This paper presents research on the optimisation of a vibratory transport on an assembly line. The study covers a special case of vibratory transport characterised by uninterrupted contact between the transported body and the vibratory trough's surface, and the interaction is modelled using Coulomb's model with stiction. In the first phase of the research, an analysis of external forces acting on the body during relative motion is conducted, and the conditions for non-hopping vibratory regimes are defined. The differential equations of relative motion are derived, and the precise moments at which relative sliding on the vibratory conveyor occurs are analytically determined. The proposed theoretical model of vibratory motion is validated with computer simulations performed in SolidWorks Motion Analysis. The obtained simulation results confirm the analytical predictions and are discussed in detail at the end of the paper.

In the ever-changing landscape of technological advancements, robotics plays a significant part in meeting growing industry demands. Considering the nonlinear, coupled nature and uncertainties of multi-body robotic systems, the ability of articulated manipulators to successfully track the trajectory imposed by a given task is a hallmark of a well-designed control system and remains a crucial aspect of robotics research. Motivated by the potential of control strategies based on the ultra-local models with regard to application in modern robotic systems and recognizing the potential of iterative learning control (ILC) in addressing the repetitive nature of robot manipulation tasks performed by articulated robots, this study proposes a novel control scheme combining an intelligent PD (iPD) controller and a fractional-order iterative learning controller (FOILC). Simulation results with comparative analysis are presented to illustrate the performance improvement and robustness of the proposed controller for the 3-DoF articulated robot.

This paper presents a mathematical model of an electromagnetic vibratory actuator (EVA) used to drive vibratory conveyors. The model captures the fundamental aspects of electromechanical energy conversion by accounting for key energystoring elements. The system is described by three state variables: the displacement and velocity of the actuator armature, and the current through the excitation coils. Numerical simulations were conducted for a representative vibratory conveyor configuration. To validate the accuracy of the proposed model, experimental measurements were performed using a laboratory prototype. The experimental results show strong agreement with the simulated data, confirming the validity of the nonlinear dynamic model.

The paper presents a model of an electromagnetic actuator that is used as an excitation element of vibratory conveyors and feeders. Considering the nonlinearity of the electromagnetic actuator, it is important to investigate its model and perform certain simulations. The model was checked with the EMWorks simulation package. Key simulation results are presented at the end of the paper.

In this contribution, the finite-time stability analysis (FTS) for a class of nonlinear two=term fractional-order multi-state time delay systems (FOTDS) is studied. Based on a new Gronwall-Bellman inequality, a new FTS stability criterion for such systems are established in term of the Mittag-Leffler function. Finally, we provide numerical example to illustrate the applicability of the proposed stability conditions.

This paper presents the kinematic analysis of a designed endeffector for a plum-picking robot. The study includes solving both the direct and inverse kinematics problems to determine the position and orientation of the gripper relative to the end-effector's base. The kinematic analysis is performed using Rodrigues' transformation formula, ensuring an accurate representation of rotational motion. All robot parameters are derived from the designed model in SolidWorks, providing a realistic basis for the mathematical model. In addition, a workspace analysis is performed to evaluate the reachability and efficiency of the robotic system in the fruit picking process. The results obtained offer insight into the capabilities of the system and contribute to the optimization of robotic harvesting by ensuring precise motion control.

This article tackles the problem of tuning model-free intelligent PID controllers for nonlinear systems such as robot manipulators. Based on the ultra-local model formulation, intelligent PD position control parameters are tuned for each discrete time step. The Particle Swarm Optimization (PSO) is used to tune control parameters based on chosen objective function. Finally, the performance of the proposed tuning approach is verified through simulation and comparative analysis.

This research explores the possibility of simplifying model predictive control strategy for robotic manipulators and improving the control system’s performance with data-driven learning controllers. The main goal is to synthesize a controller that will be feasible for embedded hardware. Simplifying the robot dynamics is done using the ultra-local model method, and then new equations of motion are used to solve a nonlinear optimization problem in model predictive control. An iter- ative learning controller with a serial structure is added for increased performance when the given task is repetitive. Test simulation is carried out in Matlab to verify the feasibility of the proposed control system. Results of the simulation show that the proposed controller indeed manages to at- tenuate external disturbances and improve performance through the learning process.

Modern game engine platforms are increasingly used in the field of robotics due to their built- in support for creating real-time simulation within an Extended Reality (XR) environment. This research investigates the integration of game engine platforms into systems engineering processes in the robotics domain. A novel method for the design of robotic manipulators, focusing on actuator selection, based on robot motion simulation within game engine platforms using integrated functionalities for joint torque calculation, is presented. The proposed robot model integration methodology involves the use of a CAD-based robot model, the game engine’s physics engine, and MATLAB Simscape as an intermediate modeling environment. This approach enables appropriate actuator selection, verification of component dimensioning, and accelerates the design process. The proposed approach offers a cost-effective and flexible alternative to traditional simulation environments and offers enhanced immersive visualization of robotic systems through XR technologies. The simulated joint actuator torques are verified using MATLAB Simscape for a 6-DoF articulated robot model.

Low-cost desktop robot arms have been increasingly used in education and research, and conventional robot programming methods often require a higher level of expertise and can be time-consuming. Hence, Augmented Reality (AR) technology has rapidly evolved in recent years, revolutionizing the way humans interact with and perceive digital and physical environments. In this paper, an approach to the design of an AR-enhanced platform for intuitive robot programming intended for educational purposes is presented. The system is developed using the Unity game engine, and an Android application has been created. During the system’s conceptualization phase, besides user-friendliness, special attention was given to ensuring ease of development. RoboDK, a cross-platform robot simulation and programming environment is integrated with Unity, and its integrated numerical inverse kinematics solvers and path planner functionalities are used for trajectory generation. AR-supported GUI for intuitive robot programming has been created. The system’s validation is conducted on a 6DoF desktop robot arm produced using 3D printing technology.

This paper addresses the problem of path following for robotic systems. Specifically, a robot manipulator with three degrees of freedom must consecutively track an elliptic curve in space while adhering to a prescribed velocity law. Given that robots are highly nonlinear mechanical systems, achieving this objective is a complex task. Therefore, the mathematical model of the robot manipulator is transformed into a more manageable linear form, based on the actuator dynamics. To achieve high-accuracy path following, a model-based resonant controller is proposed. While this type of controller is not novel within the control community, its application in robotics remains relatively unexplored. To minimize tracking error, a particle swarm optimization (PSO) algorithm is employed, with an appropriate objective function designed to achieve the desired goal. The primary contribution of this paper lies in the integration of this metaheuristic algorithm with the complex resonant controller. Extensive simulations are conducted for various velocities of the robot’s end-effector, and the results are consistent with the expected dynamic behavior.

Recent discoveries of exotic topological phenomena in mechanical phononics and metamaterials have become a prominent focus in engineering research. These findings not only expanded the functionality and potential applications of such artificial materials and structures but also went well beyond the initial identification of effects such as band gaps. In this study, we propose energy harvesting from localized interface modes in a periodic beam array system. The system is composed of elastically connected parallel beams, with bimorph piezoelectric beams considered at the interface. We derive a system of governing equations, and respective eigenvalue problems for both the full finite lattice model and a reduced-order model based on Bloch mode synthesis are defined and solved. We analyze the topological properties, eigenspectrum, frequency–voltage relationships, and steady-state responses to explore localized interface modes and their energy harvesting capabilities. Additionally, we investigate the robustness of the frequency of topologically protected interface modes in the presence of a mass defect in the lattice, demonstrating the efficiency of the proposed energy harvesting system.

In this paper, finite time stability (FTS) analysis of fractional-order nonlinear multi-time delay systems is studied. By use of a fractional Gronwall inequality with time delay, new FTS criteria for proposed systems are established. Two numerical examples are given to illustrate the effectiveness of the obtained theoretical results.

The issue of human balancing in the sagittal plane using fractional order time delayed acceleration feedback is studied in this contribution. The problem of asymptotic stability of closed-loop fractional order neutral time delay system is solved by applying the D-decomposition approach. Stability regions in the control parameters space are determined using this method. Special attention was focused on the consideration of the influence of the time delay on the asymptotic stability of the system. Finally, simulation results are presented to illustrate the superiority and effectiveness of the proposed method.

Simulators have become indispensable tools in the field of robotics, providing researchers and engineers with a means to design, develop, and test various aspects of robotic systems in a safe, time and cost-efficient way. Currently, several robot simulation environments exist, each with its own benefits in terms of physical realism, visual realism, simulation speed, and industry support. Gazebo combined with ROS is a popular choice when it comes to simulating robots. This study presents the development of a 6DoF robot simulator in a ROS-Gazebo environment. 6DoF industrial robot RL15, installed at Laboratory for Robotics and machine tools in Lola Institute, is used for demonstration. Modelling of robot links in ROS-Gazebo environment based on the designed robot model in 3D modeller, URDF and SDF file formats, mesh files, including the inertial properties, is presented. Robot trajectory planning, trajectory generation and control design with ROS are described. A brief reference to modern software simulation tools is given.

This paper presents a new optimisation method for PID controller cascaded with a lead-lag compensator (PIDC). Parameters of the controller are obtained by solving the constrained optimisation problem. We propose two variants of the optimality criterion. The first one is defined through the max–min optimisation problem wherein objective function is the amplitude frequency response of the PIDC controller. The second one is based on an effective approximation of the minimum value of the amplitude frequency response of the PIDC controller. Consequently, we obtain a computationally less expensive problem. Both variants of optimality criterion result in efficient load disturbance and noise rejection, while robustness is ensured by constraining the value of the maximum sensitivity Ms. Good reference shaping is supported with proper constraints based on the Amplitude Optimum (AO) principle. Numerous batches of processes typically encountered in the industry are used to demonstrate the effectiveness of the proposed design method.

Forward kinematics is fundamental to robot design, control, and simulation.Different forward kinematics algorithms have been developed to deal with the complex geometry of a robot.This paper presents a robot forward kinematics algorithm in dual quaternion space.The presented method uses Denavit-Hartenberg (DH) convention for uniform definition of successive rotational and translational transformations in joints along the robot's kinematic chain.This research aims to utilize the advantages of dual quaternions and DH convection for forward kinematics computation and make the algorithm, which is compact, intuitive, numerically robust, and computationally efficient as it uses the minimal number of parameters required for the computation, suitable for implementation in ROS and similar software.The algorithm is verified on the 6DoF industrial robot RL15, with the symbolic equations and numerical simulation presented.

To control a remotely operated underwater vehicle (ROUV) of the observation ROUVs class, the interactions among mechanical, electronic and information processing elements call for an integrated approach at all design and development stages. Different methodologies must be combined in a multi-formalism modelling approach supported by a suitable simulation and prototyping environment. The proposed approach further involves the development of a digital twin ROUV prototype in the Gazebo-based simulator to assess performance reliably, and the utilization of a ROUV controller board (stm32F407, Quad-core Cortex-A7) with a digital camera and an inertial measurement unit (3D accelerometer, 3D gyroscope, compass) to implement and run the designed control algorithms in real-time. A mathematical model of the system is derived to design a fractional-order PI controller of the ROUV heading in the horizontal plane.

This paper presents a method for the implementation of a robot forward kinematics algorithm that complies with the Denavit-Hartenberg (DH) convention in Robot Operating System (ROS). The integration of the algorithm in ROS is based on the representation of DH parameters in dual quaternion space. The main motivation for the presented research is to make use of ROS powerful visualization tools available in tasks that require robot forward kinematics calculation while keeping the principles of DH robot modeling convention. Implementation of the dual quaternion-based robot forward kinematics algorithm in ROS is demonstrated using a serial 6DoFs robot as an example.