How to achieve precise operation of a robotic manipulator on a macro to micro/nano scale

Abstract

Purpose The purpose of this paper is to present state-of-the-art approaches for precise operation of a robotic manipulator on a macro- to micro/nanoscale. Design/methodology/approach This paper first briefly discussed fundamental issues associated with precise operation of a robotic manipulator on a macro- to micro/nanoscale. Second, this paper described and compared the characteristics of basic components (i.e. mechanical parts, actuators, sensors and control algorithm) of the robotic manipulator. Specifically, commonly used mechanisms of the manipulator were classified and analyzed. In addition, intuitive meaning and applications of its actuator explained and compared in details. Moreover, related research studies on general control algorithm and visual control that are used in a robotic manipulator to achieve precise operation have also been discussed. Findings Remarkable achievements in dexterous mechanical design, excellent actuators, accurate perception, optimized control algorithms, etc., have been made in precise operations of a robotic manipulator. Precise operation is critical for dealing with objects which need to be manufactured, modified and assembled. The operational accuracy is directly affected by the performance of mechanical design, actuators, sensors and control algorithms. Therefore, this paper provides a categorization showing the fundamental concepts and applications of these characteristics. Originality/value This paper presents a categorization of the mechanical design, actuators, sensors and control algorithms of robotic manipulators in the macro- to micro/nanofield for precise operation.

Effect of temperature variation on repeatability positioning of a robot when assembling parts with cylindrical surfaces

“…In many cases, a significant proportion of the factors affecting robot error is subjected to constant change, sometimes accidental, which leads to differences between the mathematical models and real characteristics [12,15]. Works can be found in the literature which are devoted to reducing robot errors by calibration, using laser and vision sensors placed at the end of the grip of the robot [7,13,32], selecting the optimal location in the robot workspace [17] and choosing the proper direction to get to the nominal position [16].…”

Bioinspired Multilegged Piezoelectric Robot: The Design Philosophy Aiming at High‐Performance Micromanipulation

“…[10][11][12] However, what are the most important subjects for micromanipulation robots are to improve the motion precision, expand the traveling range, accelerate the response speed, increase the carrying capability, and extend the degree of freedom (DOF), which are also the major challenges. [13][14][15] Compared to various micro-nano robots, the structural types, design philosophies, and research methods of micromanipulation robots are relatively simplex, which cannot meet the extensive application requirements in scientific instruments or industrial productions. Therefore, it requires further investigation to promote the developments.…”

Nonlinear time-optimal trajectory planning for varying-rope-length overhead cranes

“…Automatic control plays an important role in robotic applications. Particularly, due to flexible structures, low energy consumption and low hardware costs, underactuated robotic systems with fewer control inputs than system degrees of freedom are widely used (Wang et al, 2017a;Wang et al, 2016;Cheng et al, 2016;Wang et al, 2017b;Ouyang et al, 2016;Li and Li, 2017;Zhang et al, 2017a;Yang et al, 2014;Petkovi c et al, 2017;Sun et al, 2017b;Yu et al, 2017;Islam et al, 2018;Dehghani and Menhaj, 2016;Sun et al, 2017dSun et al, , 2017c. However, the underactuated characteristic makes it quite difficult and challenging to achieve control tasks.…”