Outputs (23)

An adaptive lumped-mass dynamic model and its control application for continuum robots (2024)
Journal Article
Zhang, X., Yang, C., Song, Z., Khanesar, M. A., Branson, D. T., Dai, J. S., & Kang, R. (2024). An adaptive lumped-mass dynamic model and its control application for continuum robots. Mechanism and Machine Theory, 201, Article 105736. https://doi.org/10.1016/j.mechmachtheory.2024.105736

Dynamic modeling for continuum robots remains challenging due to their large nonlinear deformation and the variation of dynamic parameters during movement. In this paper, a lumped-mass dynamic model (LMD) for a continuum robot is constructed includin... Read More about An adaptive lumped-mass dynamic model and its control application for continuum robots.

Enhancing single camera calibration results using artificial bee colony optimisation within a virtual environment (2024)
Presentation / Conference Contribution
Khanesar, M. A., Todhunter, L., Pawar, V., Corcoran, H., MacDonald, L., Robson, S., & Piano, S. (2024, June). Enhancing single camera calibration results using artificial bee colony optimisation within a virtual environment. Presented at euspen’s 24th International Conference & Exhibition, Dublin, IE, June 2024, Dublin, Ireland

Close range photogrammetry is among the top candidates for non-contact metrology in high precision applications. It is frequently used within industrial environments for high precision measurement, automation, and control tasks. When using off-the-sh... Read More about Enhancing single camera calibration results using artificial bee colony optimisation within a virtual environment.

Hand Gesture Interface to Teach an Industrial Robots (2023)
Presentation / Conference Contribution
Ahmadieh Khanesar, M., & Branson, D. (2023, November). Hand Gesture Interface to Teach an Industrial Robots. Paper presented at ICINCO 2023: 20th International Conference on Informatics in Control, Automation and Robotics, Rome, Italy

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 provide comman... Read More about Hand Gesture Interface to Teach an Industrial Robots.

High-accuracy robotic metrology for precise industrial manipulation tasks (2023)
Presentation / Conference Contribution
Isa, M. A., Khanesar, M. A., Leach, R. K., Branson, D., & Piano, S. (2023, June). High-accuracy robotic metrology for precise industrial manipulation tasks. Presented at Automated Visual Inspection and Machine Vision V, Munich, Germany

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, robots are... Read More about High-accuracy robotic metrology for precise industrial manipulation tasks.

Precision Denavit–Hartenberg Parameter Calibration for Industrial Robots Using a Laser Tracker System and Intelligent Optimization Approaches (2023)
Journal Article
Khanesar, M. A., Yan, M., Isa, M., Piano, S., & Branson, D. T. (2023). Precision Denavit–Hartenberg Parameter Calibration for Industrial Robots Using a Laser Tracker System and Intelligent Optimization Approaches. Sensors, 23(12), Article 5368. https://doi.org/10.3390/s23125368

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, industrial... Read More about Precision Denavit–Hartenberg Parameter Calibration for Industrial Robots Using a Laser Tracker System and Intelligent Optimization Approaches.

Adaptive non-singular fast terminal sliding mode control and synchronization of a chaotic system via interval type-2 fuzzy inference system with proportionate controller (2023)
Journal Article
Khaniki, M. L., Manthouri, M., & Khanesar, M. A. (2023). Adaptive non-singular fast terminal sliding mode control and synchronization of a chaotic system via interval type-2 fuzzy inference system with proportionate controller. Iranian Journal of Fuzzy Systems, 20(6), 171-185. https://doi.org/10.22111/IJFS.2023.39658.6889

This paper introduces a novel adaptive nonsingular fast terminal sliding mode approach that benefits from an interval type-2 fuzzy logic estimator and a gain for control and synchronization of chaotic systems in the presence of uncertainty. The nonsi... Read More about Adaptive non-singular fast terminal sliding mode control and synchronization of a chaotic system via interval type-2 fuzzy inference system with proportionate controller.

Enhancing Positional Accuracy of the XY-Linear Stage Using Laser Tracker Feedback and IT2FLS (2023)
Journal Article
Khanesar, M. A., Yan, M., Isa, M., Piano, S., Ayoubi, M. A., & Branson, D. (2023). Enhancing Positional Accuracy of the XY-Linear Stage Using Laser Tracker Feedback and IT2FLS. Machines, 11(4), Article 497. https://doi.org/10.3390/machines11040497

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. However, due to... Read More about Enhancing Positional Accuracy of the XY-Linear Stage Using Laser Tracker Feedback and IT2FLS.

A Neural Network Separation Approach for the Inclusion of Static Friction in Nonlinear Static Models of Industrial Robots (2023)
Journal Article
Ahmadieh Khanesar, M., Yan, M., Syam, W. P., Piano, S., Leach, R. K., & Branson, D. (2023). A Neural Network Separation Approach for the Inclusion of Static Friction in Nonlinear Static Models of Industrial Robots. IEEE/ASME Transactions on Mechatronics, 28(6), 3294-3304. https://doi.org/10.1109/TMECH.2023.3262644

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 terms correspon... Read More about A Neural Network Separation Approach for the Inclusion of Static Friction in Nonlinear Static Models of Industrial Robots.

Intelligent Static Calibration of Industrial Robots using Artificial Bee Colony Algorithm (2023)
Presentation / Conference Contribution
Khanesar, M. A., Yan, M., Kendal, P., Isa, M., Piano, S., & Branson, D. (2023, March). Intelligent Static Calibration of Industrial Robots using Artificial Bee Colony Algorithm. Presented at Proceedings - 2023 IEEE International Conference on Mechatronics, ICM 2023, Loughborough, United Kingdom

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 feedback c... Read More about Intelligent Static Calibration of Industrial Robots using Artificial Bee Colony Algorithm.

Trinocular vision system for pose determination (2022)
Presentation / Conference Contribution
Isa, M., Khanesar, M., Leach, R., Branson, D., & Piano, S. (2022, October). Trinocular vision system for pose determination. Presented at 37th Annual Meeting of the American Society for Precision Engineering, Bellevue, USA