10 accepted papers
Collaborative robots have promising potential for widespread use in small-and-medium-sized enterprise (SME) manufacturing and production due to the development of increasingly sophisticated Human-Robot Collaboration technologies. However, predicting and identifying the behavior of collaborative robo
This paper presents a novel robot arm that is capable of switching between a rigid robot arm and a continuum robot arm. Therefore, the novel robot arm can perform adaptive physical interaction and manipulation against complex working environments and tasks. The switch-ability of the robot arm is ach…
To achieve real-time dynamic simulation analysis and optimization design, a dynamic digital twin of a nonholonomic mobile manipulator (one UR5e mounted on an industrial mobile robot MIR 200) has been developed in this paper. First, the digital twin integrated with dynamics of a mobile manipulator is…
Collaborative robots are gradually taking over the leading position in automating the production and manufacturing of the SMEs, where the human-robot collaboration is highly emphasized. Therefore, estimating the force and simulating the performance of robots are of great importance. As a newly intro…
Increasing research attention has been attracted to automatic plug-in charging in an unmanned and dangerous environment. In this work, we develop an object detection solution based on deep learning on 3D point clouds using a mobile robot manipulator to provide mobility and manipulation. In this solu…
This study presents a novel dynamic modelling method for analyzing the modal properties of a curved extensible continuum manipulator (ECM). Considering the variable bending angle and the length, the kinematic and static models are firstly established for descripting the geometric posture deformation…
Extensive research efforts have been made toward automating the microinjection of biological cells by leveraging micro-robotic technologies. However, to best knowledge of the authors, there is no report on the automation of the time-consuming process: moving the injection tools (a micropipette, a gr…
Efficient and reliable dynamic modelling and analysis is critical to the shape control and estimate of a backbone continuum manipulator. This paper presents a novel dynamic modelling method to investigate the deformation modal properties of a vertical stretch-retractable continuum manipulator (VSRCM…
Flexibility commonly exists in the joints of many industrial robots due to the elasticity of the lightweight strain-wave type transmissions being used. This leads to a dynamic time-varying displacement between the position of the drive actuator and that of the driven link. Furthermore, the joint fle…
This paper presents a new method to generate vibration free rest-to-rest (RTR) trajectories for configuration dependent dynamic systems, such as robots, cranes or machine tools. The new method named 3-Segmented Input Shaping is based on a combination of the widely known Input Shaping method and a ne…