With the advancement of deep-sea exploration, the demand for underwater manipulators capable of long-duration heavy-duty operations has intensified. Water-hydraulic systems exhibit less viscosity variation with increasing depth than oil-based systems...
To address the issue of low trajectory tracking accuracy in six-degree-of-freedom robotic arms, this study proposes a trajectory tracking control strategy that integrates a Radial Basis Function Neural Network (RBFNN) with non-singular fast terminal...
The research on additive manufacturing (AM) path planning mainly focuses on the traditional three-axis AM path planning and five-degree-of-freedom (DOF) AM path planning, while there is less research on six-DOF AM path planning. In the traditional AM...
This paper proposes a path planning framework that combines the experience replay mechanism from deep reinforcement learning (DRL) and rapidly exploring random tree star (RRT*), employing the DRL-RRT* as the path planning method for the manipulator....
This paper addresses the trajectory tracking problem for a six-degree-of-freedom (6-DOF) underwater manipulator subject to complex disturbances and input saturation. It proposes a fixed-time preset performance sliding mode control method considering...
The control of robotic manipulators has become increasingly difficult over recent years due to their high accuracy, performance, speed, and reliability in a variety of applications, such as industry, medicine, research, etc. These serial manipulator...
Vision-based robotic grasping is a core capability for autonomous manipulation, yet reliable operation in unstructured scenes remains difficult because sensing, representation, contact mechanics, control, and hardware are tightly coupled. This struct...
With the continuous development of modern robotics technology, in order to overcome the obstacles to the ability to complete tasks due to the fixed structure of the robot itself, to realize the reconfigurable purpose of the manipulator, it can be ass...
Structure-preserving trajectory tracking control for a six-degree-of-freedom robotic manipulator is developed within the port-Hamiltonian framework. Error Hamiltonian is constructed by incorporating configuration and momentum tracking errors into the...
The success of space missions like capture-and-deorbit or capture-and-service relies on the ability of the capturing satellite to establish a stable mechanical connection by its gripping tool with the object being intercepted. Most of the potential o...
This paper develops a hybrid algorithm of adaptive network-based fuzzy inference system (ANFIS) and regions with convolutional neural network (R-CNN) for stereo vision-based object recognition and manipulation. The stereo camera at an eye-to-hand con...
This paper presents a fault-tolerant control (FTC) strategy for a six-degree-of-freedom (DoF) anthropomorphic manipulator operating under actuator faults and complex friction dynamics. The proposed framework integrates a backstepping control methodol...
New analytical solutions for the inverse kinematics problem of a 6R manipulator are proposed. Based on the assumption that the rotation axes of the last three links intersect at a common point, the problem is divided into orientation and transition p...
This paper presents a control strategy that secures both precision and manipulation sensitivity of remote center motion with direct teaching for a surgical assistant robot. Remote center motion is an essential function of conventional laparoscopic su...
In this paper, a global-state-space visual servoing scheme is proposed for uncalibrated model-independent robotic manipulation. The scheme is based on robust Kalman filtering (KF), in conjunction with Elman neural network (ENN) learning techniques. T...
Automatic milking systems (AMSs) for medium and large dairy farms in China require manual assistance to attach the teat cup, which greatly affects the milking efficiency and labor costs. In this regard, it is necessary to realize the automatic comple...
This paper presents a novel hybrid learning-based control scheme for position control of robot manipulators whose structure is based on a closed-kinematic-chain mechanism (CKCM). The developed control scheme integrates two complementary control compo...
This study addresses the trajectory tracking control challenges of robot manipulators with uncertain dynamics. The aim is to achieve precise and smooth trajectory regulation through a novel composite position predictive control (PPC) scheme that inte...
High-precision identification of dynamic parameters is crucial for the on-orbit performance of space manipulators. This paper investigates dynamic modeling and parameter identification under special environmental conditions such as microgravity and v...
This paper presents the design, implementation, and experimental results of a six-degree-of-freedom Delta-type parallel manipulator, in which all actuators were realized using proprietary pneumatic muscles. The objective of the study was to evaluate...
Task scheduling for multiple humanoid robot manipulators in industrial and collaborative settings remains a significant challenge due to the complexity of coordination, resource sharing, and real-time decision-making. In this study, we propose a fram...
Tableware objects such as plates, bowls, and cups are usually textureless, uniform in color, and vary widely in shape, making it difficult to apply conventional pose estimation methods that rely on texture cues or object-specific CAD models. These li...
As robotic manipulators evolve toward lightweight and long-link structures, flexibility increasingly affects dynamic response and trajectory tracking accuracy. However, existing studies often lack a consistent coupling mechanism between finite elemen...
Compliant mechanisms are widely used in cutting-edge scientific and technological fields such as precision engineering, micro-/nano-manipulation, or microelectronics. Hence, the demand for multi-degree-of-freedom compliant mechanisms has increased sh...
This article addresses the challenge of positioning accuracy in robotic manipulators applied to automated tape placement (ATL). A hybrid control strategy is proposed that integrates a Proportional-Integral-Derivative (PID) controller with a Backpropa...
Physical access to robotic manipulators remains constrained by cost, safety requirements, and limited laboratory availability, creating barriers to both research and education. This paper presents a computational framework that combines stochastic er...
Robotic systems have experienced exponential growth in their utilization for manufacturing applications over recent decades. Control systems responsible for executing desired robot motion planning face increasingly stringent performance requirements....
In high-voltage switchgear, partial discharge (PD) detection using six-degree-of-freedom (6-DOF) manipulators presents challenges. However, these involve inverse kinematics (IK) solution redundancy and the lack of synergistic optimization between end...
With the improvement of UAV performance and intelligence in recent years, it is particularly important for unmanned aerial vehicles (UAVs) to improve the ability of autonomous air combat. Aiming to solve the problem of how to improve the autonomous a...
Accurate and computationally efficient inverse kinematics is a fundamental requirement for industrial manipulators in intelligent manufacturing, where positioning, assembly, and handling demand reliable pose computation under nonlinear constraints. H...
Six degree-of-freedom (6-DOF) robotic manipulators have been increasingly adopted in various applications in industries due to various advantages, such as large operation space, more degrees of freedom, low cost, easy placement, and convenient progra...
The remarkable features of hybrid SMC assisted with fuzzy systems supplying parameters of the controller have led to significant success of these control approaches, especially in the control of multi-input and multi-output nonlinear systems. The dev...
Competency in musculoskeletal (MSK) ultrasound requires learners to relate probe manipulation to spatial reasoning, image projection, and the appearance of characteristic artefacts, which remains challenging during early training due to the limited s...
An object pick-and-place system with a camera, a six-degree-of-freedom (DOF) robot manipulator, and a two-finger gripper is implemented based on the robot operating system (ROS) in this paper. A collision-free path planning method is one of the most...
With the rapid development of modern industry, robotic manipulators are required to achieve increasingly high trajectory-tracking accuracy and robustness in practical applications. To enhance tracking performance under complex operating conditions, t...
Task prioritization for inverse kinematics can be a powerful tool for realizing objectives in robot manipulation. This is particularly true for robots with redundant degrees of freedom, but it can also help address a debilitating singularity in six-a...
In general, structures with rotational joints and linearized dynamic equations are used to facilitate the control of manipulator robots. However, in some cases, the workspace is limited, which reduces the accuracy and performance of this type of robo...
This research addresses the enhancement of operational efficiency in apple-picking robots through the design of a bimanual spatial configuration enabling obstacle avoidance in contemporary orchard environments. A parallel coordinated harvesting parad...
The six-degree-of-freedom (6-DoF) interaction forces/torque of the tool-end play an important role in the robotic tool manipulation using a gripper, which are usually indirectly measured by a robot wrist force/torque sensor. However, the real-time de...
We have proposed an open-source holonomic mobile manipulator composed of the KUKA youBot holonomic mobile platform with four Swedish wheels and a stationary aboard six-degrees-of-freedom Kinova Jaco Gen 2H manipulator, and we have developed correspon...
Accurate perception of deformable objects on the lunar surface is essential for autonomous construction and in situ resource utilization (ISRU) missions. However, the lack of representative lunar imagery limits the development of data-driven models f...
Rapid and precise intervention in disaster and medical-aid scenarios demands aerial platforms that can both survey and physically interact with their environment. This study presents the design, fabrication, modeling, and experimental validation of a...
A universal solution to an applied problem related to the study of deviations occurring in the joints of manipulation robots, for example, due to elastic deformations or gaps in them, is proposed. A mathematical (dynamic) model obtained by the Lagran...
Feedback linearization-based controllers are widely exploited in stabilizing a tilt rotor (eight or twelve inputs); each degree of freedom (six degrees of freedom in total) is manipulated individually to track the desired trajectory, since no singula...
This study investigates the integration of reinforcement learning (RL) with optimal control to enhance precision and energy efficiency in industrial robotic manipulation. A novel framework is proposed, combining Deep Deterministic Policy Gradient (DD...
In the last forty years, performance evaluations have been conducted to evaluate the behavior of industrial manipulators throughout the workspace. The information gathered from these evaluations describes the performances of robots from different poi...
Additive manufacturing (AM) enables the fabrication of complex three-dimensional components with embedded internal flow channels, but the as-built inner surfaces often exhibit high roughness and poor surface-quality uniformity, particularly at non-co...
Small pose errors in contact-rich manipulation can cause rapid force buildup, restricting exploration and complicating demonstration collection and policy learning. This study presents observable passive compliance, which combines mechanical accommod...
This paper presents a new decentralized adaptive control scheme for motion control of robot manipulators built based on a closed-kinematic chain mechanism (CKCM). By employing the synchronization technique and model reference adaptive control (MRAC)...
The applicability of the path planning strategy to robotic manipulators has been an exciting topic for researchers in the last few decades due to the large demand in the industrial sector and its enormous potential development for space, surgical, an...
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