A5059013469- Advanced machining processes and optimization
- Advanced Numerical Analysis Techniques
- Advanced Measurement and Metrology Techniques
- Advanced Surface Polishing Techniques
- Iterative Learning Control Systems
- Advanced Machining and Optimization Techniques
- Robot Manipulation and Learning
- Soft Robotics and Applications
- Robotic Mechanisms and Dynamics
- Prosthetics and Rehabilitation Robotics
- Corrosion Behavior and Inhibition
- Manufacturing Process and Optimization
- AI-based Problem Solving and Planning
- Teleoperation and Haptic Systems
- Consumer Perception and Purchasing Behavior
- Vasculitis and related conditions
- Energy and Environmental Systems
- Transportation Planning and Optimization
- Advanced Control Systems Optimization
- Robotic Path Planning Algorithms
- Advanced Vision and Imaging
- Fault Detection and Control Systems
- Diverse Topics in Contemporary Research
- Robotic Locomotion and Control
- Atherosclerosis and Cardiovascular Diseases
Harbin Institute of Technology
2021-2025
China Academy of Engineering Physics
2024
State Key Laboratory of Robotics and Systems
2024
Huazhong University of Science and Technology
2005-2022
Nanjing Agricultural University
2014
Central South University
2013
Tongji Hospital
2005
This paper proposes a stable and high-accuracy model-free calibration method for unopened robotic systems, which can significantly improve the robot positional accuracy. Two improvements are made to existing kriging-based error compensation achieve robustness/practicality enhancement goals: (1) The semi-variogram model is solved using sequential quadratic programming (SQP) algorithm, distance weight coefficients added objective function. accuracy of modeling guaranteed, thereby improving...
Purpose The purpose of this paper is to propose a smooth double-spline interpolation method for six-degree-of-freedom rotational robot manipulators, achieving the global C2 continuity trajectory. Design/methodology/approach This presents method, tool center positions and quaternion orientations are first fitted by cubic B-spline curve quartic-polynomial-based spline curve, respectively. Then, parameter synchronization model proposed realize synchronous movement along double curves. Finally,...
Purpose The purpose of the paper is to propose an efficient and accurate force/torque (F/T) sensing method for robotic wrist-mounted six-dimensional F/T sensor based on excitation trajectory. Design/methodology/approach This presents First, dynamic identification model established by comprehensively considering inertial forces/torques, zero-drift values, robot base inclination errors forces/torques caused load gravity. Therefore, accuracy improved. Then, trajectory with optimized poses used...
One of the fundamental requirements for success a manipulation task is capacity to handle interaction between manipulator and environment. However, there are many uncertain factors during interaction, such as shape objects, contact stiffness, external interference. The performance force control pursues fast-response robustness, but it not an effective solution apply traditional impedance track in Herein, adaptive architecture proposed, which has capability compensate environmental...
In order to solve the problem that finite element software is difficult fulfill simulation of complex surface turning, a new method was proposed. With DEFORM-3D as research basis, movement control program turning based on piecewise linear interpolation developed. This can by reading tool location points. To verify practicability model, prediction machined roughness carried out.
Kinematic parameter calibration can improve the absolute positioning accuracy of robot tool center point (TCP). However, current least-squares (LS) iterative method for is sensitive to noise and ineffective when Jacobian matrix close singular. In addition, kinematic errors cannot be directly compensated because its structure needs satisfy Pieper's criterion. Thus, a based on sequence quadratic programming (SQP) algorithm proposed solve above two issues. Firstly, kinematics error model TCP...