Mathematical model and evaluation of dynamic stability of industrial robot manipulator: Universal robot

Mustary, Shabnom; Kashem, Mohammod Abul; Chowdhury, Mohammad Asaduzzaman; Rana, Md Masud

doi:10.1016/j.sasc.2023.200071

Systems and Soft Computing

2024

DOI: 10.1016/j.sasc.2023.200071

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Mathematical model and evaluation of dynamic stability of industrial robot manipulator: Universal robot

Shabnom Mustary,

Mohammod Abul Kashem,

Mohammad Asaduzzaman Chowdhury

et al.

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2024

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Cited by 4 publications

References 26 publications

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Vibration characterization of a planar multi-degree-of-freedom industrial machine

Wang,

Mo,

Yao

2024

International Journal of Non-Linear Mechanics

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Vibration characterization of a planar multi-degree-of-freedom industrial machine

Wang,

Mo,

Yao

2024

International Journal of Non-Linear Mechanics

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Design of a logistics warehouse robot positioning and recognition model based on improved EKF and calibration algorithm

Wang,

2024

Systems and Soft Computing

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Research on the Application of improved AMCL Algorithm in Robot Obstacle Avoidance in Logistics Sorting Scene

Shang,

Gong,

et al. 2024

J. Phys.: Conf. Ser.

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Compared with the normal scenes, the positions of obstacles, delivery boxes and sorting stations in the logistics sorting scene are relatively fixed, what’s more, the number of static obstacles in the logistics sorting scene is large. It requires higher navigation accuracy and pose adjustment of the robot. The author proposes an Adaptive Monte Carlo Localization (AMCL) algorithm that integrates the Dynamic Window Approach (DWA) algorithm to improve the accuracy and efficiency of robots in real-time positioning, navigation in static indoor environments, and obstacle avoidance efficiency. Using this method, the data collection of lidar sensor are optimized, reducing positioning calculation. By adjusting the parameters’ value, the adaptive positioning accuracy and real-time positioning rate of the logistics robot are improved. The experimental results show that the Adaptive Monte Carlo Localization integrated with Dynamic Window Approach algorithm is about 13.682 % higher than the normal Adaptive Monte Carlo Localization algorithm in the obstacle avoidance rate, which effectively makes the number of particles collected by lidar more standardized and rational.

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Mathematical model and evaluation of dynamic stability of industrial robot manipulator: Universal robot

Cited by 4 publications

References 26 publications

Vibration characterization of a planar multi-degree-of-freedom industrial machine

Vibration characterization of a planar multi-degree-of-freedom industrial machine

Design of a logistics warehouse robot positioning and recognition model based on improved EKF and calibration algorithm

Research on the Application of improved AMCL Algorithm in Robot Obstacle Avoidance in Logistics Sorting Scene

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