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Electronics
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Control and Applications of Intelligent Robotic System
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Control and Applications of Intelligent Robotic System

A special issue of Electronics (ISSN 2079-9292). This special issue belongs to the section "Systems & Control Engineering".

Deadline for manuscript submissions: 15 December 2024 | Viewed by 4428

Special Issue Editor

Dr. Ashraf Fahmy

E-Mail Website
Guest Editor
School of Mechanical Engineering, EN311, Pay Campus, Swansea University, Swansea SA18EN, UK
Interests: control systems engineering; electrical drive engineering; industrial engineering
Special Issues, Collections and Topics in MDPI journals

Special Issue Information

Dear Colleagues,

The aim of this Special Issue, entitled “Control and Application of Intelligent Robotic Systems” is to explore new trends in control philosophy for all types of robotic system applications. This covers mobile platforms, underwater vehicles, air vehicles, industrial manipulators, and service robots. The introduction of robotic platforms into industry, defense, exploration, safety, and everyday services is expanding continuously to include more and more applications that have not been offered by robotics previously. These new applications, in some cases, have promoted the introduction of novel mechanical designs and dexterous abilities that grant the robot system the capacity to perform a specific task. However, the design of the control system, which aims to enable the correct and efficient performance of the target application, has also been expanded drastically to include machine learning systems, vision systems, tactile sensors, sensor fusions, and many more. Consequently, with this Special Issue, we aim to provide researchers in this field with an update regarding the latest trends in the control of such platforms. This Special Issue will provide a comprehensive overview of the control strategies currently employed in this field for the benefit of the robotics control community.

Dr. Ashraf Fahmy
Guest Editor

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. Electronics 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

  • robotic control
  • machine learning
  • vision guided robotics
  • tactile manipulation
  • mobile platforms
  • service robots
  • collaborative robots

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Published Papers (4 papers)

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Research

19 pages, 8009 KiB  
Article
Design of a Fast Robotic Total Station Through Ad Hoc Virtual Experiments and Its Digital Twin
by Henrique Simas, Raffaele Di Gregorio and Roberto Simoni
Electronics 2024, 13(21), 4248; https://doi.org/10.3390/electronics13214248 - 30 Oct 2024
Viewed by 619
Abstract
The dynamic performances of an innovative robotic total station (RTS) are assessed while tracking a moving target; also, the results of these performance evaluations are exploited to design its control system. The proposed methodology is novel and uses ad hoc virtual experiments implemented [...] Read more.
The dynamic performances of an innovative robotic total station (RTS) are assessed while tracking a moving target; also, the results of these performance evaluations are exploited to design its control system. The proposed methodology is novel and uses ad hoc virtual experiments implemented on the digital twin of the studied RTS. This methodology is general and is also applicable for the design of other mechatronic systems. The proposed ad hoc virtual experiments constitute a benchmark for assessing the tracking performances of pointing systems. The application of this methodology to the studied RTS will help complete the RTS’s design by determining the most suitable actuators and the control system constants necessary to obtain the assigned dynamic performances. A 3D-printed prototype of the designed RTS was built and is shown in this paper. Full article
(This article belongs to the Special Issue Control and Applications of Intelligent Robotic System)
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23 pages, 8585 KiB  
Article
Optimizing Precision Material Handling: Elevating Performance and Safety through Enhanced Motion Control in Industrial Forklifts
by Fahim Faisal Amio, Neaz Ahmed, Soonyong Jeong, Insoo Jung and Kanghyun Nam
Electronics 2024, 13(9), 1732; https://doi.org/10.3390/electronics13091732 - 1 May 2024
Viewed by 1246
Abstract
In adapting to the demands of this modernized landscape, a conventional human-operated forklift within an industrial or warehouse setting falls short. However, the adoption of autonomous forklifts remains a distant prospect for many companies, primarily due to the formidable implementation and switching costs [...] Read more.
In adapting to the demands of this modernized landscape, a conventional human-operated forklift within an industrial or warehouse setting falls short. However, the adoption of autonomous forklifts remains a distant prospect for many companies, primarily due to the formidable implementation and switching costs associated with artificial intelligence and complex control mechanisms. To bridge this gap, we present the development of a teleoperated forklift utilizing mecanum wheels for enhanced maneuverability. A key contribution of this work lies in the design of a novel synchronization method for the precise position control of the pallet carriers. This method surpasses the conventional independent and master–slave approaches, demonstrably achieving superior tracking and synchronization performance. Also, a model-based velocity control algorithm was designed for the mecanum wheels to facilitate the mobility of the system. The forklift was successfully able to carry a maximum load of 300 kg. For the comparison of the tracking and synchronization performance, the independent and master–slave methods were also applied to the system. The proposed method showed better performance compared to other structures. Full article
(This article belongs to the Special Issue Control and Applications of Intelligent Robotic System)
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20 pages, 11048 KiB  
Article
Linear-Extended-State-Observer-Based Adaptive RISE Control for the Wrist Joints of Manipulators with Electro-Hydraulic Servo Systems
by Junjie Mi, Wenxiang Deng, Jianyong Yao and Xianglong Liang
Electronics 2024, 13(6), 1060; https://doi.org/10.3390/electronics13061060 - 12 Mar 2024
Cited by 2 | Viewed by 1067
Abstract
Manipulators are multi-rigid-body systems composed of multiple moving joints. During movement, the Coriolis force, centrifugal force, and gravity of the system undergo significant changes. The last three degrees of freedom (DOFs) of the wrist joint of a manipulator control the end attitude. Improving [...] Read more.
Manipulators are multi-rigid-body systems composed of multiple moving joints. During movement, the Coriolis force, centrifugal force, and gravity of the system undergo significant changes. The last three degrees of freedom (DOFs) of the wrist joint of a manipulator control the end attitude. Improving the command tracking accuracy of the wrist joint is a key challenge in controlling the end attitude of manipulators. In this study, a dynamics model of the mechanical arm–wrist joint is established based on the Lagrange method. An adaptive continuous robust integral of the sign of the error (ARISE) controller is designed using the reverse step method. Additionally, a linear extended state observer (LESO) is employed to estimate the time-varying interference existing in the system and compensate for it in the designed control rate. The stability of the Lyapunov function and the boundedness of the observer are proven. The proposed control method for the wrist joint is compared with other controllers on an experimental platform of multi-DOF hydraulic manipulators. The results demonstrate that the proposed method improves the control performance of hydraulic manipulators. The application of this method offers a new strategy and idea for achieving high-performance tracking control in hydraulic manipulators. Full article
(This article belongs to the Special Issue Control and Applications of Intelligent Robotic System)
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17 pages, 6062 KiB  
Article
Control of a Path Following Cable Trench Caterpillar Robot Based on a Self-Coupling PD Algorithm
by Zhiwei Jia, Wen Fang, Chenhao Sun and Ling Li
Electronics 2024, 13(5), 913; https://doi.org/10.3390/electronics13050913 - 28 Feb 2024
Cited by 1 | Viewed by 1018
Abstract
Underground cable trench inspection robots work in narrow, variable friction coefficient, and complex road environments. The running trajectory easily deviates from the desired path and leads to a collision, or even the destruction of the robot or cable. Addressing this problem, a path-following [...] Read more.
Underground cable trench inspection robots work in narrow, variable friction coefficient, and complex road environments. The running trajectory easily deviates from the desired path and leads to a collision, or even the destruction of the robot or cable. Addressing this problem, a path-following control method for the dual-tracked chassis robot based on a self-coupling PID (SCPID) control algorithm was developed. The caterpillar robot dynamics were modelled and both the unknown dynamics and external bounded disturbances were defined as sum disturbances, thus mapping the nonlinear system into a linearly disturbed system, then the self-coupling PD (SCPD) controller was designed. The system proved to be a robust stability control system and only one parameter, the velocity factor, needed to be tuned to achieve parameter calibration. Meanwhile, to solve the problem that the error-based speed factor is not universal and to improve the adaptive ability of the SCPD controller, an iterative method was used for adaptive tuning. The simulation results showed that the SCPID can achieve better control. The field test results showed that the SCPD’s maximum offset angle was 56.7% and 10.3% smaller than incremental PID and sliding mode control (SMC), respectively. The inspection time of the SCPD was 20% faster than other methods in the same environment. Full article
(This article belongs to the Special Issue Control and Applications of Intelligent Robotic System)
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