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Article
Detection and localization strategy based on YOLO for robot sorting under complex lighting conditions
Many studies on the object detection emphasizes the accuracy of the algorithms themselves, while the requirement of real-time processing can be addressed by the usage of “you only look once” (YOLO) model. Howe...
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Article
Hybrid orientation/force control for robotic polishing with a 2R1T force-controlled end-effector
For robotic polishing of curved surfaces with compliant polishing disc, it is critical to accurately control the tilt angle of the polishing disc and normal contact force between the disc and the workpiece sur...
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Article
Tension reduction method for a modular cable-driven robotic arm with co-shared cables
This paper focuses on the tension reduction method for a Modular Cable-Driven Robotic Arm (MCDRA) that consists of a number of 2-degree-of-freedom (2-DOF) cable-driven joint modules. The MCDRA has implemented a c...
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Article
Vision-based initial point alignment control for the wheel hubs in the robotic polishing system
In the robotic polishing system for the wheel hubs, initial point alignment is a very important procedure before the robot starts to polish. Since the surface shapes of the wheel hubs are complex, traditional ...
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Chapter and Conference Paper
A Generic Stiffness Measurement Method for a 3-DOF Cable-Driven Joint Module
A cable-driven module with passive spherical joint is proposed as a fundamental building block for modular cable-driven manipulators to produce compliant and intrinsically safe motions, which are suitable for ...
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Chapter and Conference Paper
Self-calibration Method for Two DOF Cable-Driven Joint Module
A modular cable-driven robot consists of a number of consecutively connected cable-driven joint modules. It has the advantages of lightweight structure and compliant behavior so that it can perform intrinsical...
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Chapter and Conference Paper
A Two-Step Self-calibration Method with Portable Measurement Devices for Industrial Robots Based on POE Formula
A two-step self-calibration method based on portable calibration devices is proposed in this paper. In the first step, the distance errors in a large-range workspace is utilized to calibrate the manipulator. I...
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Chapter and Conference Paper
A Nonsqueezing Torque Distribution Method for an Omnidirectional Mobile Robot with Powered Castor Wheels
This paper presents a novel dynamic modelling approach for omnidirectional mobile robots (OMRs) with powered caster wheels (PCWs). For the conventional dynamic modeling, the internal forces induced by the redu...
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Chapter and Conference Paper
Kinetostatic Modeling of Redundantly Actuated Planar Compliant Parallel Mechanism
This paper presents the concept design of a novel three degrees of freedom (DOF) redundantly actuated planar compliant parallel mechanism (CPM). The developed CPM is a 4-PPR configuration mechanism based on le...
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Article
A welding quality detection method for arc welding robot based on 3D reconstruction with SFS algorithm
In the modern manufacturing industry, the welding quality is one of the key factors which affect the structural strength and the comprehensive quality of the products. It is an important part to establish the ...
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Article
Automatic recognition system of welding seam type based on SVM method
In this paper, an automatic recognition system of welding seam type based on support vector machine (SVM) method is presented. The hardware of the proposed system consists of an industry robot with six degrees...
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Article
An automated weld seam tracking system for thick plate using cross mark structured light
This paper presents a weld seam tracking system using cross mark structured light. The hardware of the proposed system consists of a two degrees of freedom (DOF) welding robot, a camera with cross mark structu...
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Article
Vision-based initial weld point positioning using the geometric relationship between two seams
This paper presents a novel vision-based initial weld point positioning method for the welding systems of container manufacture. The new method is based on the geometric relationship between the two seams at t...
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Article
Compact visual control system for aligning and tracking narrow butt seams with CO2 gas-shielded arc welding
In this paper, a visual control system is proposed to locate the start welding position and track the narrow butt welding seam in container manufacturing. It estimates the error between the welding torch and t...
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Article
Visual seam tracking system for butt weld of thin plate
An image-based visual seam tracking system is designed for butt weld of thin plate in this paper. The torch deviation from the joint in the horizontal direction is measured from the seam image. Since the weld ...
