4 accepted papers
This letter proposes an adaptive time-optimal path parameterization algorithm (A-TOPP) subject to kinematic and dynamic constraints for articulated robots. The algorithm efficiently incorporates the effects of Coulomb and viscous friction, while flexibly and comprehensively addressing various kinema
This letter proposes a bionic robot controller equipped with intelligent perception and autonomous planning modules to address the manufacturing industry's requirements for small-batch, customized, and autonomous task. Three crucial components: motion control module, vision perception module, and au
To improve the accuracy of torque estimation and compliance control of the force sensorless, we propose a torque fusion method based on extended Kalman filter (EKF), both the data of motor current and the harmonic reducer torsional deformation are involved. First, a nonlinear EKF is designed based o
One of the goals for the deployment of dual-arm robots is to imitate and replace human workers to complete manufacturing tasks. Moreover, especially in scenarios where workpieces are randomly scattered on the workbench, endowing a robotic system with a capacity of scheduling task sequences will undo