Latest Papers

ASME Journal of Mechanisms and Robotics

  • Intuitive Physical Human–Robot Interaction Using an Underactuated Redundant Manipulator With Complete Spatial Rotational Capabilities
    by Audet JM, Gosselin C. on July 21, 2021 at 12:00 am

    AbstractIn this paper, the concept of underactuated redundancy is presented using a novel spatial two-degrees-of-freedom (2-DoF) gravity-balanced rotational manipulator, composed of movable counterweights. The proposed kinematic arrangement makes it possible to intuitively manipulate a payload undergoing 3-DoF spatial rotations by adding a third rotational axis oriented in the direction of gravity. The static equilibrium equations of the 2-DoF architecture are first described in order to provide the required configuration of the counterweights for a statically balanced mechanism. A method for calibrating the mechanism, which establishes the coefficients of the static equilibrium equations, is also presented. In order to both translate and rotate the payload during manipulation, the rotational manipulator is mounted on an existing translational manipulator. Experimental validations of both systems are presented to demonstrate the intuitive and responsive behavior of the manipulators during physical human–robot interactions.

  • Special Section: Mobile Robots and Unmanned Ground Vehicles
    by Reina G, Das TK, Quaglia G, et al. on July 21, 2021 at 12:00 am

    Inspired by the fifth-year anniversary celebration of the homonymous symposium at the International Mechanical Engineering Congress & Exposition (IMECE), this Special Section with ten articles shares the latest research efforts in design, theory, development, and applications for mobile robots and unmanned ground vehicles.

A Calibration Method for Enhancing Robot Accuracy Through Integration of Kinematic Model and Spatial Interpolation Algorithm


Industrial robots are finding their niche in the field of machining due to their advantages of high flexibility, good versatility, and low cost. However, limited by the low absolute positioning accuracy, there are still huge obstacles in high-precision machining processes such as grinding. Aiming at this problem, a compensation method combining analytical modeling for quantitative errors with spatial interpolation algorithm for random errors is proposed based on the full consideration of the source and characteristics of positioning errors. First, as for the quantitative errors, namely geometric parameter and compliance error in this paper, a kinematics-based error model is constructed taking the coupling effect of errors into consideration. Then avoiding the impact of random errors, the extended Kalman filtering (EKF) algorithm is adopted to identify the error parameters. Second, based on the similarity principle of spatial error, spatial interpolation algorithm is used to model the residual error caused by temperature, gear clearance, etc. Based on the spatial anisotropy characteristics of robot motion performance, an adaptive mesh division algorithm was proposed to balance the accuracy and efficiency of mesh division. Then, an inverse distance weighted interpolation algorithm considering the influence degree of different joints on the end position was established to improve the approximation accuracy of residual error. Finally, the rough-fine two-stage serial error compensation method was carried out. Experimental results show that the mean absolute positioning accuracy is improved from 1.165 mm to 0.106 mm, which demonstrates the effectiveness of the method in this paper.
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