David T. Branson
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View article: Multi-Objective Intelligent Industrial Robot Calibration Using Meta-Heuristic Optimization Approaches
Multi-Objective Intelligent Industrial Robot Calibration Using Meta-Heuristic Optimization Approaches Open
Precision component displacement, processing, and manipulation in an industrial environment require the high-precision positioning and orientation of industrial robots. However, industrial robots’ positioning includes uncertainties due to …
View article: Industrial robot trajectory measurement by target tracking and 3D coordinate measurement in large-scale assembly cell
Industrial robot trajectory measurement by target tracking and 3D coordinate measurement in large-scale assembly cell Open
Ensuring precise and accurate six-degree-of-freedom (6 DoF) positioning of industrial robots is crucial in large-scale automotive and aerospace assembly cells, where even slight positional errors can compromise product quality and producti…
View article: Human strategies for correcting `human-robot' errors during a laundry sorting task
Human strategies for correcting `human-robot' errors during a laundry sorting task Open
Mental models and expectations underlying human-human interaction (HHI) inform human-robot interaction (HRI) with domestic robots. To ease collaborative home tasks by improving domestic robot speech and behaviours for human-robot communica…
View article: Enhancing Positional Accuracy of Mechanically Modified Industrial Robots Using Laser Trackers
Enhancing Positional Accuracy of Mechanically Modified Industrial Robots Using Laser Trackers Open
Highly accurate positioning of industrial robots is crucial to performing industrial operations with high quality. This paper presents a mechanical modification to an industrial robot aiming at enhancing the system actuation resolution, th…
View article: A Bio-Inspired Flexible Arm for Subsea Inspection: A Water Hydraulically Actuated Continuum Manipulator
A Bio-Inspired Flexible Arm for Subsea Inspection: A Water Hydraulically Actuated Continuum Manipulator Open
This paper outlines the outcomes of a multidisciplinary initiative aimed at creating flexible arms that leverage key aspects of soft-bodied sea animal anatomy. We designed and prototyped a flexible arm inspired by nature while focusing on …
View article: Interval Type-2 Fuzzy Logic Control of Linear Stages in Feedback-Error-Learning Structure Using Laser Interferometer
Interval Type-2 Fuzzy Logic Control of Linear Stages in Feedback-Error-Learning Structure Using Laser Interferometer Open
The output processer of interval type-2 fuzzy logic systems (IT2FLSs) is a complex operator which performs type-reduction plus defuzzification (TR+D) tasks. In this paper, a complexity-reduced yet high-performance TR+D for IT2FLSs based on…
View article: Design and control of a compliant robotic actuator with parallel spring-damping transmission
Design and control of a compliant robotic actuator with parallel spring-damping transmission Open
Physically compliant actuator brings significant benefits to robots in terms of environmental adaptability, human–robot interaction, and energy efficiency as the introduction of the inherent compliance. However, this inherent compliance al…
View article: High-accuracy robotic metrology for precise industrial manipulation tasks
High-accuracy robotic metrology for precise industrial manipulation tasks Open
The majority of industrial production processes can be divided into a series of object manipulation and handling tasks that can be adapted for robots. Through significant advances in compliant grasping, sensing and actuation technologies, …
View article: Precision Denavit–Hartenberg Parameter Calibration for Industrial Robots Using a Laser Tracker System and Intelligent Optimization Approaches
Precision Denavit–Hartenberg Parameter Calibration for Industrial Robots Using a Laser Tracker System and Intelligent Optimization Approaches Open
Precision object handling and manipulation require the accurate positioning of industrial robots. A common practice for performing end effector positioning is to read joint angles and use industrial robot forward kinematics (FKs). However,…
View article: Enhancing Positional Accuracy of the XY-Linear Stage Using Laser Tracker Feedback and IT2FLS
Enhancing Positional Accuracy of the XY-Linear Stage Using Laser Tracker Feedback and IT2FLS Open
This paper proposes a calibration algorithm to improve the positional accuracies of an industrial XY-linear stage. Precision positioning of these linear stages is required to maintain highly accurate object handling and manipulation. Howev…
View article: A Neural Network Separation Approach for the Inclusion of Static Friction in Nonlinear Static Models of Industrial Robots
A Neural Network Separation Approach for the Inclusion of Static Friction in Nonlinear Static Models of Industrial Robots Open
Static friction modeling is a critical task to have the accurate robot model. In this article, a neural network separation approach to include nonlinear static friction in models of industrial robots is proposed. For this purpose, the term…
View article: Intelligent Static Calibration of Industrial Robots using Artificial Bee Colony Algorithm
Intelligent Static Calibration of Industrial Robots using Artificial Bee Colony Algorithm Open
This paper proposes an industrial robot calibration methodology using an artificial bee colony algorithm. Open loop industrial robot positions are usually calculated using joint angle readings and industrial robot forward kinematics, where…
View article: Hand Gesture Interface to Teach an Industrial Robots
Hand Gesture Interface to Teach an Industrial Robots Open
The present paper proposes user gesture recognition to control industrial robots. To recognize hand gestures, MediaPipe software package and an RGB camera is used. The proposed communication approach is an easy and reliable approach to pro…
View article: Dynamic Capture Using a Traplike Soft Gripper With Stiffness Anisotropy
Dynamic Capture Using a Traplike Soft Gripper With Stiffness Anisotropy Open
Dynamic capture is a common skill that humans have practiced extensively but is a challenging task for robots in which sensing, planning, and actuation must be tightly coordinated to deal with targets of diverse shapes, sizes, and velocity…
View article: Smart optical coordinate and surface metrology
Smart optical coordinate and surface metrology Open
Manufacturing has recently experienced increased adoption of optimised and fast solutions for checking product quality during fabrication, allowing for manufacturing times and costs to be significantly reduced. Due to the integration of ma…
View article: Robust Sliding Mode Fuzzy Control of Industrial Robots Using an Extended Kalman Filter Inverse Kinematic Solver
Robust Sliding Mode Fuzzy Control of Industrial Robots Using an Extended Kalman Filter Inverse Kinematic Solver Open
This paper presents a sliding mode fuzzy control approach for industrial robots at their static and near static speed (linear velocities less than 5 cm/s). The extended Kalman filter with its covariance resetting is used to translate the c…
View article: The Challenge of Deploying Failure Modes and Effects Analysis in Complex System Applications—Quantification and Analysis
The Challenge of Deploying Failure Modes and Effects Analysis in Complex System Applications—Quantification and Analysis Open
Failure Modes and Effects Analysis (FMEA) is a systematic approach for evaluating failure modes in a system. However, its current implementation in complex systems is marred by high resource requirements, a lack of available data and diffi…
View article: Improving the Positional Accuracy of Industrial Robots by Forward Kinematic Calibration using Laser Tracker System
Improving the Positional Accuracy of Industrial Robots by Forward Kinematic Calibration using Laser Tracker System Open
Precision object handling and manipulation require precise positioning of industrial robots. The common practice to perform end effector positioning is to use joint angle readings and industrial robot forward kinematics. However, forward k…
View article: Unsupervised Learning for Product Use Activity Recognition: An Exploratory Study of a “Chatty Device”
Unsupervised Learning for Product Use Activity Recognition: An Exploratory Study of a “Chatty Device” Open
To create products that are better fit for purpose, manufacturers require new methods for gaining insights into product experience in the wild at scale. “Chatty Factories” is a concept that explores the transformative potential of placing …
View article: A Structured Approach for Synchronising the Applications of Failure Mode and Effects Analysis
A Structured Approach for Synchronising the Applications of Failure Mode and Effects Analysis Open
Failure Mode and Effects Analysis (FMEA) is a systematic approach for evaluating the potential failure modes in a system, and is mainly employed in three distinct tasks labelled: (1) Functional FMEA – evaluating those failures associated w…
View article: Electrical Load Prediction Using Interval Type-2 Atanassov Intuitionist Fuzzy System: Gravitational Search Algorithm Tuning Approach
Electrical Load Prediction Using Interval Type-2 Atanassov Intuitionist Fuzzy System: Gravitational Search Algorithm Tuning Approach Open
Establishing accurate electrical load prediction is vital for pricing and power system management. However, the unpredictable behavior of private and industrial users results in uncertainty in these power systems. Furthermore, the utilizat…
View article: Prediction Interval Identification Using Interval Type-2 Fuzzy Logic Systems: Lake Water Level Prediction Using Remote Sensing Data
Prediction Interval Identification Using Interval Type-2 Fuzzy Logic Systems: Lake Water Level Prediction Using Remote Sensing Data Open
This paper presents a novel approach to identify the prediction interval associated with data using interval type-2 fuzzy logic systems with support vector regression. For such a purpose, a constrained quadratic objective function is defin…