Robot Control Technology Research Articles

Robot intelligent perception and control

Abstract. In recent years, with the rapid development of robotics, intelligent perception and control has become the core research direction in the field of robotics. This technology plays a key role in many fields such as industrial automation, medical assistance, and autonomous driving, significantly improving production efficiency and service quality, and also promoting the intelligent processes of various industries. On the basis of an in-depth analysis of robot intelligent perception and control technology, this paper systematically reviews the development of visual and non-visual perception technology and discusses the application of multi-modal perception in complex environments. The latest development of motion control and force control technology is analyzed, and its importance in fine operation is expounded. The future development direction of robot intelligent perception and control technology is proposed, and the necessity of enhancing real-time robustness and system integration is emphasized, which provides theoretical support and technical reference for promoting the continuous innovation of robot intelligent perception and control technology.

Research on Robot Control Technology of Tomato Plant Lowering in Greenhouses

Research on Robot Control Technology of Tomato Plant Lowering in Greenhouses

Special issue on recent advances in nonlinear robot control technology (Part II)

Special issue on recent advances in nonlinear robot control technology (Part II)

Special issue on recent advances in nonlinear robot control technology (part I)

Special issue on recent advances in nonlinear robot control technology (part I)

Research on vision control methods based on multi-sensor fusion

This paper focuses on the application scenarios of electric power live line working robots, addressing tasks such as live wire stripping and live wire connection/disconnection. It utilizes Mixed Reality (MR) technology for rapid environment modeling and visual signal acquisition. Through the research on robot contact force sensing, real-time force feedback, and obstacle avoidance through the fusion of robot motion paths and environmental data, it establishes a novel electric power live line working robot system centered around dexterous dual arms at the operation end, force feedback teleoperation controllers, multi-sensor fusion acquisition systems, and robot motion planning and control technology. Through prototyping, a demonstration application is realized, showcasing a semi-autonomous electric power live line working robot system that employs remote operation combined with sensor-based MR for task execution. This teleoperation and Mixed Reality-based semi-autonomous electrified operation approach is poised to play a significant role in advancing and demonstrating the use of robots in the field of electrical grid operations.

Proactive Control for Online Individual User Adaptation in a Welfare Robot Guidance Scenario: Toward Supporting Elderly People

Due to demographic change, health and elderly care systems are facing a shortage of qualified caregivers. This issue can be addressed by introducing welfare robots into people’s homes, hospitals, and care institutions. To provide useful support, such robots must adapt to individual users and smoothly interact with them. From this perspective, we present advances on the development of proactive control for online individual user adaptation in a welfare robot guidance scenario, with the integration of three main modules: 1) navigation control; 2) visual human detection; and 3) temporal error correlation-based neural learning. The proposed control approach can drive a mobile robot to autonomously navigate in relevant indoor environments. At the same time, it can predict human walking speed based on visual information without prior knowledge of personality and preferences (i.e., walking speed). The robot then uses this prediction to continuously adapt its speed to individual users in a proactive online manner. We validate the performance of the proposed proactive robot control in different real-world environments with various users, including an elderly resident of a Danish elderly care center. The results show that the robot successfully and smoothly guided various users of different ages and average walking speeds (e.g., 0.2 m/s, 0.7 m/s, and 1.1 m/s) to target locations over distances of 25–60 m. All in all, this study captures a wide range of research from robot control technology development to technological validity in a relevant environment and system prototype demonstration in an operational environment (i.e., an elderly care center).

Research on Architecture Design of Mobile Video Surveillance System in Information Room Based on Intelligent Robot Technology

With the gradual development of information technology, the idea of combining mobile robot and wireless remote control technology is adopted to build a wireless network platform between a computer and robot. At present, there are conditions to realize this idea. In this idea, the wireless data transmission can be realized on the platform. Users can remotely control and access the monitoring system of the computer room and set up alarm systems and detectors, so as to monitor the working conditions of the robot at the computer terminal, truly realize the man-machine coordination, and ensure that the robot can complete the specified tasks well in various complex environments. This research first deeply analyzes the current development status and existing problems of the information room monitoring technology and then puts forward the mobile video monitoring system architecture of the information room based on the intelligent robot monitoring technology. The system architecture integrates computer technology, network technology, and control technology. With the continuous updating of technology, video surveillance has also entered the mobile era. Combined with the timely monitoring video acquisition system of mobile robots, it solves the current working environment for many industries and enterprises. Using robot chassis technology, it designs the corresponding bottom hardware control and upper equipment to achieve data acquisition with related equipment. The mobile video surveillance system solves the problems encountered by the traditional video surveillance system and can monitor video images through remote operation and centrally monitors the operation status of the equipment in the room and the environmental status of the room, which is more conducive to improving the management efficiency. It provides a new idea to ensure the safe and stable operation of various equipment and systems in various places.

Autonomous 6-DOF Manipulator Operation for Moving Target by a Capture and Placement Control System.

The robot control technology combined with a machine vision system provides a feasible method for the autonomous operation of moving target. However, designing an effective visual servo control system is a great challenge. For the autonomous operation of the objects moving on the pipeline, this article is dedicated to developing a capture and placement control system for the six degrees of freedom (6-DOF) manipulator equipped with an eye-in-hand camera. Firstly, a path planning strategy of online capture and offline placement is proposed for real-time capture and efficient placement. Subsequently, to achieve the fast, stable, and robust capture for a moving target, a position-based visual servo (PBVS) controller is developed by combining estimated velocity feedforward and refined PID control. Feedforward control is designed using the estimated velocity by a proposed motion estimation method for high response speed. PID control is refined by dead zone constraint to reduce the manipulator’s jitter caused by the frequent adjustment of manipulator control system. Besides, the proportional, integral, and differential coefficients of PID controller are adaptively tuned by fuzzy control to reject the noise, disturbance, and dynamic variation in the capture process. Finally, validation experiments are performed on the constructed ROS–Gazebo simulation platform, demonstrating the effectiveness of the developed control system.

Path control of panoramic visual recognition for intelligent robots based-edge computing

The application of service-oriented intelligent robots in hospitals solves the problems of manual service such as delivery of medicines and orders from the medical aids. However, there is a problem of robot path planning, which leads to poor service. Taking the self-control robot with visual recognition capability in medical institutions as the research background, this paper proposes an image edge detection algorithm based on three-dimensional features. First, reconstruct the three-dimensional image through visual recognition, and calculate the three-dimensional feature map of the scene in the hospital. Secondly, the edge computing algorithm is used to realize the route area diversion, and the best route area is planned in the 3D feature map to realize the delivery of medicines and other items in the complex environment of the hospital, so as to achieve the purpose of improving the technical level of medical auxiliary equipment. Finally, the image restoration technology can improve the image clarity of the robot vision system and the robot automation level, and it is also helpful for the promotion of robot automatic path planning and control technology. The experimental results show that, compared with the hidden Markov algorithm, the method in this paper is significantly better than the hidden Markov algorithm, which meets the needs of medical institutions for intelligent robots.

Research on Robot Control Technology Based on Vision Localization

Based on the understanding of machine vision localization technology at home and abroad, this paper outlines the overall design of the system, and analyses the working principle and workflow of the robot with vision system in workpiece grinding. The hardware design of the system is introduced. The process of image processing is analyzed in detail, and the results of image processing are given. The basic parameters of camera imaging are taken as internal parameters. The camera calibration is obtained by rotation matrix R and translation parameter T. The coordinate transformation of camera coordinate system and world coordinate system is analyzed. Finally, the positions and postures of the actual workpiece and the end-effector in the world coordinate system are given respectively, and the robot with the vision system is used to grasp the actual workpiece. The difficulties of this project are visual calibration, image processing and coordinate transformation. Robot vision technology can directly grasp the location. Compared with the manual mechanical positioning, the robot that realizes autonomous vision localization has more flexibility, better quality and higher efficiency.

Research on Robot Control Technology Based on Kinect

With the development of robot control technology, the interaction between humans and robots has become more and more common. Using human movements and gestures to control the robot can replace complex and cumbersome program operations, easily and conveniently manipulate the robot, issue commands to the robot, and interact with the robot. Human vision and gesture recognition based on machine vision is an indispensable key technology for implementing a new generation of human-computer interaction systems. As a revolutionary product, Kinect somatosensory devices capture color images, depth images, and human bone images, and provide a new way of human-computer interaction. It captures and tracks human movements, gestures and sounds. In this paper, the Kinect somatosensory device is used for static gesture recognition and dynamic gesture recognition. Based on this, the robot action is used to realize the contactless interactive interaction of the robot through gesture control. This paper introduces a Kinect device-based robot control method, which is related to the field of robot control, and is applied to the two-wheeled self-balancing robot motion control and human-computer interaction system. This method utilizes Kinect for the motion control system of two-wheeled self-balancing robot. It is controlled with the DTW gesture recognition algorithm.

Study on wheeled polishing technology based on industrial robot

The wheeled polishing technique based on industrial robot is established by combining the advantages of robot control and wheeled polishing technology. The feasibility of wheeled polishing tool in high-precision polishing processing is validated by numerical simulation. The wheeled polishing tool installed at the end of the robot is designed, and the robot wheeled polishing control logic and framework are analyzed, thus a robot polishing control mode based on trajectory and dwell time is established. By carrying out the experiments of robot's single-point and belt removal characteristics, the parameters of robot wheeled polishing processing are confirmed. At last, the automatic polishing processing of the mirror surface is done. The surface error decreases from the initial value of components PV: 2.357λ(RMS: 0.565λ) to PV: 1.431λ (RMS: 0.242λ) as expected. As the research shows, the industrial robot with wheeled polishing tool is an effective surface polishing method, which has great potential in high-precision aspherical mirrors.

Visual Servo Technology Research of Industrial Palletizing Robot

With the wide application of palletizing robot in the field of logistics automation, The market is making higher demand for the adaptability and accuracy of the palletizing robot. In order to solve the problems of single function and poor adaptability for the ordinary palletizing robot, we combined the machine vision and palletizing robot control technology, built the palletizing robot visual servo control system platform, carried out the related graphic processing algorithms research. By test and verification, this palletizing robot visual servo control system platform can finish the detection, sorting and stacking for different goods fast and accurately. It can offer reference for the subsequent research of the palletizing robot visual servo technology.

Special Issue on Real World Robot Challenge in Tsukuba – Autonomous Technology for Coexistence with Human Beings –

This issue is the third in a series on Real World Robot Challenge in Tsukuba. The Tsukuba Challenge has contributed much in establishing autonomous mobile robot control technology on outdoor walkways where robots must mingle with pedestrians and cyclists – not all of whom may be familiar with such robots. The rain on the day of the final run for the 2015 Tsukuba Challenge taught us valuable lessons in navigating robots in real environments. Since the 2013 Tsukuba Challenge, a new task was introduced in the second stage. This task consists of searching for human targets – a technological challenge for developing robots that are both mobile and useful. Our objective here is to share advanced control technology refined through experiments in the real-world environment of the Tsukuba Challenge. The Tsukuba Challenge is also providing a forum for technological education for university students studying robotics engineering and for technical exchange through open experiments. In this issue, we are pleased to present the control technology that this exchange has brought about. We would like to express our deep gratitude to the authors contributing to this issue and to the article reviewers who have helped make this all possible.

고온 환경 단조 공정자동화를 위한 6축 수직다관절 로봇의 기구학 및 동특성 해석에 관한 연구

In general, articulated robot control technology is limited to the design of robot arm control systems considering each joint of the robot joint as a simple servomechanism. This method describes the varying dynamics of a manipulator inadequately because it neglects the motion and configuration of the whole arm mechanism. The changes of the parameters in the controlled system are significant enough to render conventional feedback control strategies ineffective. This basic control system enables a manipulator to perform simple positioning tasks such as in the pock and place operation. However, joint controllers are severely limited in precise tracking of fast trajectories and sustaining desirable dynamic performance for variations of payload and parameter uncertainties. In many servo control applications the linear control scheme proposes unsatisfactory, therefore, a need for nonlinear techniques that increasing. for Forging process automation.

Research and Design of the Modular Robot Fuzzy Control Based on ZigBee

Design a modular robot teaching device, combine with wireless communication technology, and robot control technology. Introduce ZigBee nodes into the robot’s every module, transmit the current motion parameters through the wireless communication, adjust the robot motion state and realize the fuzzy control of the robot motion. This device has good openness, does not involve the establishment of the robot kinematics and dynamics model, and avoid a large number of algorithms in the same time. Its operation is simple, convenient, and more suitable for the teaching.

Development of the Home Energy Management System Learning Materials Using LEGO MINDSTORMS

Technique and also education for energy saving is attracted attention in Japan. The suggestion about the energy management system utilized embedded technology using microcomputer control and a network system has been proposed. Home energy management system can be produced in replacing with ideas of robot control system. In this paper, we report the project to producing of model of Home Energy Management System utilizing a robot control technology with the LEGO MINDSTORMS Experimentally in PBL and it is developed the teaching and learning materials for high school students who could understand a flow of the energy management and energy saving.

Strategy and Realization for Obstacle Avoidance of Wheeled Mobile Robots Based on Dynamic Modeling

Wheeled mobile robot is a typical non-integral system. The non-integral constraints of the system make the dynamics modeling and trajectory tracing more difficult. In the study and development of a wheeled mobile robot prototype SDLG-C, aiming at the characteristics of the non-integral constraints, the dynamics model has been built with the Newton-Euler method by directly integrate the non-integral constraints into the dynamics equations. Consequently, the Obstacle avoidance effects of the high frequency disturbance on the performances of the control system have been eliminated. Based on the behavior–based robot control technology, the intelligent avoiding barriers control system design of an autonomous mobile robot is presented. And the implementation technology of this scheme is introduced; Simulations and experiments are processed to evaluate the proposed algorithm. Both of them have successfully verified the feasibility of the modeling and the effectiveness of the Obstacle avoidance strategy.

Closed‐loop, vision‐based control facilitates the fitting of sunroofs by robot

Describes a European project to develop vision‐based, closed‐loop robot control technology to facilitate assembly tasks in the automotive industry. Looks particularly at the problem of placing a sunroof on a car body accurately.

Projective virtual reality: bridging the gap between virtual reality and robotics

The new paradigm of projective virtual reality is presented as a sophisticated new approach to the control and supervision of robotic and automation systems. The idea behind projective virtual reality is to project actions that are carried out by users in the virtual world into the real world, primarily by means of robots but also by other means of automation. Robot control technology thus provides the user in the virtual reality with a prolonged arm into the physical environment, paving the way for a new quality of a user friendly man machine interface for automation applications. The paper provides the background of projective virtual reality which is based on latest results in the fields of task planning, world modeling, cooperative robot control and sensor-based robot control.