kinematic model, the inverse dynamics are resolved. Finally, this article analyzes the sources of the motion errors and achieves dual-loop control through force-feedback and pose-feedback. The experiment results show that the robot’s structure and dual-loop control strategy function with high accuracy and reliability, meeting the requirements of engineering applications and high-precision control. Full article
(This article belongs to the Topic Industrial Robotics: 2nd Volume)
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24 pages, 2053 KiB  
Article
An Optimal Control Approach to the Minimum-Time Trajectory Planning of Robotic Manipulators
by Matteo Massaro, Stefano Lovato, Matteo Bottin and Giulio Rosati
Robotics 2023, 12(3), 64; https://doi.org/10.3390/robotics12030064 - 28 Apr 2023
Viewed by 2652
Abstract
Trajectory planning is a classic problem in robotics, with different approaches and optimisation objectives documented in the literature. Most of the time, the path is assumed, i.e., pre-defined, and optimisation consists of finding the timing of motion under a number of constraints. The [...] Read more.
Trajectory planning is a classic problem in robotics, with different approaches and optimisation objectives documented in the literature. Most of the time, the path is assumed, i.e., pre-defined, and optimisation consists of finding the timing of motion under a number of constraints. The focus of this work is on the minimum-time manoeuvring of robotic manipulators. A nonlinear optimal control approach is proposed that does not require the provision of either a pre-defined path or a pre-defined control structure and allows the inclusion of dynamic constraints. The solution (path and timing of motion) is obtained by transforming the optimal control problem into a nonlinear programming problem. The proposed approach is applied to a two-link manipulator for illustration purposes. The optimisation is carried out both without and with obstacles. The minimum-distance and minimum-time solutions are compared, and some classic results are obtained, including the trapezoidal pattern of the joint velocity and the bang–bang structure of the control torques. The effects of limitations on the jerks of actuators and the rate of change in torque inputs are discussed. The application to a four-link manipulator is also included to show the ‘scalability’ of the approach, together with a comparison with a classic path-and-motion-planning method, to highlight the characteristics and performance of the proposed approach. Finally, the possibility of enforcing a number of via-points along the path is demonstrated. The proposed method allows the computation of the path and motion simultaneously with the computation time, which is 1–30 times the manoeuvre time, on a standard PC with the current implementation. Full article
(This article belongs to the Topic Industrial Robotics: 2nd Volume)
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22 pages, 30822 KiB  
Article
Simulation Research on the Grouser Effect of a Reconfigurable Wheel-Crawler Integrated Walking Mechanism Based on the Surface Response Method
by Pengfei Zhou, Shufeng Tang and Zaiyong Sun
Appl. Sci. 2023, 13(7), 4202; https://doi.org/10.3390/app13074202 - 26 Mar 2023
Viewed by 1132
Abstract
To improve the unstructured terrain traversing performance of the scientific research robot of the Qinghai–Tibet Plateau station, the parameters of the track shoe of the reconfigurable wheel-crawler walking mechanism were studied. Based on a typical track shoe puncture effect model, the experimental design [...] Read more.
To improve the unstructured terrain traversing performance of the scientific research robot of the Qinghai–Tibet Plateau station, the parameters of the track shoe of the reconfigurable wheel-crawler walking mechanism were studied. Based on a typical track shoe puncture effect model, the experimental design was carried out based on the surface response method, and the dynamic model of the triangular crawler mode of the reconfigurable wheel-crawler walking mechanism was constructed and tested using RecurDyn V9R3 software. Through an analysis of the simulation results, the interaction of the grouser parameters was further clarified, and the regression equation of the traction force of the walking mechanism was obtained. The grouser parameters that enabled the reconfigurable wheel-crawler walking mechanism to have the maximum traction were obtained; these will be used to guide the machining of the prototype walking mechanism. Full article
(This article belongs to the Topic Industrial Robotics: 2nd Volume)
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21 pages, 7124 KiB  
Article
Non-Probabilistic Reliability Analysis of Robot Accuracy under Uncertain Joint Clearance
by Zhaoping Tang, Jun Peng, Jianping Sun and Xin Meng
Machines 2022, 10(10), 917; https://doi.org/10.3390/machines10100917 - 09 Oct 2022
Cited by 4 | Viewed by 1466
Abstract
The development of industrial robots in high-precision fields is currently constrained by the reliability of motion. Considering the influence of the joint clearance on the motion reliability of the industrial robot, the kinematic model of the industrial robot is established, the kinematic equation [...] Read more.
The development of industrial robots in high-precision fields is currently constrained by the reliability of motion. Considering the influence of the joint clearance on the motion reliability of the industrial robot, the kinematic model of the industrial robot is established, the kinematic equation of the robot is deduced, and positive kinematic solutions are performed. The non-probability positioning accuracy reliability measure of a robot end-effector is proposed, based on the non-probability theory and method, combined with the prescribed permission interval and error interval, and different states of reliability can be judged according to the position relationship, the non-probability reliability properties are outlined, and the positioning accuracy reliability assessment model is established. Combined with the joint clearance modeling theory, the simulation of the robot end-effector under the influence of six joint clearances is carried out, and the displacement error interval of the end-effector under the preset motion path is analyzed for the industrial robot motion reliability problem. The motion path is split by time, and the end effector moves to different workspace areas in different time periods. The motion reliability of each segment is analyzed, and it is concluded that the reliability of the end-effector under the influence of uncertain joint clearance parameters changes in different working regions. Based on the above, the research direction of space division and partition parameter calibration is proposed, which lays a foundation for the study of partition non-probabilistic calibration of robot workspace. Full article
(This article belongs to the Topic Industrial Robotics: 2nd Volume)
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