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Design and performance of a robotic arm for farm use

International Journal of Agricultural and Biological Engineering 2019年第1期12卷 146-158页

作者： Ali Roshanianfard Noboru Noguchi Tatsuki Kamata Department of Biosystems Engineering Faculty of Agriculture and Natural ResourcesUniversity of Mohaghegh ArdabiliArdabilIran Laboratory of Vehicle robotics Research Faculty of AgricultureHokkaido UniversitySapporo 060-8589Japan

Smart technology which is the backbone of high-efficiency production opens a new horizon in sustainable ***,harvesting the heavy-weight crops is considered an arduous job,specifically in Japan which has faced a serious labor shortage in agricultural *** this study,a development procedure and evaluation of a 4-degrees-of-freedom articulated robotic arm is presented,and it provides an appropriate infrastructure to develop a smart harvesting robotic system for heavy-weight crops such as pumpkin,watermelon,melon,and *** robotic arm designed as an actuating unit of a robot tractor for the agricultural outdoor *** this regard,different degree of freedom was evaluated under consideration of economic and technical indexes to find an optimized *** controlling algorithm of the system was developed by consideration of kinematic and dynamic aspects of the real-world condition.A special harvesting methodology was developed based on optimum harvesting conditions.A controlling unit was developed by using PLC *** performance,accuracy,payload per weight,and repeatability of the system were *** payload per weight,overall average accuracy,and overall average repeatability of the robot were 0.21,1.85 mm,and±0.51 mm,*** results indicated that the developed system had a front access,harvesting length,and workspace volume of 2.024 m,1.36 m,and 8.27 m^(3),*** of the significant advantages of the proposed robotic arm is its capability to use in different industries with minimum modifications.

关键词： agricultural robot robotic arm harvesting modeling simulation design

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robotic arm-assisted arthroplasty:The latest developments

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Chinese Journal of Traumatology 2022年第3期25卷 125-131页

作者： Xin Chen Shu Deng Mao-Lin Sun Rui He Center for Joint Surgery Southwest HospitalThird Military Medical University(Army Medical University)Chongqing400038China

Joint arthroplasty is an effective method for treating end-stage joint lesions and *** arm-assisted arthroplasty,a rapidly developing technology that combines navigation technology,minimally invasive technology,and precise control technology of the robotic arm,can achieve accurate preoperative planning,optimal selection of implants,minimally invasive surgery,precise osteotomy,and accurate placement of the artificial *** has the characteristics of high accuracy and stability,and thus is more and more widely used in the field of joint *** this paper,we systematically reviewed the application and clinical efficacy of robotic arm-assisted technology in hip and knee arthroplasty to provide reference for its future promotion.

关键词： robotic arm Arthroplasty Hip Knee Clinical efficacy

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Planning Movement of a robotic arm for Assembly of Products

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Journal of Mechanics Engineering and Automation 2015年第4期5卷 257-262页

作者： Jose Ismael Ojeda Campana Instituto Tecnologico de Estudios Superiores de Los Cabos San Jose del Cabo 23400 Mexico

This paper presents an algorithmic proposal of a movements＇ planner for a robotic manipulator. Its application is the planning of trajectories from wooden cuttings in a band saw. This algorithm is based on heuristics. A simulator was developed in order to allow the user to define the table＇s shape and figure that you want to trim. The simulator was developed in Java from Sun Microsystems, and next it will be applied in TM Cyberbotics Webots.

关键词： Electronic planner robotic arm heuristics.

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Monocular Visual-Inertial and robotic-arm Calibration in a Unifying Framework

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IEEE/CAA Journal of Automatica Sinica 2022年第1期9卷 146-159页

作者： Yinlong Zhang Wei Liang Mingze Yuan Hongsheng He Jindong Tan Zhibo Pang Key Laboratory of Networked Control Systems Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016 State Key Laboratory of robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016 Institutes for robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China School of Computing Wichita State UniversityWichita 67260 USA Department of Mechanical Aerospace and Biomedical EngineeringUniversity of TennesseeTN 37996 USA Department of Automation Technology ABB Corporate Research SwedenVasteras 72178Sweden Department of Intelligent Systems Royal Institute of Technology(KTH)Stockholm 11428Sweden

Reliable and accurate calibration for camera,inertial measurement unit(IMU)and robot is a critical prerequisite for visual-inertial based robot pose estimation and surrounding environment ***,traditional calibrations suffer inaccuracy and *** address these problems,this paper proposes a monocular visual-inertial and robotic-arm calibration in a unifying *** our method,the spatial relationship is geometrically correlated between the sensing units and robotic *** decoupled estimations on rotation and translation could reduce the coupled errors during the ***,the robotic calibration moving trajectory has been designed in a spiral pattern that enables full excitations on 6 DOF motions repeatably and *** calibration has been evaluated on our developed *** the experiments,the calibration achieves the accuracy with rotation and translation RMSEs less than 0.7°and 0.01 m,*** comparisons with state-of-the-art results prove our calibration consistency,accuracy and effectiveness.

关键词： Calibration inertial measurement unit(IMU) monocular camera robotic arm spiral moving trajectory

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Iterative sliding mode control strategy of robotic arm based on fractional calculus

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Journal of Measurement Science and Instrumentation 2021年第2期12卷 208-217页

作者： ZHANG Xin LU Wenru MIAO Zhongcui JIANG Ziyun ZHANG Jing School of Automation & Electrical Engineering Lanzhou Jiaotong University Lanzhou 730070 China Gansu Provincial Engineering Research Center for Artificial Intelligence and Graphics & Image Processing Lanzhou 730070 China

In order to improve the control performance of industrial robotic arms,an efficient fractional-order iterative sliding mode control method is proposed by combining fractional calculus theory with iterative learning control and sliding mode *** the design process of the controller,fractional approaching law and fractional sliding mode control theories are used to introduce fractional calculus into iterative sliding mode control,and Lyapunov theory is used to analyze the system *** taking a two-joint robotic arm as an example,the proposed control strategy is verified by MATLAB *** simulation experiments show that the fractional-order iterative sliding mode control strategy can effectively improve the tracking speed and tracking accuracy of the joint,reduce the tracking error,have strong robustness and effectively suppress the chattering phenomenon of sliding mode control.

关键词： robotic arm fractional calculus iterative learning control sliding mode control

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Fault-Tolerant Control Method of robotic arm Based on Machine Vision

Fault-Tolerant Control Method of Robotic Arm Based on Machin...

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第30届中国控制与决策会议

作者： Xinmao Li Manlu Liu Wei Wang Yingxing Li Minghao Li Southwest University of Science and Technology Datang Shandong Yantai Power Development co.LTD

We proposed a fault-tolerant control method based on machine vision to enhance the reliability of the robotic arm in the radiation ***,we introduced the joint angle visual detection method as an angle detection backup solution,which was used to timely detect the joint angle of the robotic arm in case of encoder ***,we introduced an encoder fault diagnosis mechanism,and the difference between the machine visual feedback value and corresponding encoder feedback values was used as the basis of encoder *** the encoder failed,it could be switched to the joint angle visual detection in real *** the Canny edge detection and the Probabilistic Hough transform,the method could extract the identification tag of robotic arm joint image from the front-end camera,and hence the joint angle value was ***,in the fault-tolerance experiment,the proposed approach found the encoder failure and switched detection method,and the scheduled task continued to the *** error about the angle detection based on the machine vision would not exceed ± 0.008.

关键词： Machine vision fault-tolerant control robotic arm Hough transform

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RCM Constraint-Based Trajectory Planning for robotic arm-Assisted Transnasal Surgery

RCM Constraint-Based Trajectory Planning for Robotic Arm-Ass...

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第43届中国控制会议

作者： Ping Liang Quan Liu Wei Meng Zemin Liu Tianliang Li School of Information Engineering Wuhan University of Technology School of Mechanical and Electronic Engineering Wuhan University of Technology

Robot-assisted surgery has gained significant popularity in the field of nasal surgery due to the complexity of nasal surgery and the limitation of surgical *** transnasal surgery,the surgical instrument is constrained to movement and rotation around the fixed point of the incision,with lateral motion disallowed,thereby satisfying the Remote Center of Motion(RCM) *** this paper,a transnasal surgery scenario map is constructed to satisfy the RCM constraints and plan a trajectory for the surgery robotic ***,a raster map is generated based on CT images of the patient's ***,a collision-free path within the map is planned using the rapid exploration random tree star(RRT*) ***,the imposition of RCM constraints is accomplished through an inverse kinematics analysis of the planned path points,to calculate the joint angles for the robotic arm to regulate its *** experimental results show that the proposed method has good stability and maneuverability,providing a feasible robot-assisted solution for nasal surgery.

关键词： robotic arm Remote Center of Motion(RCM) Raster Map Trajectory Planning Transnasal Surgery

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Path Planning for robotic arms Based on an Improved RRT Algorithm

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Open Journal of Applied Sciences 2024年第5期14卷 1214-1236页

作者： Wei Liu Zhennan Huang Yingpeng Qu Long Chen School of Mechanical Engineering Hunan University of Science and Technology Xiangtan China Officers College of PAP Chengdu China Beijing Millet Mobile Software Co. Beijing China

The burgeoning robotics industry has catalyzed significant strides in the development and deployment of industrial and service robotic arms, positioning path planning as a pivotal facet for augmenting their operational safety and efficiency. Existing path planning algorithms, while capable of delineating feasible trajectories, often fall short of achieving optimality, particularly concerning path length, search duration, and success likelihood. This study introduces an enhanced Rapidly-Exploring Random Tree (RRT) algorithm, meticulously designed to rectify the issues of node redundancy and the compromised path quality endemic to conventional RRT approaches. Through the integration of an adaptive pruning mechanism and a dynamic elliptical search strategy within the Informed RRT* framework, our algorithm efficiently refines the search tree by discarding branches that surpass the cost of the optimal path, thereby refining the search space and significantly boosting efficiency. Extensive comparative analysis across both two-dimensional and three-dimensional simulation settings underscores the algorithm’s proficiency in markedly improving path precision and search velocity, signifying a breakthrough in the domain of robotic arm path planning.

关键词： robotic arm Path Planning RRT Algorithm Adaptive Pruning Optimization

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Time Optimal Trajectory Planning Algorithm for robotic Manipulator Based on Locally Chaotic Particle Swarm Optimization

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Chinese Journal of Electronics 2022年第5期31卷 906-914页

作者： DU Yuxiao CHEN Yihang School of Automation Guangdong University of Technology

Optimal trajectory planning is a fundamental problem in the area of robotic research. On the time-optimal trajectory planning problem during the motion of a robotic arm, the method based on segmented polynomial interpolation function with a locally chaotic particle swarm optimization(LCPSO) algorithm is proposed in this paper. While completing the convergence in the early or middle part of the search, the algorithm steps forward on the problem of local convergence of traditional particle swarm optimization(PSO) and improved learning factor PSO(IFPSO) algorithms. Finally, simulation experiments are executed in joint space to obtain the optimal time and smooth motion trajectory of each joint,which shows that the method can effectively shorten the running time of the robotic manipulator and ensure the stability of the motion as well.

关键词： particle swarm optimisation convergence robotic arm path planning smooth motion trajectory interpolation local convergence segmented polynomial interpolation function robotic manipulator factor PSO algorithms parameter estimation fundamental problem polynomials traditional particle swarm optimization chaos time-optimal trajectory planning problem robotic research running time locally chaotic particle swarm optimization algorithm time optimal trajectory planning algorithm manipulators

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Amassing the Security:An Enhanced Authentication and Key Agreement Protocol for Remote Surgery in Healthcare Environment

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Computer Modeling in Engineering & Sciences 2023年第1期134卷 317-341页

作者： Tsu-Yang Wu Qian Meng Lei Yang Saru Kumari Matin Pirouz Shandong University of Science and Technology Qingdao266400China Chaudhary Charan Singh University MeerutUttar Pradesh250004India California State University Fresno93740USA

The development of the Internet of Things has facilitated the rapid development of various *** the improvement in people’s living standards,people’s health requirements are steadily ***,owing to the scarcity of medical and health care resources in some areas,the demand for remote surgery has gradually *** this paper,we investigate remote surgery in the healthcare *** can operate robotic arms to perform remote surgery for patients,which substantially facilitates successful surgeries and saves ***,Kamil et *** a secure protocol for surgery in the healthcare ***,after cryptanalyzing their protocol,we deduced that their protocols are vulnerable to temporary value disclosure and insider ***,we design an improved authentication and key agreement protocol for remote surgeries in the healthcare ***,we adopt the real or random(ROR)model and an automatic verification tool Proverif to verify the security of our *** security analysis and performance comparison,it is confirmed that our protocol is a relatively secure protocol.

关键词： IoT healthcare security analysis authentication robotic arm ROR

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