Sensor-based design of a Delta parallel robot

Zhu, Minglei; Briot, Sébastien; Chriette, Abdelhamid

doi:10.1016/j.mechatronics.2022.102893

Cited by 15 publications

(4 citation statements)

References 38 publications

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“…But there are also some drawbacks to using parallel mechanical arms for express sorting. Because parallel mechanical arm has high nonlinearity, it is difficult to control [9]. Its inverse kinematics analysis is easy, but forward kinematics analysis is complex.…”

Section: Advantages and Limitations Analysis For Express Sortingmentioning

confidence: 99%

Application development analysis and prospect of express sorting system based on mechanical arm

Zhang

2024

ACE

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At present, with the improvement of peoples living standards and the rapid development of e-commerce, the volume of express delivery is increasing. The existing manual express sorting method is high-cost and low-efficiency, and an efficient domestic waste sorting method is urgently needed by the society. At present, the field of robotics is developing rapidly, and mechanical arms have various types and functions. Using mechanical arms to replace manual work to complete express sorting tasks has advantages such as high efficiency and labor saving. This paper analyses the application and development of different types of mechanical arms in express sorting system. First, the research status of express sorting and the development of mechanical arm are introduced in detail. Second, based on the structural characteristics, mechanical arms are divided into articulated robot and parallel manipulator. At the same time, the characteristics of the two kinds of mechanical arms and their application in express sorting system are analysed. Finally, by comparing the advantages and limitations of different mechanical arms in express sorting field, the application prospects of different types of mechanical arms in logistics sorting field are discussed.

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Section: Advantages and Limitations Analysis For Express Sortingmentioning

confidence: 99%

Application development analysis and prospect of express sorting system based on mechanical arm

Zhang

2024

ACE

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“…where L s is the interaction matrix related to s (Chaumette and Hutchinson, 2006;Zhu et al, 2022a) given as…”

Section: Dynamic Model Of Image-based Visual Servoingmentioning

confidence: 99%

Visual-admittance-based model predictive control for nuclear collaborative robots

Zhang

Chu

et al. 2023

Front. Energy Res.

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This paper presents a novel visual-admittance-based model predictive control scheme to cope with the problem of vision/force control and several constraints of a nuclear collaborative robotic visual servoing system. A visual-admittance model considering the desired image feature and force command in the image feature space is proposed. Moreover, a novel constraint scheme of the model predictive control (MPC) is proposed to cancel the overshoot in the interaction force control for most cases by taking the desired force command as the constraint of the proposed MPC. Via applying the robotic dynamic image-based visual servoing (IBVS) model, some other constraints, such as the actuator saturation, joint angle, and visual limits, can be satisfied simultaneously. The simulation results for the two-degrees-of-freedom (DOF) robot manipulator with an eye-to-hand camera are present to demonstrate the effectiveness of the proposed controller.

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“…Currently, manipulator force control technology mainly consists of three mainstream methods: passive compliance control, force/position hybrid control, and impedance control [10,11]. These methods have been widely studied and applied in the field.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Variable-Damping Impedance Control for Unknown Interaction Environment

Gong,

Song,

Zhu

et al. 2023

Mathematics

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Aiming at the force-tracking error phenomenon of impedance control in an unknown surface environment, an adaptive variable-damping impedance control algorithm is proposed, and the stability and convergence of the algorithm are deduced. An adaptive-law selection rule is proposed to aim at the phenomenon that the adaptive parameters are too large to cause the system oscillation and overshoot and too small to cause the adaptive line variation in the curved surface environment. Finally, experiments conclude that the impedance control based on the adaptive variable-damping algorithm has a better force-tracking effect than the ordinary impedance control in the curved surface environment where the contact surface between the end-effector of the manipulator and the atmosphere is unknown.

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Sensor-based design of a Delta parallel robot

Cited by 15 publications

References 38 publications

Application development analysis and prospect of express sorting system based on mechanical arm

Application development analysis and prospect of express sorting system based on mechanical arm

Visual-admittance-based model predictive control for nuclear collaborative robots

Adaptive Variable-Damping Impedance Control for Unknown Interaction Environment

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