Robotica 

About: Robotica is an academic journal published by Cambridge University Press. The journal publishes majorly in the area(s): Robot & Computer science. It has an ISSN identifier of 0263-5747. Over the lifetime, 3461 publications have been published receiving 56861 citations.

Reprap ??? the replicating rapid prototyper

Abstract: This paper presents the results to date of the RepRap project ??? an ongoing project that has made and distributed freely a replicating rapid prototyper We give the background reasoning that led to the invention of the machine, the selection of the processes that we and others have used to implement it, the designs of key parts of the machine and how these have evolved from their initial concepts and experiments, and estimates of the machine's reproductive success out in the world up to the time of writing (about 4500 machines in two and a half years)

Algorithms for collision-free navigation of mobile robots in complex cluttered environments: a survey

Abstract: We review a range of techniques related to navigation of unmanned vehicles through unknown environments with obstacles, especially those that rigorously ensure collision avoidance (given certain assumptions about the system). This topic continues to be an active area of research, and we highlight some directions in which available approaches may be improved. The paper discusses models of the sensors and vehicle kinematics, assumptions about the environment, and performance criteria. Methods applicable to stationary obstacles, moving obstacles and multiple vehicles scenarios are all reviewed. In preference to global approaches based on full knowledge of the environment, particular attention is given to reactive methods based on local sensory data, with a special focus on recently proposed navigation laws based on model predictive and sliding mode control.

High-speed manipulation by using parallel wire-driven robots

Abstract: A new type of a parallel wire-driven robot is proposed in order to reach ultra-high speed. The driving principle of parallel wire systems is described. Since wires can only pull and not push on an object, at least np1 wires are needed in order to move the object in a n-dimensional space. In this paper, taking account of the effect of such redundancy on actuation, the motion stability in wire length coordinates is analyzed by using a Lyapunov function. Using “Vector Closure”, it is proven that the hand position and orientation converge to the corresponding desired values and the internal force also converges to the desired one. Moreover, by making good use of non-linear elasticity of parallel wire driven robots, it is claimed that the internal force arising from redundant actuation can effectively reduce vibration when the high-speed robot stops at desired points. As a result, ultra-high speed with more than 40 g(g:gravitational acceleration) can be attained by using relatively small actuators.

An overview of robot force control

Abstract: This paper reports on the existing robot force control algorithms and their composition based on the review of 75 papers on this subject. The objective is to provide a pragmatic exposition with speciality on their differences and different application conditions, and to give a guide of the existing robot force control algorithms. The previous work can be categorized into discussion, design and/or application of fundamental force control techniques, stability analysis of the various control algorithms, and the advanced methods. Advanced methods combine the fundamental force control techniques with advanced control algorithms such as adaptive, robust and learning control strategies.

Control of flexible manipulators: A survey

Abstract: A survey of the field of control for flexible multi-link robots is presented. This research area has drawn great attention during the last two decades, and seems to be somewhat less “attractive” now, due to the many satisfactory results already obtained, but also because of the complex nature of the remaining open problems. Thus it seems that the time has come to try to deliver a sort of “state of the art” on this subject, although an exhaustive one is out of scope here, because of the great amount of publications. Instead, we survey the most salient progresses – in our opinion – approximately during the last decade, that are representative of the essential different ideas in the field. We proceed along with the exposition of material coming from about 119 included references. We do not pretend to deeply present each of the methods quoted hereafter; however, our goal is to briefly introduce most of the existing methods and to refer the interested reader to more detailed presentations for each scheme. To begin with, a now well-established classification of the flexible arms control goals is given. It is followed by a presentation of different control strategies, indicating in each case whether the approach deals with the one-link case, which can be successfully treated via linear models, or with the multi-link case which necessitates nonlinear, more complex, models. Some possible issues for future research are given in conclusion.