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Applied Sciences
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Advances in Industrial Robotics and Intelligent Systems
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Advances in Industrial Robotics and Intelligent Systems

A special issue of Applied Sciences (ISSN 2076-3417). This special issue belongs to the section "Mechanical Engineering".

Deadline for manuscript submissions: closed (30 September 2022) | Viewed by 42591

Special Issue Editors

Prof. Dr. António Paulo Moreira

E-Mail Website
Guest Editor
FEUP - Faculty of Engineering, University of Porto and INESC TEC - INESC Technology and Science, 4099-002 Porto, Portugal
Interests: control; automation; industrial manipulators; mobile robotics
Special Issues, Collections and Topics in MDPI journals
Prof. Dr. Pedro Neto

E-Mail Website
Guest Editor
Department of Mechanical Engineering, University of Coimbra, POLO II, 3030-788 Coimbra, Portugal
Interests: coatings application technology; manufacturing; industrial robotics; AI; pattern recognition
Special Issues, Collections and Topics in MDPI journals
Dr. Félix Vidal

E-Mail Website
Guest Editor
Asociación de Investigación Metalúrgica del Noroeste, 36410 Porriño, Spain
Interests: robotics for agile manufacturing; industry 4.0; collaborative robots; digital manufacturing
Special Issues, Collections and Topics in MDPI journals

Special Issue Information

Dear Colleagues,

Robotics, automation, control and mechatronics technologies have become essential to developing devices, machines, production lines and other activities that are repetitive, dangerous, difficult to perform and, in general, not suitable for human operators. Robotics and other related topics have seen a fast evolution in industry, services and other application areas. These systems are expected to operate in unstructured, unpredicted environments and deal with high-mix low-volume (HMLV) applications.

This Special Issue aims to disseminate the latest research achievements, ideas and applications of robotics, control and automation, including, but not limited to, the following:

  • Fast setup of robotic systems;
  • Programming robots based on CAD;
  • Programming manipulators by demonstration;
  • Autoadaptive and intelligent robotic cells;
  • Transportable manipulators;
  • Autonomous mobile manipulators;
  • Mobile robot fleet management;
  • Advanced sensing and perception;
  • Motion control;
  • Grasp planning;
  • Trajectory planning in challenging environments;
  • Applications of robots and mechatronics systems.

You may choose our Joint Special Issue in Robotics.

Prof. Dr. António Paulo Moreira
Prof. Dr. Pedro Neto
Dr. Félix Vidal
Guest Editors

Manuscript Submission Information

Manuscripts should be submitted online at www.mdpi.com by registering and logging in to this website. Once you are registered, click here to go to the submission form. Manuscripts can be submitted until the deadline. All submissions that pass pre-check are peer-reviewed. Accepted papers will be published continuously in the journal (as soon as accepted) and will be listed together on the special issue website. Research articles, review articles as well as short communications are invited. For planned papers, a title and short abstract (about 100 words) can be sent to the Editorial Office for announcement on this website.

Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-blind peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. Applied Sciences is an international peer-reviewed open access semimonthly journal published by MDPI.

Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 2400 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.

Keywords

  • robotics
  • mechatronics
  • sensors
  • actuators
  • modelling
  • simulation
  • navigation
  • motion planning
  • kinematics
  • dynamics
  • control

Published Papers (15 papers)

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Editorial

Jump to: Research, Review

2 pages, 195 KiB  
Editorial
Special Issue on Advances in Industrial Robotics and Intelligent Systems
by António Paulo Moreira, Pedro Neto and Félix Vidal
Appl. Sci. 2023, 13(3), 1352; https://0-doi-org.brum.beds.ac.uk/10.3390/app13031352 - 19 Jan 2023
Cited by 2 | Viewed by 1409
Abstract
Robotics and intelligent systems are key technologies to promote efficient and innovative applications in the most diverse domains (industry, healthcare, agriculture, construction, mobility, etc [...] Full article
(This article belongs to the Special Issue Advances in Industrial Robotics and Intelligent Systems)

Research

Jump to: Editorial, Review

13 pages, 5867 KiB  
Article
A Multiorder Attentional Spatial Interactive Convolutional Neural Network (MoAS-CNN) for Low-Resolution Haptic Recognition
by Kailin Wen, Jie Chu, Yu Chen, Dong Liang, Chengkai Zhang and Jueping Cai
Appl. Sci. 2022, 12(24), 12715; https://0-doi-org.brum.beds.ac.uk/10.3390/app122412715 - 12 Dec 2022
Cited by 1 | Viewed by 1151
Abstract
In haptic recognition, pressure information is usually represented as an image, and then used for feature extraction and classification. Deep learning that processes haptic information in end-to-end manner has attracted attention. This study proposes a multiorder attentional spatial interactive convolutional neural network (MoAS-CNN) [...] Read more.
In haptic recognition, pressure information is usually represented as an image, and then used for feature extraction and classification. Deep learning that processes haptic information in end-to-end manner has attracted attention. This study proposes a multiorder attentional spatial interactive convolutional neural network (MoAS-CNN) for haptic recognition. The asymmetric dual-stream all convolutional neural network with integrated channel attention module is applied for automatic first-order feature extraction. Later on, the spatial interactive features based on the overall feature map are computed to improve the second-order description capability. Finally, the multiorder features are summed to improve the feature utilization efficiency. To validate the MoAS-CNN, we construct a haptic acquisition platform based on three-scale pressure arrays and collect haptic letter-shape (A–Z) datasets with complex contours. The recognition accuracies are 95.73% for 16 × 16, 98.37% for 20 × 20 and 98.65% for 32 × 32, which significantly exceeds the traditional first- and second-order CNNs and local SIFT feature. Full article
(This article belongs to the Special Issue Advances in Industrial Robotics and Intelligent Systems)
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25 pages, 9134 KiB  
Article
An Algorithm for Painting Large Objects Based on a Nine-Axis UR5 Robotic Manipulator
by Jun Wang, Mingquan Yang, Fei Liang, Kangrui Feng, Kai Zhang and Quan Wang
Appl. Sci. 2022, 12(14), 7219; https://0-doi-org.brum.beds.ac.uk/10.3390/app12147219 - 18 Jul 2022
Cited by 46 | Viewed by 2423
Abstract
An algorithm for automatically planning trajectories designed for painting large objects is proposed in this paper to eliminate the difficulty of painting large objects and ensure their surface quality. The algorithm was divided into three phases, comprising the target point acquisition phase, the [...] Read more.
An algorithm for automatically planning trajectories designed for painting large objects is proposed in this paper to eliminate the difficulty of painting large objects and ensure their surface quality. The algorithm was divided into three phases, comprising the target point acquisition phase, the trajectory planning phase, and the UR5 robot inverse solution acquisition phase. In the target point acquisition phase, the standard triangle language (STL) file, algorithm of principal component analyses (PCA), and k-dimensional tree (k-d tree) were employed to obtain the point cloud model of the car roof to be painted. Simultaneously, the point cloud data were compressed as per the requirements of the painting process. In the trajectory planning phase, combined with the maximum operating space of the UR5 robot, the painting trajectory of the target points was converted into multiple traveling salesman problem (TSP) models, and each TSP model was created with a genetic algorithm (GA). In the last phase, in conformity with the singularities of the UR5 robot’s motion space, the painting trajectory was divided into a recommended area trajectory and a non-recommended area trajectory and created by the analytical method and sequential quadratic programming (SQP). Finally, the proposed algorithm for painting large objects was deployed in a simulation experiment. Simulation results showed that the accuracy of the algorithm could meet the requirements of painting technology, and it has promising engineering practicability. Full article
(This article belongs to the Special Issue Advances in Industrial Robotics and Intelligent Systems)
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20 pages, 11070 KiB  
Article
Haptic Teleoperation of Impact Hammers in Underground Mining
by Mauricio Correa, Daniel Cárdenas, Diego Carvajal and Javier Ruiz-del-Solar
Appl. Sci. 2022, 12(3), 1428; https://0-doi-org.brum.beds.ac.uk/10.3390/app12031428 - 28 Jan 2022
Cited by 12 | Viewed by 2929
Abstract
Impact hammers are used to reduce the size of blasted ore in mining operations. In underground mines, tele-operated impact hammers are used to reduce the size of boulders placed on the orepass’s grizzlies. An impact hammer consists of a hydraulic arm with 4 [...] Read more.
Impact hammers are used to reduce the size of blasted ore in mining operations. In underground mines, tele-operated impact hammers are used to reduce the size of boulders placed on the orepass’s grizzlies. An impact hammer consists of a hydraulic arm with 4 degrees of freedom, powered with a hydraulic impact hammer as an end-effector. The tele-operation of impact hammers is difficult due to the latency of communications, the poor visibility of the environment, and the used 2D interfaces. This may result in a collision with the hammer and the infrastructure, idle strokes, and non-optimal operation. To address these issues, this paper proposes the haptic tele-operation of impact hammers. The proposed haptic tele-operation system is based on a 3D model of the environment, which is used to estimate repulsion forces that are transferred to the operator via a haptic device, so that the hammer does not collide with the structures of the mine. The system also allows identifying the oversized boulders deposited on the grizzly and notifying the operator every time the orepass is blocked, as well as providing different 3D views of the environment. A proof of concept is presented using a scaled setup, where it is validated that the use of the proposed system allows for providing a better and more efficient tele-operation experience. Full article
(This article belongs to the Special Issue Advances in Industrial Robotics and Intelligent Systems)
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18 pages, 6567 KiB  
Article
High-Precision SLAM Based on the Tight Coupling of Dual Lidar Inertial Odometry for Multi-Scene Applications
by Kui Xiao, Wentao Yu, Weirong Liu, Feng Qu and Zhenyan Ma
Appl. Sci. 2022, 12(3), 939; https://0-doi-org.brum.beds.ac.uk/10.3390/app12030939 - 18 Jan 2022
Cited by 4 | Viewed by 2085
Abstract
Simultaneous Localization and Mapping (SLAM) is an essential feature in many applications of mobile vehicles. To solve the problem of poor positioning accuracy, single use of mapping scene, and unclear structural characteristics in indoor and outdoor SLAM, a new framework of tight coupling [...] Read more.
Simultaneous Localization and Mapping (SLAM) is an essential feature in many applications of mobile vehicles. To solve the problem of poor positioning accuracy, single use of mapping scene, and unclear structural characteristics in indoor and outdoor SLAM, a new framework of tight coupling of dual lidar inertial odometry is proposed in this paper. Firstly, through external calibration and an adaptive timestamp synchronization algorithm, the horizontal and vertical lidar data are fused, which compensates for the narrow vertical field of view (FOV) of the lidar and makes the characteristics of vertical direction more complete in the mapping process. Secondly, the dual lidar data is tightly coupled with an Inertial Measurement Unit (IMU) to eliminate the motion distortion of the dual lidar odometry. Then, the value of the lidar odometry after correcting distortion and the pre-integrated value of IMU are used as constraints to establish a non-linear least-squares objective function. Joint optimization is then performed to obtain the best value of the IMU state values, which will be used to predict the state of IMU at the next time step. Finally, experimental results are presented to verify the effectiveness of the proposed method. Full article
(This article belongs to the Special Issue Advances in Industrial Robotics and Intelligent Systems)
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23 pages, 8892 KiB  
Article
A Mobile Robot with Omnidirectional Tracks—Design and Experimental Research
by Mateusz Fiedeń and Jacek Bałchanowski
Appl. Sci. 2021, 11(24), 11778; https://0-doi-org.brum.beds.ac.uk/10.3390/app112411778 - 11 Dec 2021
Cited by 8 | Viewed by 5187
Abstract
This article deals with the design and testing of mobile robots equipped with drive systems based on omnidirectional tracks. These are new mobile systems that combine the advantages of a typical track drive with the advantages of systems equipped with omnidirectional Mecanum wheels. [...] Read more.
This article deals with the design and testing of mobile robots equipped with drive systems based on omnidirectional tracks. These are new mobile systems that combine the advantages of a typical track drive with the advantages of systems equipped with omnidirectional Mecanum wheels. The omnidirectional tracks allow the robot to move in any direction without having to change the orientation of its body. The mobile robot market (automated construction machinery, mobile handle robots, mobile platforms, etc.) constantly calls for improvements in the manoeuvrability of vehicles. Omnidirectional drive technology can meet such requirements. The main aim of the work is to create a mobile robot that is capable of omnidirectional movement over different terrains, and also to conduct an experimental study of the robot’s operation. The paper presents the construction and principles of operation of a small robot equipped with omnidirectional tracks. The robot’s construction and control system, and also a prototype made with FDM technology, are described. The trajectory parameters of the robot’s operation along the main and transverse axes were measured on a test stand equipped with a vision-based measurement system. The results of the experimental research became the basis for the development and experimental verification of a static method of correcting deviations in movement trajectory. Full article
(This article belongs to the Special Issue Advances in Industrial Robotics and Intelligent Systems)
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18 pages, 2318 KiB  
Article
Design and Implementation of Composed Position/Force Controllers for Object Manipulation
by Sergio Hernandez-Mendez, Elvia Ruth Palacios-Hernandez, Antonio Marin-Hernandez, Ericka Janet Rechy-Ramirez and Hector Vazquez-Leal
Appl. Sci. 2021, 11(21), 9827; https://0-doi-org.brum.beds.ac.uk/10.3390/app11219827 - 21 Oct 2021
Cited by 3 | Viewed by 1772
Abstract
In the design of a controller for grasping objects through a robotic manipulator, there are two key problems: to find the position of the object to be grasped accurately, and to apply the appropriate force to each finger to handle the object properly [...] Read more.
In the design of a controller for grasping objects through a robotic manipulator, there are two key problems: to find the position of the object to be grasped accurately, and to apply the appropriate force to each finger to handle the object properly without causing undesirable movement of it during its manipulation. A proportional-integral-derivative (PID) controller is widely used to grasp objects in robotics; however, its main shortcomings are its sensitivity to controller gains, sluggish response, and high starting overshooting. This research presents three coupled (position/force) controllers for object manipulation using an assembled robotic manipulator (i.e., a gripper attached to a robotic arm mounted on a mobile robot). Specifically, an angular gripper was employed in this study, which was composed of two independent fingers with a piezoelectric force sensor attached to each fingertip. The main contributions of this study are the designs and implementations of three controllers: a classic PID controller, a type-I controller, and a type-II fuzzy controller. These three controllers were used to find an object to be grasped properly (position) and apply an equivalent force to each finger (force). Full article
(This article belongs to the Special Issue Advances in Industrial Robotics and Intelligent Systems)
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22 pages, 9428 KiB  
Article
A Robot-Assisted Large-Scale Inspection of Wind Turbine Blades in Manufacturing Using an Autonomous Mobile Manipulator
by Heiko Engemann, Patrick Cönen, Harshal Dawar, Shengzhi Du and Stephan Kallweit
Appl. Sci. 2021, 11(19), 9271; https://0-doi-org.brum.beds.ac.uk/10.3390/app11199271 - 06 Oct 2021
Cited by 4 | Viewed by 2265
Abstract
Wind energy represents the dominant share of renewable energies. The rotor blades of a wind turbine are typically made from composite material, which withstands high forces during rotation. The huge dimensions of the rotor blades complicate the inspection processes in manufacturing. The automation [...] Read more.
Wind energy represents the dominant share of renewable energies. The rotor blades of a wind turbine are typically made from composite material, which withstands high forces during rotation. The huge dimensions of the rotor blades complicate the inspection processes in manufacturing. The automation of inspection processes has a great potential to increase the overall productivity and to create a consistent reliable database for each individual rotor blade. The focus of this paper is set on the process of rotor blade inspection automation by utilizing an autonomous mobile manipulator. The main innovations include a novel path planning strategy for zone-based navigation, which enables an intuitive right-hand or left-hand driving behavior in a shared human–robot workspace. In addition, we introduce a new method for surface orthogonal motion planning in connection with large-scale structures. An overall execution strategy controls the navigation and manipulation processes of the long-running inspection task. The implemented concepts are evaluated in simulation and applied in a real-use case including the tip of a rotor blade form. Full article
(This article belongs to the Special Issue Advances in Industrial Robotics and Intelligent Systems)
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20 pages, 7790 KiB  
Article
Manipulation Planning for Large Objects through Pivoting, Tumbling, and Regrasping
by Ang Zhang, Keisuke Koyama, Weiwei Wan and Kensuke Harada
Appl. Sci. 2021, 11(19), 9103; https://0-doi-org.brum.beds.ac.uk/10.3390/app11199103 - 30 Sep 2021
Cited by 5 | Viewed by 2537
Abstract
Robotic manipulation of a bulky object is challenging due to the limited kinematics and payload of the manipulator. In this study, a robot realizes the manipulation of general-shaped bulky objects utilizing the contact with the environment. We propose a hierarchical manipulation planner that [...] Read more.
Robotic manipulation of a bulky object is challenging due to the limited kinematics and payload of the manipulator. In this study, a robot realizes the manipulation of general-shaped bulky objects utilizing the contact with the environment. We propose a hierarchical manipulation planner that effectively combined three manipulation styles, namely, pivoting, tumbling, and regrasping. In our proposed method, we first generate a set of superimposed planar segments on the object surface to obtain an object pose in stable contact with the table, and a set of points on the object surface for the end-effectors (EEFs) of a dual-arm manipulator to stably grasp the object. Object manipulation can be realized by solving a graph, considering the kinematic constraints of pivoting and tumbling. For pivoting, we consider two supporting styles: stable support (SP) and unstable support (USP). Our proposed method manipulates large and heavy objects by selectively using the two different support styles of pivoting and tumbling according to the conditions on the table area. In addition, it can effectively avoid the limitation arising due to the arm kinematics by regrasping the object. We experimentally demonstrate that a dual-arm manipulator can move an object from the initial to goal position within a limited area on the table, avoiding obstacles placed on the table. Full article
(This article belongs to the Special Issue Advances in Industrial Robotics and Intelligent Systems)
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18 pages, 6166 KiB  
Article
A Method of Enhancing Rapidly-Exploring Random Tree Robot Path Planning Using Midpoint Interpolation
by Jin-Gu Kang, Yong-Sik Choi and Jin-Woo Jung
Appl. Sci. 2021, 11(18), 8483; https://0-doi-org.brum.beds.ac.uk/10.3390/app11188483 - 13 Sep 2021
Cited by 8 | Viewed by 2323
Abstract
It is difficult to guarantee optimality using the sampling-based rapidly-exploring random tree (RRT) method. To solve the problem, this paper proposes the post triangular processing of the midpoint interpolation method to minimize the planning time and shorten the path length of the sampling-based [...] Read more.
It is difficult to guarantee optimality using the sampling-based rapidly-exploring random tree (RRT) method. To solve the problem, this paper proposes the post triangular processing of the midpoint interpolation method to minimize the planning time and shorten the path length of the sampling-based algorithm. The proposed method makes a path that is closer to the optimal path and somewhat solves the sharp path problem through the interpolation process. Experiments were conducted to verify the performance of the proposed method. Applying the method proposed in this paper to the RRT algorithm increases the efficiency of optimization by minimizing the planning time. Full article
(This article belongs to the Special Issue Advances in Industrial Robotics and Intelligent Systems)
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35 pages, 3383 KiB  
Article
Design and Verification of Multi-Agent Systems with the Use of Bigraphs
by Piotr Cybulski and Zbigniew Zieliński
Appl. Sci. 2021, 11(18), 8291; https://0-doi-org.brum.beds.ac.uk/10.3390/app11188291 - 07 Sep 2021
Cited by 1 | Viewed by 1543
Abstract
Widespread access to low-cost, high computing power allows for increased computerization of everyday life. However, high-performance computers alone cannot meet the demands of systems such as the Internet of Things or multi-agent robotic systems. For this reason, modern design methods are needed to [...] Read more.
Widespread access to low-cost, high computing power allows for increased computerization of everyday life. However, high-performance computers alone cannot meet the demands of systems such as the Internet of Things or multi-agent robotic systems. For this reason, modern design methods are needed to develop new and extend existing projects. Because of high interest in this subject, many methodologies for designing the aforementioned systems have been developed. None of them, however, can be considered the default one to which others are compared to. Any useful methodology must provide some tools, versatility, and capability to verify its results. This paper presents an algorithm for verifying the correctness of multi-agent systems modeled as tracking bigraphical reactive systems and checking whether a behavior policy for the agents meets non-functional requirements. Memory complexity of methods used to construct behavior policies is also discussed, and a few ways to reduce it are proposed. Detailed examples of algorithm usage have been presented involving non-functional requirements regarding time and safety of behavior policy execution. Full article
(This article belongs to the Special Issue Advances in Industrial Robotics and Intelligent Systems)
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30 pages, 12153 KiB  
Article
CHARMIE: A Collaborative Healthcare and Home Service and Assistant Robot for Elderly Care
by Tiago Ribeiro, Fernando Gonçalves, Inês S. Garcia, Gil Lopes and António F. Ribeiro
Appl. Sci. 2021, 11(16), 7248; https://0-doi-org.brum.beds.ac.uk/10.3390/app11167248 - 06 Aug 2021
Cited by 17 | Viewed by 4250
Abstract
The global population is ageing at an unprecedented rate. With changes in life expectancy across the world, three major issues arise: an increasing proportion of senior citizens; cognitive and physical problems progressively affecting the elderly; and a growing number of single-person households. The [...] Read more.
The global population is ageing at an unprecedented rate. With changes in life expectancy across the world, three major issues arise: an increasing proportion of senior citizens; cognitive and physical problems progressively affecting the elderly; and a growing number of single-person households. The available data proves the ever-increasing necessity for efficient elderly care solutions such as healthcare service and assistive robots. Additionally, such robotic solutions provide safe healthcare assistance in public health emergencies such as the SARS-CoV-2 virus (COVID-19). CHARMIE is an anthropomorphic collaborative healthcare and domestic assistant robot capable of performing generic service tasks in non-standardised healthcare and domestic environment settings. The combination of its hardware and software solutions demonstrates map building and self-localisation, safe navigation through dynamic obstacle detection and avoidance, different human-robot interaction systems, speech and hearing, pose/gesture estimation and household object manipulation. Moreover, CHARMIE performs end-to-end chores in nursing homes, domestic houses, and healthcare facilities. Some examples of these chores are to help users transport items, fall detection, tidying up rooms, user following, and set up a table. The robot can perform a wide range of chores, either independently or collaboratively. CHARMIE provides a generic robotic solution such that older people can live longer, more independent, and healthier lives. Full article
(This article belongs to the Special Issue Advances in Industrial Robotics and Intelligent Systems)
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25 pages, 7151 KiB  
Article
Motion Planning of Nonholonomic Mobile Manipulators with Manipulability Maximization Considering Joints Physical Constraints and Self-Collision Avoidance
by Josuet Leoro and Tesheng Hsiao
Appl. Sci. 2021, 11(14), 6509; https://0-doi-org.brum.beds.ac.uk/10.3390/app11146509 - 15 Jul 2021
Cited by 9 | Viewed by 2256
Abstract
The motion of nonholonomic mobile manipulators (NMMs) is inherently constrained by joint limits, joint velocity limits, self-collisions and singularities. Most motion planning algorithms consider some of the aforementioned constraints, however, a unified framework to deal with all of them is lacking. This paper [...] Read more.
The motion of nonholonomic mobile manipulators (NMMs) is inherently constrained by joint limits, joint velocity limits, self-collisions and singularities. Most motion planning algorithms consider some of the aforementioned constraints, however, a unified framework to deal with all of them is lacking. This paper proposes a motion planning solution for the kinematic trajectory tracking of redundant NMMs that include all the constraints needed for practical implementation, which improves the manipulability of both the entire system and the manipulator to prevent singularities. Experiments using a 10-DOF NMM demonstrate the good performance of the proposed method for executing 6-DOF trajectories while satisfying all the constraints and simultaneously maximizing manipulability. Full article
(This article belongs to the Special Issue Advances in Industrial Robotics and Intelligent Systems)
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19 pages, 2881 KiB  
Article
Method for Robot Manipulator Joint Wear Reduction by Finding the Optimal Robot Placement in a Robotic Cell
by Tomáš Kot, Zdenko Bobovský, Aleš Vysocký, Václav Krys, Jakub Šafařík and Roman Ružarovský
Appl. Sci. 2021, 11(12), 5398; https://0-doi-org.brum.beds.ac.uk/10.3390/app11125398 - 10 Jun 2021
Cited by 7 | Viewed by 2385
Abstract
We describe a method for robotic cell optimization by changing the placement of the robot manipulator within the cell in applications with a fixed end-point trajectory. The goal is to reduce the overall robot joint wear and to prevent uneven joint wear when [...] Read more.
We describe a method for robotic cell optimization by changing the placement of the robot manipulator within the cell in applications with a fixed end-point trajectory. The goal is to reduce the overall robot joint wear and to prevent uneven joint wear when one or several joints are stressed more than the other joints. Joint wear is approximated by calculating the integral of the mechanical work of each joint during the whole trajectory, which depends on the joint angular velocity and torque. The method relies on using a dynamic simulation for the evaluation of the torques and velocities in robot joints for individual robot positions. Verification of the method was performed using CoppeliaSim and a laboratory robotic cell with the collaborative robot UR3. The results confirmed that, with proper robot base placement, the overall wear of the joints of a robotic arm could be reduced from 22% to 53% depending on the trajectory. Full article
(This article belongs to the Special Issue Advances in Industrial Robotics and Intelligent Systems)
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Review

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17 pages, 1364 KiB  
Review
UX in AR-Supported Industrial Human–Robot Collaborative Tasks: A Systematic Review
by Riccardo Karim Khamaisi, Elisa Prati, Margherita Peruzzini, Roberto Raffaeli and Marcello Pellicciari
Appl. Sci. 2021, 11(21), 10448; https://0-doi-org.brum.beds.ac.uk/10.3390/app112110448 - 07 Nov 2021
Cited by 17 | Viewed by 3825
Abstract
The fourth industrial revolution is promoting the Operator 4.0 paradigm, originating from a renovated attention towards human factors, growingly involved in the design of modern, human-centered processes. New technologies, such as augmented reality or collaborative robotics are thus increasingly studied and progressively applied [...] Read more.
The fourth industrial revolution is promoting the Operator 4.0 paradigm, originating from a renovated attention towards human factors, growingly involved in the design of modern, human-centered processes. New technologies, such as augmented reality or collaborative robotics are thus increasingly studied and progressively applied to solve the modern operators’ needs. Human-centered design approaches can help to identify user’s needs and functional requirements, solving usability issues, or reducing cognitive or physical stress. The paper reviews the recent literature on augmented reality-supported collaborative robotics from a human-centered perspective. To this end, the study analyzed 21 papers selected after a quality assessment procedure and remarks the poor adoption of user-centered approaches and methodologies to drive the development of human-centered augmented reality applications to promote an efficient collaboration between humans and robots. To remedy this deficiency, the paper ultimately proposes a structured framework driven by User eXperience approaches to design augmented reality interfaces by encompassing previous research works. Future developments are discussed, stimulating fruitful reflections and a decisive standardization process. Full article
(This article belongs to the Special Issue Advances in Industrial Robotics and Intelligent Systems)
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