Hepeng Ni
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Author Swipe
View article: Hybrid-Driven Dynamic Position Prediction of Robot End-Effector Integrating Parametric Dynamic Model and Machine Learning
Hybrid-Driven Dynamic Position Prediction of Robot End-Effector Integrating Parametric Dynamic Model and Machine Learning Open
Accurate dynamic model and response prediction of industrial robots (IRs) are prerequisites for production optimization before actual operation. In this study, a hybrid-driven dynamic position prediction (HDPP) approach integrating a param…
View article: Biocatalytic optimization: Performance and mechanism of molecular sieve composite aluminum-calcium oxides in tobacco biomass pyrolysis
Biocatalytic optimization: Performance and mechanism of molecular sieve composite aluminum-calcium oxides in tobacco biomass pyrolysis Open
In recent years, China has faced challenges such as energy shortages and environmental pollution. Metal oxides, as biocatalysts, offer promising solutions for biomass energy conversion by enhancing biochemical reaction rates, reducing ener…
View article: In-Sensor Visual Perception and Inference
In-Sensor Visual Perception and Inference Open
Conventional machine vision systems have separate perception, memory, and processing architectures, which may exacerbate the increasing need for ultrahigh image processing rates and ultralow power consumption. In contrast, in-sensor visual…
View article: Redundant Posture Optimization for 6R Robotic Milling Based on Piecewise-Global-Optimization-Strategy Considering Stiffness, Singularity and Joint-Limit
Redundant Posture Optimization for 6R Robotic Milling Based on Piecewise-Global-Optimization-Strategy Considering Stiffness, Singularity and Joint-Limit Open
Robotic machining has obtained growing attention recently because of the low cost, high flexibility and large workspace of industrial robots (IRs). Multiple degrees of freedom of IRs improve the dexterity of machining while causing the pro…
View article: Context-aware manufacturing system design using machine learning
Context-aware manufacturing system design using machine learning Open
View article: Velocity planning method for position–velocity–time control based on a modified S-shaped acceleration/deceleration algorithm
Velocity planning method for position–velocity–time control based on a modified S-shaped acceleration/deceleration algorithm Open
Position–velocity–time control mode has been wildly used in industrial application. And velocity planning is one of the most important factors to determine the performance of position–velocity–time motion. To generate smooth trajectory whi…
View article: Online chatter detection in robotic machining based on adaptive variational mode decomposition
Online chatter detection in robotic machining based on adaptive variational mode decomposition Open
Chatter is the main problem that limits the application of industrial robots in the field of machining process. It is critical important to establish an adaptive chatter detection solution for robot machining process and realize the online…
View article: Finite-time tracking control for uncertain robotic manipulators using backstepping method and novel extended state observer
Finite-time tracking control for uncertain robotic manipulators using backstepping method and novel extended state observer Open
This article considers finite-time trajectory tracking control problem for robotic manipulators with parameter uncertainties and external disturbances. A finite-time controller that achieves high precision and strong robustness is proposed…
View article: A dynamic parameter identification method of industrial robots considering joint elasticity
A dynamic parameter identification method of industrial robots considering joint elasticity Open
Considering the joint elasticity, a novel dynamic parameter identification method is proposed for general industrial robots only with motor encoders. Firstly, the unknown parameters of the elastic joint dynamic model are analyzed and divid…
View article: A parametric interpolation method based on prediction and iterative compensation
A parametric interpolation method based on prediction and iterative compensation Open
Parametric interpolation for spline plays an increasingly important role in modern manufacturing. It is critical to develop a fast parametric interpolator with high accuracy. To improve the computational efficiency while guaranteeing low a…
View article: Trajectory planning method of robot sorting system based on S-shaped acceleration/deceleration algorithm
Trajectory planning method of robot sorting system based on S-shaped acceleration/deceleration algorithm Open
To improve the sorting accuracy and efficiency of sorting system with large inertia robot, this article proposes a novel trajectory planning method based on S-shaped acceleration/deceleration algorithm. Firstly, a novel displacement segmen…
View article: Mobile Robot Localisation and Navigation Using LEGO NXT and Ultrasonic Sensor
Mobile Robot Localisation and Navigation Using LEGO NXT and Ultrasonic Sensor Open
Mobile robots are becoming increasingly important both for individuals and industries. Mobile robotic technology is not only utilised by experts in this field but is also very popular among amateurs. However, implementing a mobile robot to…
View article: Model-assisted extended state observer-based computed torque control for trajectory tracking of uncertain robotic manipulator systems
Model-assisted extended state observer-based computed torque control for trajectory tracking of uncertain robotic manipulator systems Open
Computed torque control is an effective control scheme for trajectory tracking of robotic manipulators. However, computed torque control requires precise dynamic models of robotic manipulators and is severely affected by uncertain dynamics…
View article: Feedrate Scheduling of NURBS Interpolation Based on a Novel Jerk-Continuous ACC/DEC Algorithm
Feedrate Scheduling of NURBS Interpolation Based on a Novel Jerk-Continuous ACC/DEC Algorithm Open
In order to improve the motion smoothness while maintaining the machining efficiency of the non-uniform rational B-spline (NURBS) interpolation, a novel jerk-continuous acceleration/deceleration (ACC/DEC) algorithm and the corresponding fe…
View article: A Bidirectional Adaptive Feedrate Scheduling Method of NURBS Interpolation Based on S-Shaped ACC/DEC Algorithm
A Bidirectional Adaptive Feedrate Scheduling Method of NURBS Interpolation Based on S-Shaped ACC/DEC Algorithm Open
To improve the interpolation accuracy for the non-uniform rational B-spline (NURBS) curves, this paper proposes a novel bidirectional adaptive feedrate scheduling (BAFS) method based on S-shaped acceleration/deceleration (ACC/DEC) algorith…