INTEGRATED NAVIGATION METHOD OF ELECTRIC FORKLIFT BASED ON IMPROVED UKF ALGORITHM

Aiming at the problem of inaccurate navigation and positioning of electric forklifts in a complex environment with multiple placement racks when carrying stored crops in a warehouse, this paper proposes a combined navigation and positioning system based on information fusion of LiDAR and inertial measurement units. The method proposed in this paper improves the traditional EKF algorithm by introducing factors affecting the prior covariance matrix and changing the weights of processing old and new data in the filtering equation to achieve the desired goal of suppressing system dispersion and to accomplish accurate estimation of the position of electric forklifts in the storage room. The simulation of robot positioning and navigation in indoor environment shows that the improved algorithm improves the position estimation accuracy by about 30% compared with the traditional algorithm, the new algorithm can effectively improve the efficiency of electric forklift for handling and storage, and it can ensure the robustness of robot position estimation.

Influence of the Manufacturing Accuracy of the Planetary Cycloid Gear on the Positioning Accuracy of the Parallel Robot

The increased accuracy in high-speed positioning of the parallel robot effector in comparison with that of serial robots with a sequential structure is often the main reason for their use in various modern industries, such as the manufacture of printed circuit boards for microelectronics. However, despite the higher theoretical positioning accuracy, due to the kinematic structure of the parallel robot, in practice this characteristic largely depends on the accuracy of manufacturing individual elements of this mechanism, the most important of which are the gearboxes of the drives of its input pairs. A solution to the urgent problem of determining the effect of the manufacturing accuracy of planetary pinion gearboxes included in the drive of a five-link parallel robot on the positioning accuracy of its output link is proposed. A specific relationship has been determined between the grade of accuracy number of the gear part dimensions and the robot positioning accuracy. The unevenness of the positioning accuracy along the coordinate axes of its working area is revealed. It was found that near the area of certain robot positions the accuracy of its positioning drops sharply.

Design and Analysis of Indoor Mobile Robot Positioning Technology

In the field of mobile robot technology research, positioning technology is one of the core technologies, so it has been widely concerned in the field of industry. Due to the limitation of space, indoor mobile robots often have a high demand for their own position confirmation in the process of operation. Therefore, exploration based on positioning technology is very important for the further development of indoor mobile robots. Based on the research on the positioning technology of wheeled indoor mobile robot, this paper will make an effective evaluation on the future development direction of indoor mobile robot technology.

SLAM of Mobile Robot for Wireless Communication Based on Improved Particle Filter

The mobile robot is moved by receiving instructions through wireless communication, and the particle filter is used to simultaneous localization and mapping. Aiming at the problem of the degradation of particle filter weights and loss of particle diversity, which leads to the decrease of filter accuracy, this paper uses the plant cell swarm algorithm to optimize the particle filter. First of all, combining the characteristics of plant cells that affect the growth rate of cells when the auxin content changes due to light stimulation realizes the optimization of the particles after importance sampling, so that they are concentrated in the high-likelihood area, and the problem of particle weight degradation is solved. Secondly, in the process of optimizing particle distribution, the auxin content of each particle is different, which makes the optimization effect on each particle different, so it effectively solves the problem of particle diversity loss. Finally, a simulation experiment is carried out. During the experiment, the robot moves by receiving control commands through wireless communication. The experimental results show that the algorithm effectively solves the problem of particle weight degradation and particle diversity loss and improves the filtering accuracy. The improved algorithm is verified in the simultaneous localization and mapping of the robot, which effectively improves the robot’s performance at the same time positioning accuracy. Compared with the classic algorithm, the robot positioning accuracy is increased by 49.2%. Moreover, the operational stability of the algorithm has also been improved after the improvement.

Energy Efficient Multi-Robotic 3D Printing for Large-Scale Construction – Framework, Challenges, and a Systematic Approach

An emerging trend in smart manufacturing of the future is robotic additive manufacturing or 3D printing which introduces numerous advantages towards fast and efficient printing of high-quality customized products. In the case of the construction industry, and specifically in large-scale settings, multi-robotic additive manufacturing (i.e., adopting a team of 3D printer robots) has been found to be a promising solution in order to overcome the existing size limitations. Consequently, several research efforts regarding the development and control of such robotic additive manufacturing solutions have been reported in the literature. However, given the increasing environmental concerns, establishing novel methodologies for energy-efficient processing and planning of these systems towards higher sustainability is necessary. This paper presents a novel framework towards energy-efficient multi-robotic additive manufacturing and describes the overall challenges with respect to the energy efficiency. The energy module of the proposed framework is implemented in a simulation environment. In addition, a systematic approach for energy-aware robot positioning is introduced based on the novel concept of reciprocal energy map. The reciprocal energy map is established based on the original energy map calculated by the energy module and can be used for identifying the low energy zones for positioning and relocation of robots during the printing process.