ZHOU, Li ;LIU, Yan . Kinematics-based Tracking Control Method˝for Operational Robotic Arm Under Multi-Environmental Constraints. Strojniški vestnik - Journal of Mechanical Engineering, [S.l.], v. 71, n.11-12, p. 389-401, april 2025. ISSN 0039-2480. Available at: <https://www.sv-jme.eu/article/kinematics-based-tracking-control-method-for-operational-robotic-arm-under-multi-environmental-constraints/>. Date accessed: 12 dec. 2025. doi:http://dx.doi.org/10.5545/sv-jme.2025.1301.
Zhou, L., & Liu, Y. (2025). Kinematics-based Tracking Control Method˝for Operational Robotic Arm Under Multi-Environmental Constraints. Strojniški vestnik - Journal of Mechanical Engineering, 71(11-12), 389-401. doi:http://dx.doi.org/10.5545/sv-jme.2025.1301
@article{sv-jmesv-jme.2025.1301,
author = {Li Zhou and Yan Liu},
title = {Kinematics-based Tracking Control Method˝for Operational Robotic Arm Under Multi-Environmental Constraints},
journal = {Strojniški vestnik - Journal of Mechanical Engineering},
volume = {71},
number = {11-12},
year = {2025},
keywords = {coal mining operations; robotic arm; dynamics; multi-environmental constraints; tracking control; },
abstract = {The environmental hazards associated with coal mining operations are extremely high, making the use of robotic arms to replace manual labor crucial for improving both the safety and cost-effectiveness of the work process. To address the various environmental constraints, such as spatial limitations, obstacles, and internal and external disturbances, this study proposes a kinematic-based tracking and control method for mining robotic arm. The objective of this numerical study is to mitigate the impact of environmental constraints on the stability of robotic arms, ensuring that they can maintain high precision and stability in complex operating conditions. Simulation results showed that the proposed method enabled the robotic arm to achieve operational thrust peaks exceeding 13,968 N and screw torque peaks greater than 0.06 Nm. The system reached steady state in an average of 0.24 s, with an error reduction of 2.3 %. Compared to other methods, the disturbance tracker reduced the average error by 2 %, and the feedback controller decreased the prediction lag by 5 %. Overall, this method significantly enhances the accuracy and stability of robotic arms in coal mining operations, making it a promising approach for real-world applications.},
issn = {0039-2480}, pages = {389-401}, doi = {10.5545/sv-jme.2025.1301},
url = {https://www.sv-jme.eu/article/kinematics-based-tracking-control-method-for-operational-robotic-arm-under-multi-environmental-constraints/}
}
Zhou, L.,Liu, Y. 2025 April 71. Kinematics-based Tracking Control Method˝for Operational Robotic Arm Under Multi-Environmental Constraints. Strojniški vestnik - Journal of Mechanical Engineering. [Online] 71:11-12
%A Zhou, Li %A Liu, Yan %D 2025 %T Kinematics-based Tracking Control Method˝for Operational Robotic Arm Under Multi-Environmental Constraints %B 2025 %9 coal mining operations; robotic arm; dynamics; multi-environmental constraints; tracking control; %! Kinematics-based Tracking Control Method˝for Operational Robotic Arm Under Multi-Environmental Constraints %K coal mining operations; robotic arm; dynamics; multi-environmental constraints; tracking control; %X The environmental hazards associated with coal mining operations are extremely high, making the use of robotic arms to replace manual labor crucial for improving both the safety and cost-effectiveness of the work process. To address the various environmental constraints, such as spatial limitations, obstacles, and internal and external disturbances, this study proposes a kinematic-based tracking and control method for mining robotic arm. The objective of this numerical study is to mitigate the impact of environmental constraints on the stability of robotic arms, ensuring that they can maintain high precision and stability in complex operating conditions. Simulation results showed that the proposed method enabled the robotic arm to achieve operational thrust peaks exceeding 13,968 N and screw torque peaks greater than 0.06 Nm. The system reached steady state in an average of 0.24 s, with an error reduction of 2.3 %. Compared to other methods, the disturbance tracker reduced the average error by 2 %, and the feedback controller decreased the prediction lag by 5 %. Overall, this method significantly enhances the accuracy and stability of robotic arms in coal mining operations, making it a promising approach for real-world applications. %U https://www.sv-jme.eu/article/kinematics-based-tracking-control-method-for-operational-robotic-arm-under-multi-environmental-constraints/ %0 Journal Article %R 10.5545/sv-jme.2025.1301 %& 389 %P 13 %J Strojniški vestnik - Journal of Mechanical Engineering %V 71 %N 11-12 %@ 0039-2480 %8 2025-04-14 %7 2025-04-14
Zhou, Li, & Yan Liu. "Kinematics-based Tracking Control Method˝for Operational Robotic Arm Under Multi-Environmental Constraints." Strojniški vestnik - Journal of Mechanical Engineering [Online], 71.11-12 (2025): 389-401. Web. 12 Dec. 2025
TY - JOUR AU - Zhou, Li AU - Liu, Yan PY - 2025 TI - Kinematics-based Tracking Control Method˝for Operational Robotic Arm Under Multi-Environmental Constraints JF - Strojniški vestnik - Journal of Mechanical Engineering DO - 10.5545/sv-jme.2025.1301 KW - coal mining operations; robotic arm; dynamics; multi-environmental constraints; tracking control; N2 - The environmental hazards associated with coal mining operations are extremely high, making the use of robotic arms to replace manual labor crucial for improving both the safety and cost-effectiveness of the work process. To address the various environmental constraints, such as spatial limitations, obstacles, and internal and external disturbances, this study proposes a kinematic-based tracking and control method for mining robotic arm. The objective of this numerical study is to mitigate the impact of environmental constraints on the stability of robotic arms, ensuring that they can maintain high precision and stability in complex operating conditions. Simulation results showed that the proposed method enabled the robotic arm to achieve operational thrust peaks exceeding 13,968 N and screw torque peaks greater than 0.06 Nm. The system reached steady state in an average of 0.24 s, with an error reduction of 2.3 %. Compared to other methods, the disturbance tracker reduced the average error by 2 %, and the feedback controller decreased the prediction lag by 5 %. Overall, this method significantly enhances the accuracy and stability of robotic arms in coal mining operations, making it a promising approach for real-world applications. UR - https://www.sv-jme.eu/article/kinematics-based-tracking-control-method-for-operational-robotic-arm-under-multi-environmental-constraints/
@article{{sv-jme}{sv-jme.2025.1301},
author = {Zhou, L., Liu, Y.},
title = {Kinematics-based Tracking Control Method˝for Operational Robotic Arm Under Multi-Environmental Constraints},
journal = {Strojniški vestnik - Journal of Mechanical Engineering},
volume = {71},
number = {11-12},
year = {2025},
doi = {10.5545/sv-jme.2025.1301},
url = {https://www.sv-jme.eu/article/kinematics-based-tracking-control-method-for-operational-robotic-arm-under-multi-environmental-constraints/}
}
TY - JOUR AU - Zhou, Li AU - Liu, Yan PY - 2025/04/14 TI - Kinematics-based Tracking Control Method˝for Operational Robotic Arm Under Multi-Environmental Constraints JF - Strojniški vestnik - Journal of Mechanical Engineering; Vol 71, No 11-12 (2025): Strojniški vestnik - Journal of Mechanical Engineering DO - 10.5545/sv-jme.2025.1301 KW - coal mining operations, robotic arm, dynamics, multi-environmental constraints, tracking control, N2 - The environmental hazards associated with coal mining operations are extremely high, making the use of robotic arms to replace manual labor crucial for improving both the safety and cost-effectiveness of the work process. To address the various environmental constraints, such as spatial limitations, obstacles, and internal and external disturbances, this study proposes a kinematic-based tracking and control method for mining robotic arm. The objective of this numerical study is to mitigate the impact of environmental constraints on the stability of robotic arms, ensuring that they can maintain high precision and stability in complex operating conditions. Simulation results showed that the proposed method enabled the robotic arm to achieve operational thrust peaks exceeding 13,968 N and screw torque peaks greater than 0.06 Nm. The system reached steady state in an average of 0.24 s, with an error reduction of 2.3 %. Compared to other methods, the disturbance tracker reduced the average error by 2 %, and the feedback controller decreased the prediction lag by 5 %. Overall, this method significantly enhances the accuracy and stability of robotic arms in coal mining operations, making it a promising approach for real-world applications. UR - https://www.sv-jme.eu/article/kinematics-based-tracking-control-method-for-operational-robotic-arm-under-multi-environmental-constraints/
Zhou, Li, AND Liu, Yan. "Kinematics-based Tracking Control Method˝for Operational Robotic Arm Under Multi-Environmental Constraints" Strojniški vestnik - Journal of Mechanical Engineering [Online], Volume 71 Number 11-12 (14 April 2025)
Strojniški vestnik - Journal of Mechanical Engineering 71(2025)11-12, 389-401
© The Authors 2025. CC BY 4.0 Int.
The environmental hazards associated with coal mining operations are extremely high, making the use of robotic arms to replace manual labor crucial for improving both the safety and cost-effectiveness of the work process. To address the various environmental constraints, such as spatial limitations, obstacles, and internal and external disturbances, this study proposes a kinematic-based tracking and control method for mining robotic arm. The objective of this numerical study is to mitigate the impact of environmental constraints on the stability of robotic arms, ensuring that they can maintain high precision and stability in complex operating conditions. Simulation results showed that the proposed method enabled the robotic arm to achieve operational thrust peaks exceeding 13,968 N and screw torque peaks greater than 0.06 Nm. The system reached steady state in an average of 0.24 s, with an error reduction of 2.3 %. Compared to other methods, the disturbance tracker reduced the average error by 2 %, and the feedback controller decreased the prediction lag by 5 %. Overall, this method significantly enhances the accuracy and stability of robotic arms in coal mining operations, making it a promising approach for real-world applications.