# Advanced Applications of Industrial Robotics: New Trends and Possibilities
## 3 Recent Achievements in Industrial Robotics Classified according to Implementation Area
### Path Planning, Path Optimisation
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**Objective** & **Technology** & **Approach** & **Improvement** & **Ref.** \\ \hline The position of the objects—possible trajectory to an object in real-time. & A robotic system consisting of an ABB IRB120 robot equipped with a gripper and a 3D Kinect sensor. & Detection of the workpieces. Object recognition techniques are applied using available algorithms in MATLAB’s Adopting System Toolbox & The algorithm for finding 3D object position according to colour segmentation in real-time. The main focus was on finding the depth of an object from the Kinect sensor. Kinect could distinguish colour correctly, and the robot could accurately navigate to the detected object. & \\ The combination of eye-tracking and computer vision automate the approach of a robot to its targeted point by acquiring its 3D location. & Eye-tracking device, webcam. & Image analysis and geometrical reconstruction. & The computed coordinates of the target 3D localisation have an average error of 5.5 cm, which is 92\% more accurate than eye-tracking only for the point of gaze calculation, with an estimated error of 72 cm. & \\ \hline Computer vision technology for real-time seam tracking in robotic gas tungsten arc welding (GTAW). & Welding robot GTAW—the robot arm, the robot controller, the vision system, isolation unit, the weld power supply, and the host computer. Passive vision system. & Passive vision system image processing. & The developed method is feasible and sufficient to meet the specific precision requirements of some applications in robotic seam tracking. \\ \hline A higher fidelity model for predicting the entire pose-dependent RF of an industrial robot by combining the advantages of experimental Modal Analysis (EMA) with Operational Modal Analysis for missing processes. & & A Bayesian inference and hyperparameter updating approach for updating the EMA-calibrated GPA models of the robot FRF with OMA-based RF data improved the model’s compliance RMSE by 26\% and 27\% in the x and y direction tool paths, respectively, compared to only EMA-based calibration. The methodology reduced the average number of iterations and calibration times required to determine the optimal GPR model hyperparameters by 50.3\% and 31.3\%, respectively. & \\ \hline Safe trajectories without neglecting cognitive ergonomics and production efficiency aspects. & UR3 lightweight robot & Experimental tasks & The task’s execution time was reduced by 13.1\% regarding the robot’s default planner and 19.6\% concerning the minimum jerk smooth collaboration planner. & The task’s execution time was reduced by 13.1\% regarding the robot’s default planner and 19.6\% concerning the minimum jerk smooth collaboration planner. & \\ \hline An industrial robot moving between stud welding operations in a stud welding station. & Industrial robot & Quasi-static path optimisation for an industrial robot robot & The method was successfully applied to a stud welding station for an industrial robot moving between two stud welding operations. Even for a difficult case, the optimised path reduced the internal force in the dress pack. It kept the dressed robot from the surrounding geometry with a prescribed safety clearance during the entire robot motion. & The proposed approach made the robot learn the task execution and compensate for the task uncertainties. The HMM + BO methodology and the HMM algorithm without optimisation were compared. This comparison shows the capabilities of the optimisation stage to the HMM + BO methodology shows an assembly task success rate of 93\%, while the HMM algorithms shows a success rate of only 19\%. & \\ \hline The postprocessing and path optimisation based on the non-linear errors to improve the accuracy of multi-joint industrial robot for 3D printing. & & Multi-joint industrial robot-based 3D printing can be used for the high-precision printing of complex freeform surfaces. An industrial robot with only three joints is used, and the solutions of joint angles for the tool orientations are not proposed, which is essential for printing the freeform surface. & Multi-joint industrial robot-based 3D printing can be used for the high-precision printing of complex freeform surfaces. An industrial robot with only three joints is used, and the solutions of joint angles for the tool orientations are not proposed, which is essential for printing the freeform surface. & Multi-joint industrial robot-based 3D printing can be used for the high-precision printing of complex freeform surfaces. An industrial robot with only three joints is used, and the solutions of joint angles for the tool orientations are not proposed, which is essential for printing the freeform surface. & \\ \hline \end{tabular}
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