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Hand Gesture Interface to Teach an Industrial Robots (2023)
Presentation / Conference
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.

Vision-based detection and coordinate metrology of a spatially encoded multi-sphere artefact (2023)
Journal Article
Isa, M. A., Leach, R., Branson, D., & Piano, S. (2024). Vision-based detection and coordinate metrology of a spatially encoded multi-sphere artefact. Optics and Lasers in Engineering, 172, Article 107885. https://doi.org/10.1016/j.optlaseng.2023.107885

New developments in vision algorithms prioritise identification and perception over accurate coordinate measurement due to the complex problem of resolving object form and pose from images. Consequently, many vision algorithms for coordinate measurem... Read More about Vision-based detection and coordinate metrology of a spatially encoded multi-sphere artefact.

Uncertainty analysis of an augmented industrial robot (2023)
Conference Proceeding
Khanesar, M. A., Piano, S., & Branson, D. (in press). Uncertainty analysis of an augmented industrial robot.

Industrial robots are often used in additive manufacturing (AM) environments to automate the process of creating complex parts and structures. One example of an industrial robot used in AM is for wire and arc additive manufacturing. This process invo... Read More about Uncertainty analysis of an augmented industrial robot.

High-accuracy robotic metrology for precise industrial manipulation tasks (2023)
Conference Proceeding
Isa, M. A., Khanesar, M. A., Leach, R. K., Branson, D., & Piano, S. (2023). High-accuracy robotic metrology for precise industrial manipulation tasks. . https://doi.org/10.1117/12.2673088

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.

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)
Conference Proceeding
Khanesar, M. A., Yan, M., Kendal, P., Isa, M., Piano, S., & Branson, D. (2023). Intelligent Static Calibration of Industrial Robots using Artificial Bee Colony Algorithm. In Proceedings of IEEE International Conference on Mechatronics ( IEEE ICM 2023). https://doi.org/10.1109/ICM54990.2023.10101918

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.

Dynamic Capture Using a Traplike Soft Gripper With Stiffness Anisotropy (2022)
Journal Article
Yang, S., Zhou, Y., Walker, I. D., Yang, C., Branson, D. T., Song, Z., …Kang, R. (2023). Dynamic Capture Using a Traplike Soft Gripper With Stiffness Anisotropy. IEEE/ASME Transactions on Mechatronics, 28(3), 1337-1346. https://doi.org/10.1109/tmech.2022.3219108

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. In partic... Read More about Dynamic Capture Using a Traplike Soft Gripper With Stiffness Anisotropy.

Smart optical coordinate and surface metrology (2022)
Journal Article
Catalucci, S., Thompson, A., Eastwood, J., Zhang, Z. M., Branson, D. T., Leach, R., & Piano, S. (2022). Smart optical coordinate and surface metrology. Measurement Science and Technology, 34(1), Article 012001. https://doi.org/10.1088/1361-6501/ac9544

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 machine learn... Read More about Smart optical coordinate and surface metrology.

Improving the Positional Accuracy of Industrial Robots by Forward Kinematic Calibration using Laser Tracker System (2022)
Conference Proceeding
Khanesar, M. A., Piano, S., & Branson, D. (2022). Improving the Positional Accuracy of Industrial Robots by Forward Kinematic Calibration using Laser Tracker System. In Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2022) (263-270). https://doi.org/10.5220/0011340200003271

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 kinematics o... Read More about Improving the Positional Accuracy of Industrial Robots by Forward Kinematic Calibration using Laser Tracker System.

Frequency scanning interferometry for accurate robot position measurement (2022)
Conference Proceeding
Isa, M. A., Khanesar, M. A., Leach, R., Branson, D., & Piano, S. (2022). Frequency scanning interferometry for accurate robot position measurement. In Proceedings of 22nd International Conference & Exhibition

This paper presents a frequency scanning interferometry (FSI) shortwave infrared (IR) setup developed for position and orientation measurement of industrial robots. Within contemporary and future industrial frameworks, robots—in particular collaborat... Read More about Frequency scanning interferometry for accurate robot position measurement.

Optical metrology for digital manufacturing: a review (2022)
Journal Article
Catalucci, S., Thompson, A., Piano, S., Branson, D. T., & Leach, R. (2022). Optical metrology for digital manufacturing: a review. International Journal of Advanced Manufacturing Technology, 120(7-8), 4271-4290. https://doi.org/10.1007/s00170-022-09084-5

With the increasing adoption of Industry 4.0, optical metrology has experienced a significant boom in its implementation, as an ever-increasing number of manufacturing processes are overhauled for in-process measurement and control. As such, optical... Read More about Optical metrology for digital manufacturing: a review.

Robust Sliding Mode Fuzzy Control of Industrial Robots using an Extended Kalman Filter Inverse Kinematic Solver (2022)
Journal Article
Khanesar, M. A., & Branson, D. (2022). Robust Sliding Mode Fuzzy Control of Industrial Robots using an Extended Kalman Filter Inverse Kinematic Solver. Energies, 15(5), Article 1876. https://doi.org/10.3390/en15051876

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 coordinates... Read More about Robust Sliding Mode Fuzzy Control of Industrial Robots using an Extended Kalman Filter Inverse Kinematic Solver.

Unsupervised Learning for Product Use Activity Recognition: An Exploratory Study of a “Chatty Device” (2021)
Journal Article
Lakoju, M., Ajienka, N., Khanesar, M. A., Burnap, P., & Branson, D. T. (2021). Unsupervised Learning for Product Use Activity Recognition: An Exploratory Study of a “Chatty Device”. Sensors, 21(15), Article 4991. https://doi.org/10.3390/s21154991

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 IoT-enabled... Read More about Unsupervised Learning for Product Use Activity Recognition: An Exploratory Study of a “Chatty Device”.

A Structured Approach for Synchronising the Applications of Failure Mode and Effects Analysis (2021)
Journal Article
Alruqi, M., Baumers, M., Branson, D., & Farndon, R. (2021). A Structured Approach for Synchronising the Applications of Failure Mode and Effects Analysis. Management Systems in Production Engineering, 29(3), 165-177. https://doi.org/10.2478/mspe-2021-0021

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 with product... Read More about A Structured Approach for Synchronising the Applications of Failure Mode and Effects Analysis.

Electrical Load Prediction using Interval Type-2 Atanassov Intuitionist Fuzzy System: Gravitational Search Algorithm Tuning approach (2021)
Journal Article
Khanesar, M. A., Lu, J., Smith, T., & Branson, D. (2021). Electrical Load Prediction using Interval Type-2 Atanassov Intuitionist Fuzzy System: Gravitational Search Algorithm Tuning approach. Energies, 14(12), 1-18. https://doi.org/10.3390/en14123591

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 utilization of rene... Read More about Electrical Load Prediction using Interval Type-2 Atanassov Intuitionist Fuzzy System: Gravitational Search Algorithm Tuning approach.

Real-time target alignment system for high-power high-repetition rate laser operations using a five degree-of-freedom hybrid mechanism (2020)
Journal Article
Karim, S., Piano, S., Branson, D., Santoso, T., Leach, R., & Tolley, M. (2022). Real-time target alignment system for high-power high-repetition rate laser operations using a five degree-of-freedom hybrid mechanism. International Journal of Control, 95(4), 867-885. https://doi.org/10.1080/00207179.2020.1827297

This paper presents a real-time position control solution for the targets used in the high-repetition rate laser operations of large-scale high-power laser facilities. The design of the control system is based on an Abbe-compliant, in-process positio... Read More about Real-time target alignment system for high-power high-repetition rate laser operations using a five degree-of-freedom hybrid mechanism.

XOR Binary Gravitational Search Algorithm with Repository: Industry 4.0 Applications (2020)
Journal Article
Ahmadieh Khanesar, M., Bansal, R., Martínez-Arellano, G., & Branson, D. (2020). XOR Binary Gravitational Search Algorithm with Repository: Industry 4.0 Applications. Applied Sciences, 10(8), Article 6451. https://doi.org/10.3390/app10186451

Industry 4.0 is the fourth generation of industry which will theoretically revolutionize manufacturing methods through the integration of machine learning and artificial intelligence approaches on the factory floor to obtain robustness and sped-up pr... Read More about XOR Binary Gravitational Search Algorithm with Repository: Industry 4.0 Applications.

Support Vector Regression for Multi-objective Parameter Estimation of Interval Type-2 Fuzzy Systems (2020)
Book Chapter
Ahmadieh Khanesar, M., & Branson, D. (2020). Support Vector Regression for Multi-objective Parameter Estimation of Interval Type-2 Fuzzy Systems. In Soft Computing for Problem Solving 2019: Proceedings of SocProS 2019, Volume 1 (97-108). Springer Verlag. https://doi.org/10.1007/978-981-15-3290-0_8

© 2020, Springer Nature Singapore Pte Ltd. This paper presents a support vector regression-based multi-objective parameter estimation method for interval type-2 fuzzy systems, which deals with prediction interval rather than its crisp output value. S... Read More about Support Vector Regression for Multi-objective Parameter Estimation of Interval Type-2 Fuzzy Systems.

Geometric constraint-based modeling and analysis of a novel continuum robot with Shape Memory Alloy initiated variable stiffness (2020)
Journal Article
Yang, C., Geng, S., Walker, I., Branson, D. T., Liu, J., Dai, J. S., & Kang, R. (2020). Geometric constraint-based modeling and analysis of a novel continuum robot with Shape Memory Alloy initiated variable stiffness. International Journal of Robotics Research, 39(14), 1620-1634. https://doi.org/10.1177/0278364920913929

Continuum robots exhibit promising adaptability and dexterity for soft manipulation due to their intrinsic compliance. However, this compliance may lead to challenges in modeling as well as positioning and loading. In this paper, a virtual-work based... Read More about Geometric constraint-based modeling and analysis of a novel continuum robot with Shape Memory Alloy initiated variable stiffness.

Real-time target alignment system for high-power high-repetition rate laser operations using a five degree-of-freedom hybrid mechanism (2020)
Journal Article
Leach, R., Branson, D., Karim, S., Tolley, M., Piano, S., & Santoso, T. (2020). Real-time target alignment system for high-power high-repetition rate laser operations using a five degree-of-freedom hybrid mechanism. International Journal of Control, 95(4), 867-885. https://doi.org/10.1080/00207179.2020.1827297

This paper presents a real-time position control solution for the targets used in the high-repetition rate laser operations of high-power laser facilities. The control system is designed based on an Abbe-compliant, in-process position measurement sys... Read More about Real-time target alignment system for high-power high-repetition rate laser operations using a five degree-of-freedom hybrid mechanism.

Closed Loop Force Control of In-Situ Machining Robots using Audible Sound Features (2019)
Journal Article
Alatorre, D., Rabani, A., Axinte, D., & Branson, D. T. (2020). Closed Loop Force Control of In-Situ Machining Robots using Audible Sound Features. Mechanical Systems and Signal Processing, 136, Article 106517. https://doi.org/10.1016/j.ymssp.2019.106517

Detecting, measuring and controlling the forces between cutting tools and machined components is essential in circumstances where direct position control (e.g. depth of cut, feed speed, etc.) is inaccurate and/or impossible. This paper explores the u... Read More about Closed Loop Force Control of In-Situ Machining Robots using Audible Sound Features.

Task space-based orientability analysis and optimization of a wire-driven continuum robot (2019)
Journal Article
Wang, C., Geng, S., Branson, D. T., Yang, C., Dai, J. S., & Kang, R. (2019). Task space-based orientability analysis and optimization of a wire-driven continuum robot. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 233(23-24), 7658-7668. https://doi.org/10.1177/0954406219889083

Compared to traditional rigid robots, continuum robots have intrinsic compliance and therefore behave dexterously when performing tasks in restricted environments. Although there have been many researches on the design and application of continuum ro... Read More about Task space-based orientability analysis and optimization of a wire-driven continuum robot.

The influence of control vanes on pneumatic conveying of pulverised fuel at a trifurcator (2019)
Journal Article
Abubakar, I., Giddings, D., Panorios, B., Branson, D., Lad, N., & Townsend, S. (2020). The influence of control vanes on pneumatic conveying of pulverised fuel at a trifurcator. Powder Technology, 362, 197-207. https://doi.org/10.1016/j.powtec.2019.11.111

© 2019 Elsevier B.V. Distribution of pulverised fuels in pneumatic conveying to conventional boilers is an ongoing research area with the intention of improving the performance of power-generating plants. One of the major challenges is the issue of o... Read More about The influence of control vanes on pneumatic conveying of pulverised fuel at a trifurcator.

XOR Binary Gravitational Search Algorithm (2019)
Conference Proceeding
Khanesar, M. A., & Branson, D. (2019). XOR Binary Gravitational Search Algorithm. In 2019 IEEE International Conference on Systems, Man and Cybernetics (SMC) (3269-3274). https://doi.org/10.1109/smc.2019.8914607

In this paper, an XOR binary gravitational search algorithm is introduced. Gravitational search algorithms, a physics inspired optimization algorithm, have previously been successfully applied to different real-valued optimization problems. In their... Read More about XOR Binary Gravitational Search Algorithm.

A Lumped-Mass Model for Large Deformation Continuum Surfaces Actuated by Continuum Robotic Arms (2019)
Journal Article
Habibi, H., Yang, C., Godage, I. S., Kang, R., Walker, I. D., & Branson, D. T. (2020). A Lumped-Mass Model for Large Deformation Continuum Surfaces Actuated by Continuum Robotic Arms. Journal of Mechanisms and Robotics, 12(1), 1-12. https://doi.org/10.1115/1.4045037

Currently, flexible surfaces enabled to be actuated by robotic arms are experiencing high interest and demand for robotic applications in various areas such as healthcare, automotive, aerospace, and manufacturing. However, their design and control th... Read More about A Lumped-Mass Model for Large Deformation Continuum Surfaces Actuated by Continuum Robotic Arms.

Image processing algorithm to determine an optimised 2D laser cutting trajectory (2019)
Conference Proceeding
Syam, W. P., Bansal, R., Benardos, P., Britchford, E., Hopkinson, A., Voisey, K., & Branson, D. T. (2019). Image processing algorithm to determine an optimised 2D laser cutting trajectory. In Proceedings of 25th IEEE International Conference on Automation & Computing (ICAC'19) (1-6)

Laser cutting processes offer high-quality and fast cutting capability across a wide variety of materials, including metals, plastics and organic tissues. To enable 2D laser cutting process, a set of (x, y) Cartesian coordinates that form a cutting t... Read More about Image processing algorithm to determine an optimised 2D laser cutting trajectory.

Ant Colony Optimization Algorithm for Industrial Robot Programming in a Digital Twin (2019)
Conference Proceeding
Bansal, R., Ahmadieh Khanesar, M., & Branson, D. (2019). Ant Colony Optimization Algorithm for Industrial Robot Programming in a Digital Twin. In Proceedings of the 25th International Conference on Automation & Computing, Lancaster University, Lancaster UK, 5-7 September 2019 (1-5). https://doi.org/10.23919/IConAC.2019.8895095

Advanced manufacturing that is adaptable to constantly changing product designs often requires dynamic changes on the factory floor to enable manufacture. The integration of robotic manufacture with machine learning approaches offers the possibility... Read More about Ant Colony Optimization Algorithm for Industrial Robot Programming in a Digital Twin.

Kinematics and statics of eccentric soft bending actuators with external payloads (2019)
Journal Article
Yang, C., Kang, R., Branson, D. T., Chen, L., & Dai, J. S. (2019). Kinematics and statics of eccentric soft bending actuators with external payloads. Mechanism and Machine Theory, 139, 526-541. https://doi.org/10.1016/j.mechmachtheory.2019.05.015

Soft bending actuators, born with the considerable capacity of structural flexibility and environmental adaptability, have been widely favored for years. However, the highly nonlinear coupling between force and deformation in such robots are very com... Read More about Kinematics and statics of eccentric soft bending actuators with external payloads.

Assessing worker performance using dynamic cost functions in human robot collaborative tasks (2019)
Journal Article
Smith, T., Benardos, P., & Branson, D. (2020). Assessing worker performance using dynamic cost functions in human robot collaborative tasks. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 234(1), 289-301. https://doi.org/10.1177/0954406219838568

The aim of this research is to develop a framework to allow efficient Human Robot, HR, collaboration on manufacturing assembly tasks based on cost functions that quantify capabilities and performance of each element in a system and enable their effic... Read More about Assessing worker performance using dynamic cost functions in human robot collaborative tasks.

Design and modeling of a soft robotic surface with hyperelastic material (2018)
Journal Article
Chen, L., Yang, C., Wang, H., Branson, D. T., Dai, J. S., & Kang, R. (2018). Design and modeling of a soft robotic surface with hyperelastic material. Mechanism and Machine Theory, 130, 109-122. https://doi.org/10.1016/j.mechmachtheory.2018.08.010

While most existing soft robots have tentacle-like morphology, this paper extends the morphology of a soft robot from a curve to a surface. The presented robotic surface is fabricated using hyperelastic silicone material, and its morphology and defor... Read More about Design and modeling of a soft robotic surface with hyperelastic material.

Modelling an acuated large deformation soft continuum robot surface undergoing external forces using a lumped-mass approach (2018)
Conference Proceeding
Habibi, H., Yang, C., Kang, R., Walker, I. D., Godage, I. S., Dong, X., & Branson, D. T. (2018). Modelling an acuated large deformation soft continuum robot surface undergoing external forces using a lumped-mass approach

Precise actuation of continuum surfaces in combination with continuum robotic arms that undergo large deformation is of high interest in soft robotics but of limited model-based study to date. This work develops this area towards enabling the robust... Read More about Modelling an acuated large deformation soft continuum robot surface undergoing external forces using a lumped-mass approach.

Optimal integration of pneumatic artificial muscles with vacuum-jammed surfaces to characterise a novel reconfigurable moulding system (2018)
Journal Article
Habibi, H., Land, P., Ball, M. J., Troncoso, D. A., & Branson, D. T. (in press). Optimal integration of pneumatic artificial muscles with vacuum-jammed surfaces to characterise a novel reconfigurable moulding system. Journal of Manufacturing Processes, 32, https://doi.org/10.1016/j.jmapro.2018.02.013

Producing mould tooling systems is a considerable proportion of manufacturing cost and time, especially for low volume productions. Producing a reconfigurable mould to shape surfaces into complex geometries with multiple curvatures would obviate the... Read More about Optimal integration of pneumatic artificial muscles with vacuum-jammed surfaces to characterise a novel reconfigurable moulding system.

Effect of mechanical preconditioning on the electrical properties of knitted conductive textiles during cyclic loading (2018)
Journal Article
Isaia, C., McNally, D. S., McMaster, S. A., & Branson, D. T. (in press). Effect of mechanical preconditioning on the electrical properties of knitted conductive textiles during cyclic loading. Textile Research Journal, https://doi.org/10.1177/0040517517748496

This paper presents, for the first time, the electrical response of knitted conductive fabrics to a considerable number of cycles of deformation in view of their use as wearable sensors. The changes in the electrical properties of four knitted conduc... Read More about Effect of mechanical preconditioning on the electrical properties of knitted conductive textiles during cyclic loading.

Model-free control for continuum robots based on an adaptive Kalman filter (2017)
Journal Article
Li, M., Kang, R., Branson, D. T., & Dai, J. S. (2018). Model-free control for continuum robots based on an adaptive Kalman filter. IEEE/ASME Transactions on Mechatronics, 23(1), https://doi.org/10.1109/TMECH.2017.2775663

Continuum robots with structural compliance have promising potential to operate in unstructured environments. However, this structural compliance brings challenges to the controller design due to the existence of considerable uncertainties in the rob... Read More about Model-free control for continuum robots based on an adaptive Kalman filter.

Workspace analysis of tendon-driven continuum robots based on mechanical interference identification (2017)
Journal Article
Cao, K., Kang, R., Branson, D., Geng, S., Song, Z., & Dai, J. S. (2017). Workspace analysis of tendon-driven continuum robots based on mechanical interference identification. Journal of Mechanical Design, 139(6), doi:10.1115/1.4036395

Continuum robots have excited increasing attention and efforts from the robotic community due to their high dexterity and safety. This paper proposes a design for a type of multimodule continuum robot equipped with an elastic backbone structure and t... Read More about Workspace analysis of tendon-driven continuum robots based on mechanical interference identification.

Flexible robot sealant dispensing cell using RGB-D sensor and off-line programming (2017)
Journal Article
Maiolino, P., Woolley, R., Branson, D. T., Benardos, P., Popov, A. A., & Ratchev, S. (in press). Flexible robot sealant dispensing cell using RGB-D sensor and off-line programming. Robotics and Computer-Integrated Manufacturing, 48, https://doi.org/10.1016/j.rcim.2017.04.004

In aerospace manufacture the accurate and robust application of sealant is an integral and challenging part of the manufacturing process that is still performed by human operator. Automation of this process is difficult and not cost effective due to... Read More about Flexible robot sealant dispensing cell using RGB-D sensor and off-line programming.

Design of a pneumatic muscle based continuum robot with embedded tendons (2016)
Journal Article
Kang, R., Guo, Y., Chen, L., Branson, D. T., & Dai, J. S. (2017). Design of a pneumatic muscle based continuum robot with embedded tendons. IEEE/ASME Transactions on Mechatronics, 22(2), 751-761. https://doi.org/10.1109/TMECH.2016.2636199

© 1996-2012 IEEE. Continuum robots have attracted increasing focus in recent years due to their intrinsic compliance that allows for dexterous and safe movements. However, the inherent compliance in such systems reduces the structural stiffness, and... Read More about Design of a pneumatic muscle based continuum robot with embedded tendons.

Embodiment design of soft continuum robots (2016)
Journal Article
Kang, R., Guglielmino, E., Zullo, L., BRANSON, D., Godage, I., & Caldwell, D. G. (2016). Embodiment design of soft continuum robots. Advances in Mechanical Engineering, 8(4), doi:10.1177/1687814016643302

Dynamics for variable length multisection continuum arms (2015)
Journal Article
Godage, I. S., Medrano-Cerda, G. A., Branson, D. T., Guglielmino, E., & Caldwell, D. G. (2016). Dynamics for variable length multisection continuum arms. International Journal of Robotics Research, 35(6), https://doi.org/10.1177/0278364915596450

Variable length multisection continuum arms are a class of continuum robotic manipulators that generate motion by structural mechanical deformation. Unlike most continuum robots, the sections of these arms do not have (central) supporting flexible ba... Read More about Dynamics for variable length multisection continuum arms.

Modal kinematics for multisection continuum arms (2015)
Journal Article
Godage, I. S., Medrano-Cerda, G. A., Branson, D. T., Guglielmino, E., & Caldwell, D. G. (2015). Modal kinematics for multisection continuum arms. Bioinspiration and Biomimetics, 10(3), doi:10.1088/1748-3190/10/3/035002

This paper presents a novel spatial kinematic model for multisection continuum arms based on mode shape functions (MSF). Modal methods have been used in many disciplines from finite element methods to structural analysis to approximate complex and no... Read More about Modal kinematics for multisection continuum arms.

Optical metrology for digital manufacturing: A review
Conference Proceeding
Catalucci, S., Thompson, A., Eastwood, J., Piano, S., Branson, D. T., & Leach, R. Optical metrology for digital manufacturing: A review.

The so-called 4th Industrial Revolution is defined by the transformation of individual manufacturing activities into interconnected, highly efficient, flexible, and automated production flows. In this context, manufacturing processes are moving from... Read More about Optical metrology for digital manufacturing: A review.