Industrial Robots Research Papers - Academia.edu (original) (raw)

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Recent papers in Industrial Robots

This paper addresses the solution of smooth trajectory planning for industrial robots in environments with obstacles using a direct method, creating the trajectory gradually as the robot moves. The method presented deals with the... more

This paper addresses the solution of smooth trajectory planning for industrial robots in environments with obstacles using a direct method, creating the trajectory gradually as the robot moves. The method presented deals with the uncertainties associated with the lack of knowledge of kinematic properties of intermediate via-points since they are generated as the algorithm evolves looking for the solution. Several cost functions are also proposed, which use the time that has been calculated, to guide the robot motion. The method has been applied successfully to a PUMA 560 robot and four operational parameters (execution time, computational time, distance travelled and number of configurations) have been computed to study the properties and influence of each cost function on the trajectory obtained.

This paper describes the application of a robot with active force feedback to an industrial assembly operation involving fragile, medium-sized workpieces supplied with large position and orientation uncertainties. It is shown that active... more

This paper describes the application of a robot with active force feedback to an industrial assembly operation involving fragile, medium-sized workpieces supplied with large position and orientation uncertainties. It is shown that active force feedback yields a better and more reliable technical solution than passive force feedback. In addition, active force feedback is also economically justified, since the passive solution requires additional peripheral equipment in order to deal with the large uncertainties. The active force feedback approach presented is general in nature and not application dependent.

Image recognition and understanding is one of the most interesting fields of researches. Its main idea is to bridge the gap between the high level human image understanding and the low level machine image representation. Quite a lot of... more

Image recognition and understanding is one of the most interesting fields of researches. Its main idea is to bridge the gap between the high level human image understanding and the low level machine image representation. Quite a lot of applications have been suggested in different fields like medicine, industry, robotics, satellite imagery and other applications. This paper proposes a new approach of traffic signs image recognition and understanding using computational intelligent techniques and the application of this approach on intelligent cars which can recognize the traffic signs and take a decision according to the signs it reads. Supervised machine learning has been selected since the algorithm does not need to classify the images but to identify their precise meaning. Different neural networks have been trained and used in this paper. The best neural network has been selected, which uses genetic algorithms in its training, and is known as evolutionary training neural network...

Robot arms are used in modern work cells and flexible manufacturing systems (FMS) in handling work pieces and loading/unloading processes. The robot arm links may interfere with the bodies of the system components, which are considered as... more

Robot arms are used in modern work cells and flexible manufacturing systems (FMS) in handling work pieces and loading/unloading processes. The robot arm links may interfere with the bodies of the system components, which are considered as obstacles in the robot workspace. In order that the robot works in safe conditions, study of robot workspace in a free space and

Service applications of robotic technologies begin to appear in several aspects of daily life, motivated by a number of different reasons. One of the most significant is the over -aging and decreasing of the population in Europe that will... more

Service applications of robotic technologies begin to appear in several aspects of daily life, motivated by a number of different reasons. One of the most significant is the over -aging and decreasing of the population in Europe that will cause dramatic social changes in all European Countries. The poor state of most of Health Care Systems in Europe is not

ABSTRACT Application of a fuzzy logic controller to a class of hydraulically actuated industrial robots is investigated. A simple set of membership functions and rules are described which meets certain control requirements. An off-line... more

ABSTRACT Application of a fuzzy logic controller to a class of hydraulically actuated industrial robots is investigated. A simple set of membership functions and rules are described which meets certain control requirements. An off-line routine based on the simplex method is outlined to tune the controller gains for an optimum response. The fuzzy control gains are tuned by minimizing the summation of absolute position errors over step input responses. The fuzzy logic controller is first examined through simulation of a two-link hydraulic robot of the same hydraulic configuration as many industrial manipulators. The controller has positive aspects which cannot be easily achieved by conventional control techniques. These include a fast rise-time and a well maintained damped response. The fuzzy controller is applied to an instrumented Unimate MK-II industrial hydraulic robot. The experimental results are encouraging in that the best performing control gains are found for different links with a reasonable number of trials and produce step responses with fast response and few oscillations at the set point. The controller demonstrates robustness

Industrial productive systems can combine different automation characteristics processes in manufacturing cells. Machines and equipment are controlled by different info systems that allow to link up, making possible the flexibility and... more

Industrial productive systems can combine different automation characteristics processes in manufacturing cells. Machines and equipment are controlled by different info systems that allow to link up, making possible the flexibility and help to optimise manufacturing processes in factories. In the manufacturing processes, the difficulties found in conventional machining processes or even in numerical command machining when there are available machines adjusted for parts manufacture of complex geometries, can limit the creativity as well as make difficult the development of a productive process in a optimized way. The difficulties are since setting out parts, working in the necessities of special devices, restrictions in work volumes and even to generate complex paths for machines with axis limitation. This work points out an alternative methodology for machining, especially milling, through the development of a capable algorithm to translate graphical files in a programming language ...

The construction of an artificial hand able to reproduce the functions of the human hand has never been of interest in industrial robotics. Now it is a must in humanoid robotics. In the paper we will illustrate the structure of the human... more

The construction of an artificial hand able to reproduce the functions of the human hand has never been of interest in industrial robotics. Now it is a must in humanoid robotics. In the paper we will illustrate the structure of the human hand and propose a choice of materials and actuators that can reproduce it. The design, the complete model

This research paper focuses on the development of a robust and versatile industrial guidance system used to guide Automated Guided Vehicles (AGVs) for industrial purpose. Generally, most of wireless guidance systems follows path tracking... more

This research paper focuses on the development of a robust and versatile industrial guidance system used to guide Automated Guided Vehicles (AGVs) for industrial purpose. Generally, most of wireless guidance systems follows path tracking and other navigation methods to follow a certain route. This paper focuses on how robustness is achieved and implemented in Automated guided vehicles (AGVs) so that they can perform with high accuracy, repeatability and reliability. Moreover not only high accuracy is required but proper navigation system should be implemented so that more accurate position estimates can be taken. Robustness of absolute positioning is also crucial in industrial applications. Two experiments are presented to verify the effectiveness of the developed industrial guidance system and better optimization of robust design in AGVs. Numerous complications in the movement and guidance of AGVs were encountered which will be discussed further therefore to overcome these obstacles one of the most successful methods had to be chosen. Various methods of functioning of AGV are considered and further one of the method is considered which is the laser navigation system was selected, the flaws in this system affecting the robustness were identified and above mentioned experiments were performed. Conclusions were derived and further solutions were provided to overcome the flaws detected in the AGV system for achieving maximum optimisation.

Abstract—This paper presents a control strategy for indus-trial robot manipulators which consists of the combination of a calibration-free, vision-based control method with an impedance control approach. The vision-based, robot control... more

Abstract—This paper presents a control strategy for indus-trial robot manipulators which consists of the combination of a calibration-free, vision-based control method with an impedance control approach. The vision-based, robot control method known as camera-space manipulation ...

This research work seeks to address collision handling, mainly the safety of humans in a robot work-cell and the avoidance of collision between the robots and any obstacle as this may lead to severe injuries if a robot collides with a... more

This research work seeks to address collision handling, mainly the safety of humans in a robot work-cell and the avoidance of collision between the robots and any obstacle as this may lead to severe injuries if a robot collides with a human. Also collision detection and avoidance for industrial robots in harsh environments (e.g. explosive environments found in oil and gas sector) to avoid a potential accident that can also damage robots and other equipment in the environment. This research builds on the concept builds on collision detection and aims at enabling the robot to find a collision free path bypassing the obstacle and leading to the target position using different sensors.
A simulator would be used here called Robotstudio simulator which is a 3D teaching demo, illustrating collision detection in a work cell.
The Mobotsim which is an open source software is used to detect obstacles within a work cell and the Robotstudio simulator would demonstrate how this obstacle is detected and avoided by industrial robots.

This paper presents a method of precision tracking control for industrial robot manipulators. For robotic laser and plasma cutting tasks, the required tracking performance is much more demanding than that for material handling, spot... more

This paper presents a method of precision tracking control for industrial robot manipulators. For robotic laser and plasma cutting tasks, the required tracking performance is much more demanding than that for material handling, spot welding, and machine tending tasks. Challenges in control come from the nonlinear coupled multi-body dynamics of robot manipulators, as well as the transmission error in the geared joints. The proposed method features data-driven iterative compensation of torque and motor reference. Motor side tracking and transmission error are handled by separate learning modules in a two-part compensation structure. Depending on the specific setup of end-effector sensing, the method can utilize either timed trajectory measurement or untimed two-dimensional contour inspection. Nonparametric statistical learning is used for the compensation. Considerations on incorporating analytical models and selecting data subsets for more efficient learning are discussed. The method is validated using a six-axis industrial robot.

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