Purpose: Considering the external disturbances and dynamic uncertainties during the process of the trajectory tracking, this paper aims to address the problem of the welding robot trajectory tracking with guaranteed accuracy. Design/methodology/approach: The controller consists sliding mode...

Purpose: A robotic wheelchair system was designed to assist disabled people with disabilities to walk. Design/methodology/approach: An anticipated sharing control strategy based on topological map is proposed in this paper, which is used to assist robotic wheelchairs to realize interactive...

Purpose: In this research, the authors established a hierarchical motion planner for quadruped locomotion, which enables a parallel wheel-quadruped robot, the “BIT-NAZA” robot, to traverse rough three-dimensional (3-D) terrain. Design/methodology/approach: Presented is a novel...

Purpose: The purpose of this paper is to put forward a nvew reconfigurable multi-mode walking-rolling robot based on the single-loop closed-chain four-bar mechanism, and the robot can be changed to different modes according to the terrain. Design/methodology/approach: Based on the topological...

Purpose: The gait planning and control of quadruped crawling robot affect the stability of the robot walking on a slope. The control includes the position control in the swing phase, the force control in the support phase and the switching control in the force/position switching. To improve the...

Purpose: The purpose of this paper is to use the redundancy of a new hybrid automatic fastening system (HAFS) for aircraft assembly in the best way. Design/methodology/approach: First, the kinematic model of HAFS is divided into three sub-models, which are the upper/lower tool and parallel...

Purpose: This paper aims to introduce an aircraft engine inspection robot (AEIR) which can go in the internal of the aircraft engine without collision and detect damage for engine blades. Design/methodology/approach: To obtain the position and pose information of the blades inside the engine, a...

Purpose: This paper aims to present an optimal trajectory planning for industrial MOTOMAN MA1440A gas metal arc welding system. A new and efficient evolutionary algorithm, enhanced multi-objective teaching learning-based optimization (EMOTLBO) method, i.e. TLBO with non-dominated sorting...

Purpose: The purpose of this study is to develop a new positioning method for remotely operated vehicle (ROV) in the nuclear power plant. The ROV of the nuclear power plant is developed to inspect the reactor cavity pools, the component pools and spent-fuel storage pools. To enhance the...

Purpose: Manipulators are often subjected to joint flexibility caused by various causes in industrial applications, such as shaft windup, harmonic drives and bearing deformation. However, many industrial robots are only equipped with motor-side encoders because link-side encoders and torque...