The Point Pair Feature [4] has been one of the most successful 6D pose estimation method among model-based approaches as an efficient, integrated and compromise alternative to traditional local global pipelines. During last years, several variations algorithm have proposed. Among these extensions, solution introduced by Hinterstoisser et al. [6] is a major contribution. This work presents variation this PPF applied SIXD Challenge datasets presented at 3rd International Workshop on Recovering...

Pose estimation of free-form objects is a crucial task towards flexible and reliable highly complex autonomous systems. Recently, methods based on range RGB-D data have shown promising results with relatively high recognition rates fast running times. On this line, paper presents feature-based method for 6D pose rigid the Point Pair Features voting approach. The presented solution combines novel preprocessing step, which takes into consideration discriminative value surface information, an...

Industrial robots are evolving rapidly in the manufacturing industry. There two main techniques for programming such as online and offline programming. However, time spent on a new trajectory is major challenge deploying welding robots, which makes these approaches less efficient. This article presents two-stage method employing multisensor interaction path planning of robot. The proposed scheme enhances weld seam development creates highly adjustable intelligent guidance system robots. A...

Abstract This paper presents a design concept for gravity compensation of planar articulated robotic arms using series gear-slider mechanisms with springs. The spring-attached mechanism has one degree-of-freedom (DOF) motion, which can serve as gear-spring module (GSM) to be installed onto the robot joints leveraging gravitational energy arm. proposing GSM-based is featured by its structure compactness, less assemblage effort, ease modularization, and high performance manipulators. As key...

Abstract In this paper, an adaptive chattering free neural network‐based sliding mode control (ACFN‐SMC) method is proposed for tracking trajectories of redundant parallel manipulators. ACFN‐SMC combines radial basis function networks (RBFN), with online updating the robust term parameters, and a nonlinear compensation item reducing errors. The stability closed‐loop system modeling uncertainties, frictional external disturbances ensured by using Lyapunov method. controller has simple...

Random bin-picking is a prominent, useful, and challenging industrial robotics application. However, many real-world objects are planar have oriented surface points that not sufficiently compact discriminative for those methods using geometry information, especially depth discontinuities. This study solves the above-mentioned problems by proposing novel robust solution random in cluttered environment. Different from other research has mainly focused on 3D this first applies an instance...

In this article, a global finite-time active disturbance rejection control (ADRC) scheme is proposed for tracking of redundant parallel manipulators with unknown bounded uncertainties. This approach combines an ADRC and high accuracy trajectory control. Based on the nonsingular fast terminal sliding mode control, can remove condition in original that derivative uncertainties required to be bounded. The extended state observer employed handle real-time estimation total uncertainty. It found...

Thyroid is an essential gland as its hormones are controlling the metabolism system of human body. An abnormal amount thyroid secretion causes two major types diseases which hyperthyroidism and hypothyroidism. In this research study, implementation K-Nearest neighbor (KNN) with various distance functions presented to detect disease. The proposed study consists three phases, KNN without feature selection, using L1-based chi-square-based selection techniques. datasets from KEEL dataset...

In manufacturing industries, human operators are required in many processes, which is time-consuming and not cost-effective. the present approach, a CAD-based off-line programming (OLP) platform developed based on OPEN CASCADE (OCC) open source libraries. The works as human-robot interface (HRI), offers friendly interaction an intuitive way, so that few minutes with basic information, any user can generate robot path from CAD model visualize simulation graphically. provides important steps...

To protect operators and conform to safety standards for human-machine interactions, the design of collaborative robot arms often incorporates flexible mechanisms force sensors detect absorb external impact forces. However, this approach increases production costs, making introduction such into low-cost service applications difficult. This study proposes a low-cost, sensorless rigid arm that employs virtual sensor stiffness control enable collision detection low-precision arms. In design,...

In this study, a novel strain gauge arrangement and error reduction techniques were proposed to minimize crosstalk reading simultaneously increase sensitivity on decoupled six-axis force-moment (F/M) sensor. The calibration process that comprises the least squares method was implemented obtain robust decoupling matrix. A matrix is very crucial for minimizing crosstalk. comprised double parallel gauges in sensor high sensitivity. experimental results revealed maximum error, F/M measurement...

In this study, a novel six-axis force/moment (F/M) sensor was developed. The has ring structure comprising cross-beam elastic body with sliding and rotating mechanisms to achieve complete decoupling. unique can reduce cross-talk effects caused by minimized structural interconnection. forces Fx, Fy, Fz moments Mx, My, Mz be measured for the F/M sensors according deformation of strain gauges attached cross beam. Herein, we provide detailed descriptions mathematical models, model idealizations,...

Strain gage type six-axis force/moment (F/M) sensors have been largely studied and implemented in industrial applications by using an external data acquisition board (DAQ). The use of DAQs will ill-affect accuracy crosstalk due to the possibility voltage drop through wire length. most recent research incorporated DAQ within a relatively small F/M sensor, but only for capacitance optical types. This establishes integration high-efficiency on sensor with revolutionary arrangement 32 strain...

We demonstrated the high-quality molecular beam epitaxy growth of exceedingly thick In0.14Ga0.86As pseudomorphic layers on thin, free-standing, compliant GaAs substrates. first fabricated 800-Å-thick platforms before growing a lattice-mismatched layer platform. The we grew exceeds its usual critical thickness by about twenty times without strain relaxation. X-ray analysis confirms shift in InGaAs peaks grown substrate, indicating an unrelaxed 0.9%. Moreover, atomic force microscope profiles...

SLAM can be categorized into two groups: laser-based and visual-based SLAM.They are used to identify surrounded objects of a robot.This paper proposes combination algorithm SLAM.The purpose is reduce effort but still provides the high quality 3D-reconstructed map.First, this presents separately.Then, techniques integrated one system.In addition, bi-direction RRT* path planning developed create feasible optimal trajectory.A self-tuning Fuzzy-PID controller also introduced for driving robot...