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 Xianmin Zhang Honghai Liu
Zhong Chen Nianfeng Wang (Eds.)

Intelligent Robotics
LNAI 8918

and Applications
7th International Conference, ICIRA 2014
Guangzhou, China, December 17-20, 2014
Proceedings, Part II

123
Lecture Notes in Artificial Intelligence 8918

Subseries of Lecture Notes in Computer Science

LNAI Series Editors

Randy Goebel
University of Alberta, Edmonton, Canada
Yuzuru Tanaka
Hokkaido University, Sapporo, Japan
Wolfgang Wahlster
DFKI and Saarland University, Saarbrücken, Germany

LNAI Founding Series Editor

Joerg Siekmann
DFKI and Saarland University, Saarbrücken, Germany
Xianmin Zhang Honghai Liu Zhong Chen
Nianfeng Wang (Eds.)

Intelligent Robotics
and Applications
7th International Conference, ICIRA 2014
Guangzhou, China, December 17-20, 2014
Proceedings, Part II

13
Volume Editors
Xianmin Zhang
Zhong Chen
Nianfeng Wang
South China University of Technology
School of Mechanical and Automobile Engineering
Wushan Rd. 381, Tianhe District, Guangzhou 510641, China
E-mail: {zhangxm, mezhchen, menfwang}@scut.edu.cn
Honghai Liu
University of Portsmouth
School of Computing
Intelligent Systems and Biomedical Robotics Group
Buckingham Building, Lion Terrace
Portsmouth PO1 3HE, UK
E-mail: [email protected]

ISSN 0302-9743 e-ISSN 1611-3349

ISBN 978-3-319-13962-3 e-ISBN 978-3-319-13963-0
DOI 10.1007/978-3-319-13963-0
Springer Cham Heidelberg New York Dordrecht London

Library of Congress Control Number: 2014956249

LNCS Sublibrary: SL 7 – Artificial Intelligence

© Springer International Publishing Switzerland 2014
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 Preface

The Organizing Committee of the 7th International Conference on Intelligent

Robotics and Applications has been committed to facilitating interactions among
those active in the field of intelligent robotics, automation, and mechatronics.
Through this conference, the committee intends to enhance the sharing of indi-
vidual experiences and expertise in intelligent robotics with particular emphasis
on technical challenges associated with varied applications such as biomedical
application, industrial automations, surveillance, and sustainable mobility.
The 7th International Conference on Intelligent Robotics and Applications
was most successful in attracting 159 submissions on addressing the state-of-the
art developments in robotics, automation, and mechatronics. Owing to the large
number of submissions, the committee was faced with the difficult challenge of
selecting of the most deserving papers for inclusion in these proceedings. For this
purpose, the committee undertook a rigorous review process. Despite the high
quality of most of the submissions, only 109 papers (68.5 % acceptance rate) were
selected for publication in two volumes of Springer’s Lecture Notes in Artificial
Intelligence as subseries of Lecture Notes in Computer Science. The selected
papers were presented during the 7th International Conference on Intelligent
Robotics and Applications held in Guangzhou, China, during December 17 – 20,
2014.
The selected articles represent the contributions of researchers from 19 coun-
tries. The contributions of the technical Program Committee and the additional
reviewers are deeply appreciated. Most of all, we would like to express our sincere
thanks to the authors for submitting their most recent works and the Organizing
Committee for their enormous efforts to turn this event into a smoothly running
meeting. Special thanks go to South China University of Technology for the
generosity and direct support. Our particular thanks are due to Alfred Hofmann
and Anna Kramer of Springer for enthusiastically supporting the project.
We sincerely hope that these volumes will prove to be an important resource
for the scientific community.

October 2014 Xianmin Zhang

Xiangyang Zhu
Jangmyung Lee
Huosheng Hu
 Organization

International Advisory Committee

Tamio Arai University of Tokyo, Japan
Hegao Cai Harbin Institute of Technology, China
Tianyou Chai Northeastern University, China
Toshio Fukuda Nagoya University, Japan
Sabina Jesehke RWTH Aachen University, Germany
Oussama Khatib Stanford University, USA
Zhongqin Lin Shanghai Jiao Tong University, China
Ming Li National Natural Science Foundation of China,
China
Nikhil R. Pal Indian Statistical Institute, India
Grigory Panovko Russian Academy of Science, Russia
Jinping Qu South China University of Technology, China
Clarence De Silva University of British Columbia, Canada
Bruno Siciliano University of Naples, Italy
Shigeki Sugano Waseda University, Japan
Michael Yu Wang Chinese University of Hong Kong, China
Youlun Xiong Huazhong University of Science and
Technology, China
Ming Xie Nanyang Technological University, Singapore
Lotfi A. Zadeh University of California Berkeley, USA

General Chair
Xianmin Zhang South China University of Technology, China

General Co-chairs
Xiangyang Zhu Shanghai Jiao Tong University, China
Jangmyung Lee Pusan National University, South Korea
Huosheng Hu University of Essex, UK

Program Chair
Guoli Wang Sun Yat-Sen University, China

Program Co-chairs
Youfu Li City University of Hong Kong, SAR China
Honghai Liu University of Portsmouth, UK
VIII Organization

Organizing Committee Chairs

Han Ding Huazhong University of Science and
Technology, China
Feng Gao Shanghai Jiao Tong University, China
Zexiang Li Hong Kong University of Science and
Technology, China
Tian Huang Tianjin University, China
Hong Liu Harbin Institute of Technology, China
Guobiao Wang National Natural Science Foundation of China,
China
Tianmiao Wang Beihang University, China
Hong Zhang University of Alberta, Canada

Area Chairs
Suguru Arimoto Ritsumeikan University, Japan
Jiansheng Dai King’s College of London University, UK
Christian Freksa Bremen University, Germany
Shuzhi Sam Ge National University of Singapore, Singapore
Peter B. Luh Connecticut University, USA

Awards Chairs
Yangming Li University of Macau, SAR China
Wei-Hsin Liao Chinese University of Hong Kong, SAR China
Caihua Xiong Huazhong University of Science and
Technology, China

Publication Chairs
Zhong Chen South China University of Technology, China
Xinjun Sheng Shanghai Jiao Tong University, China

Local Arrangements Chairs

Nianfeng Wang South China University of Technology, China
Lianghui Huang South China University of Technology, China

Finance Chair
Hongxia Yang South China University of Technology, China
Wei Sun South China University of Technology, China
 Organization IX

General Affairs Chair

Zhiwei Tan South China University of Technology, China

Additional Reviewers
We would like to acknowledge the support of the following people who peer
reviewed articles for ICIRA 2014.

Xianmin Zhang Guoli Wang Nianfeng Wang

Guoying Gu Zhong Chen Tiemin Zhang
Yanjiang Huang Xiangyang Zhu Xinjun Liu
Caihua Xiong Hegao Cai Tianyou Chai
Tamio Arai Yan Li Clarence De Silva
Toshio Fukuda Sabina Jesehke Michael Yu Wan
Zhongqin Lin Ming Li Shigeki Sugano
Grigory Panovko Jinping Qu Jangmyung Lee
Bruno Siciliano Lotfi A. Zadeh Honghai Liu
Huosheng Hu Youfu, Li Zexiang Li
Han Ding Feng Gao Guobiao Wang
Tian Huang Hong Liu Suguru Arimoto
Tianmiao Wang Hong Zhang Shuzhi Sam Ge
Jiansheng Dai Christian Freksa Youlun Xiong
Peter B. Luh Wei-Hsin Liao
Xinjun Sheng Yangming Li
 Table of Contents – Part II

Parallel Robotics
Kinematics Dexterity Analysis and Optimization of 4-UPS-UPU
Parallel Robot Manipulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
Guohua Cui, Haiqiang Zhang, Feng Xu, and Chuanrong Sun
Inverse Dynamics Analysis of a 6-PSS Parallel Manipulator . . . . . . . . . . . 12
Weiyuan Xu, Yangmin Li, Song Lu, and Xiao Xiao
Elastodynamics of the Rigid-Flexible 3-RRR Mechanism Using ANCF
Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Xuchong Zhang and Xianmin Zhang
Kinematic Analysis and Control of a 3-DOF Parallel Mechanism . . . . . . . 36
Hongyang Zhang and Xianmin Zhang
Experimental Study on Joint Positioning Control of an Ultrasonic
Linear Motor Driven Planar Parallel Platform . . . . . . . . . . . . . . . . . . . . . . . 48
Jiasi Mo, Zhicheng Qiu, Junyang Wei, and Xianmin Zhang
Stiffness Modeling and Optimization Analysis of a Novel 6-DOF
Collaborative Parallel Manipulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Yao Liu, Bing Li, Peng Xu, and Hailin Huang
Experimental Characterization of Self-excited Vibration of a 3-RRR
Parallel Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
Sheng Liu, Zhicheng Qiu, Jiasi Mo, and Xianmin Zhang
Design of Less-Input More-Output Parallel Mechanisms . . . . . . . . . . . . . . . 81
Huiping Shen, Xiaorong Zhu, Lifang Dai, and Jiaming Deng
Type Synthesis Approach for 2-DOF 1T1R Parallel Mechanisms Based
on POC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
Ju Li, Hongbo Yin, Huiping Shen, Lifang Dai, Xiaomeng Ma,
and Jiaming Deng
Error Modeling and Simulation of a 2- DOF High-Speed Parallel
Manipulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
Junyang Wei, Xianmin Zhang, Jiasi Mo, and Yilong Tong

Robot Vision
Fuzzy PD Compliance Control of 6-DOF Robot Using Disturbed Force
Sense . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
Zhang Tie, Wang Bo, and Lin Junjian
XII Table of Contents – Part II

Research Scheduling Problem of Job-Shop Robotic Manufacturing Cell

with Several Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119
Yujun Yang, Chuanze Long, and Yu Tao

Research on Robotic Trajectory Automatic Generation Method for

Complex Surface Grinding and Polishing . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124
Shengqian Li, Xiaopeng Xie, and Litian Yin

The Control System Design of A SCARA Robot . . . . . . . . . . . . . . . . . . . . . 136

Nianfeng Wang, Jinghui Liu, Shuai Wei, Zhijie Xu,
and Xianmin Zhang

Trajectory Planning with Bezier Curve in Cartesian Space for Industrial

Gluing Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146
Zhijie Xu, Shuai Wei, Nianfeng Wang, and Xianmin Zhang

CogRSim: A Robotic Simulator Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155

Yao Shi, Chang’an Yi, Yuguang Yan, Deqin Wang, Guixin Guo,
Junsheng Chen, and Huaqing Min

A Study of Positioning Error Compensation Using Optical-Sensor and

Three-Frame . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167
Yeongsang Jeong, Jungwon Yu, Eun-Kyeong Kim, and Sungshin Kim

An Ultrasonic Instrument for Osteoporosis Detecting . . . . . . . . . . . . . . . . . 175

Zhou Hongfu, Zhang Zheng, Lin Chengquan, Juliana Tam M.Y.,
Zhuang Zhenwei, and Yao Xinpeng

Avoiding of the Kinematic Singularities of Contemporary Industrial

Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183
Tadeusz Szkodny

Mechatronics
A Review of 3-D Reconstruction Based on Machine Vision . . . . . . . . . . . . 195
Hong Jin, Fupei Wu, Chun Yang, Lian Chen, and Shengping Li

Research on Surface Mounted IC Devices Inspection Based on Lead’s

Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204
Wu Hui-hui and Lu Sheng-lin

A Fast Coplanarity Inspection System for Double-Sides IC Leads Using

Single Viewpoint . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 216
Qiusheng Zhong, Xianmin Zhang, and Zhong Chen

An Adaptive Enhancement Algorithm of Materials Bag Image of

Industrial Scene . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 226
Wei Jia, Ya Wang, Yanbin Liu, Lilue Fan, and Qingqiang Ruan
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