Kinematically-redundant manipulators present considerable difficulties, especially from the view of control. A high number of degrees of freedom are used to control so-called secondary tasks in order to optimize manipulator motion. This paper introduces a new algorithm for the control of kinematically-redundant manipulator considering three secondary tasks, namely a joint limit avoidance task, a kinematic singularities avoidance task, and an obstacle avoidance task. For path planning of end-effector from start to goal point, the potential field method is used. The final inverse kinematic model is designed by a Jacobian-based method considering weight matrices in order to prioritize particular tasks. Our approach is based on the flexible behavior of priority value due to the acceleration of numerical simulation. The results of the simulations show the advantage of our approach, which results in a significant decrease of computing time.

This paper extends the topic of monocular pose estimation of an object using Aruco tags imaged by RGB cameras. The accuracy of the Open CV Camera calibration and Aruco pose estimation pipelines is tested in detail by performing standardized tests with multiple Intel Realsense D435 Cameras. Analyzing the results led to a way to significantly improve the performance of Aruco tag localization which involved designing a 3D Aruco board, which is a set of Aruco tags placed at an angle to each other, and developing a library to combine the pose data from the individual tags for both higher accuracy and stability.

The field of continuum robotics is rapidly developing. The development of new kinematic structures, locomotion principles and control strategies is driving the development of new types of sensors and sensing methodologies. The sensing in continuum robots can be divided into shape perception and environment perception. The environment perception is focusing on sensing the interactions between the robot and environment. These sensors are often embedded on an outer layer of the robots, so the interactions can be detected. The shape perception is sensing the robot’s shape using various principles. There are three main groups of sensors that use the properties of electricity, magnetism and optics to measure the shape of the continuum robots. The sensors based on measuring the properties of electricity are often based on measuring the electrical resistance or capacitance of the flexible sensor. Sensors based on magnetism use properties of permanent magnets or coils that are attached to the robot. Their magnetic field, flux or other properties are then tracked, and shape reconstruction can be performed. The last group of sensors is mostly based on leveraging the properties of traveling light through optical fibers. There are multiple objectives of this work. Objective number one is to clearly categorize the sensors and make a clear distinction between them. Objective number two is to determine the trend and progress of the sensors used in continuum robotics. And finally, the third objective is to define the challenges that the researchers are currently facing. The challenges of sensing the shape or the interaction with the environment of continuum robots are currently in the miniaturization of existing sensors and the development of novel sensing methods.

Industrial cameras starting to play a significant role in current industrial environment and they represent a strong tool for robotics mainly in cases when they are combined with high-speed robots. However, there are still some difficulties in vision system integration. The capability of such system (e.g. assembly or technological system) depends on several factors, for instance, the camera position, lightning conditions, pattern recognition algorithms, precise setup, as well as well-trained programmer and engineer. The skills of the engineering staff and the precise analysis of conditions and process requirements seem to be crucial for successful solution, what was proved also in our experimental test. The main aim of the article is development and complex performance analysis of robotized screwing application with integrated vision system, concretely the case study of automated assembly system in automotive industry—bolting tightening robotized station as a part of car seat assembly process. The main key elements of the designed workplace are industrial robot FANUC M-20iA/20M with integrated iRVision system containing the industrial camera Sony XC-56. The real influence of inaccuracies during the design process, gradual “step-by-step” refinement, and final influence of all changings on the final quality and efficiency of designed system was demonstrated. At the end, we reached the point where the total number of screwing operations with NOK results (not OK / negative results) is about six single negative results per day, which represents less than 0.1% of all recognitions (overall reliability is higher than 99.9%).

The article deals with development and application of snake robot for inspection pipes. The first step involves the introduction of a design of mechanical and electrical parts of the snake robot. Next, the analysis of the robot locomotion is introduced. For the curved pipe, potential field method is used. By this method, the system is able to generate path for the head and rear robot, linking the environment with obstacles, which are represented by the walls of the pipe. Subsequently, the solution of potential field method is used in inverse kinematic model, which respects tasks as obstacle avoidance, joint limit avoidance, and singularity avoidance. Mentioned approach is then tested on snake robot in provisional pipe with rectangular cross section. For this research, software Matlab (2013b) is used as the control system in cooperation with the control system of robot, which is based on microcontrollers. By experiments, it is shown that designed robot is able to pass through straight and also curved pipe.

This paper analyzed the locomotion of a snake robot in narrow spaces such as a pipe or channel. We developed a unique experimental snake robot with one revolute and one linear joint on each module, with the ability to perform planar motion. The designed locomotion pattern was simulated in MATLAB R2015b and subsequently verified by the experimental snake robot. The locomotion of the developed snake robot was also experimentally analyzed on dry and viscous surfaces. The paper further describes the investigation of locomotion stability by three symmetrical curves used to anchor static modules between the walls of the pipe. The stability was experimentally analyzed by digital image correlation using a Q-450 Dantec Dynamics high-speed correlation system. The paper presents some input symmetrical elements of locomotion and describes their influence on the results of locomotion. The results of simulations and experiments show possibilities of snake robot locomotion in a pipe.