scholarly journals A New Type of Industrial Robot Trajectory Generation Component Based on Motion Modularity Technology

2020 ◽  
Vol 2020 ◽  
pp. 1-11
Author(s):  
Zhaoming Liu ◽  
Nailong Liu ◽  
Hongwei Wang ◽  
Shen Tian ◽  
Ning Bai ◽  
...  
Keyword(s):  
Industrial Robot ◽  
Trajectory Generation ◽  
Motion Trajectories ◽  
Robot Controller ◽  
Robot Trajectory ◽  
Fieldbus System ◽  
Sampling Points ◽  
Dynamic Movement Primitives ◽  
Complex Trajectories ◽  
The Brain

Motion modularity is the main method of motion control for higher animals. That means the complex movements of the muscles are made up of basic motion primitives, and the brain or central nervous system does not care about the specific details of the movement. However, the industrial robot control system does not adopt the technical roadmap of motion modularity, it generates complex trajectories by providing a large number of sampling points. This approach is equivalent to using the brain to directly guide the specific movement of the muscle and has to rely on a faster Fieldbus system to obtain complex motion trajectories. This work constructs a modularized industrial robot trajectory generation component based on Dynamic Movement Primitives (DMP) theory. With this component, the robot controller can generate complex trajectories without increasing the sampling points and can obtain good trajectory accuracy. Finally, the rationality of this system is proved by simulations and experiments.

scholarly journals Digital Twin for FANUC Robots: Industrial Robot Programming and Simulation Using Virtual Reality

2021 ◽  
Vol 13 (18) ◽  
pp. 10336
Author(s):  
Gaurav Garg ◽  
Vladimir Kuts ◽  
Gholamreza Anbarjafari
Keyword(s):  
Virtual Reality ◽  
Simulation Analysis ◽  
Industrial Robot ◽  
Industrial Applications ◽  
Physical Models ◽  
Robot Programming ◽  
Digital Twin ◽  
Robot Controller ◽  
Twin Model ◽  
Robot Trajectory

A Digital Twin is the concept of creating a digital replica of physical models (such as a robot). This is similar to establishing a simulation using a robot operating system (ROS) or other industrial-owned platforms to simulate robot operations and sending the details to the robot controller. In this paper, we propose a Digital Twin model that assists in the online/remote programming of a robotic cell by creating a 3D digital environment of a real-world configuration. Our Digital Twin model consists of two components, (1) a physical model: FANUC robot (M-10iA/12), and (2) a digital model: Unity (a gaming platform) that comes with specialized plugins for virtual and augmented reality devices. One of the main challenges in the existing approach of robot programming is writing and modifying code for a robot trajectory that is eased in our framework using a Digital Twin. Using a Digital Twin setup along with Virtual Reality, we observe the trajectory replication between digital and physical robots. The simulation analysis provided a latency of approximately 40 ms with an error range of −0.28 to 0.28∘ across the robot joint movements in a simulation environment and −0.3 to 0.3∘ across the actual robot joint movements. Therefore, we can conclude that our developed model is suitable for industrial applications.

scholarly journals Industrial robot trajectory planning based on improved pso algorithm

2021 ◽  
Vol 1820 (1) ◽  
pp. 012185
Author(s):  
Shunjie Han ◽  
Xinchao Shan ◽  
Jinxin Fu ◽  
Weijin Xu ◽  
Hongyan Mi
Keyword(s):  
Trajectory Planning ◽  
Industrial Robot ◽  
Pso Algorithm ◽  
Robot Trajectory ◽  
Improved Pso ◽  
Robot Trajectory Planning

scholarly journals An Experimental Security Analysis of an Industrial Robot Controller

2017 ◽  
Author(s):  
Davide Quarta ◽  
Marcello Pogliani ◽  
Mario Polino ◽  
Federico Maggi ◽  
Andrea Maria Zanchettin ◽  
...  
Keyword(s):  
Industrial Robot ◽  
Security Analysis ◽  
Robot Controller

scholarly journals Optimal Motion Trajectory Generation and Real-Time Trajectory Modification for an Industrial Robot Working in a Rectangular Space

2013 ◽  
Vol 7 (3) ◽  
pp. 278-292 ◽  
Author(s):  
Naoki UCHIYAMA ◽  
Kazunori MORI ◽  
Kazuhiko TERASHIMA ◽  
Toru SAEKI ◽  
Toshio KAMIGAKI ◽  
...  
Keyword(s):  
Real Time ◽  
Industrial Robot ◽  
Trajectory Generation ◽  
Motion Trajectory ◽  
Optimal Motion

Vision-Based Trajectory Generation for a Two-Link Robotic Arm Using Quadtree Decomposition and Curve Smoothing

2010 ◽  
Vol 108-111 ◽  
pp. 1439-1445
Author(s):  
Shahed Shojaeipour ◽  
Sallehuddin Mohamed Haris ◽  
Ehsan Eftekhari ◽  
Ali Shojaeipour ◽  
Ronak Daghigh
Keyword(s):  
Image Processing ◽  
A Priori ◽  
Trajectory Generation ◽  
Robotic Arm ◽  
Generation System ◽  
End Effector ◽  
Quadtree Decomposition ◽  
Practical Applications ◽  
Robot Trajectory ◽  
Curve Smoothing

In this article, the development of an autonomous robot trajectory generation system based on a single eye-in-hand webcam, where the workspace map is not known a priori, is described. The system makes use of image processing methods to identify locations of obstacles within the workspace and the Quadtree Decomposition algorithm to generate collision free paths. The shortest path is then automatically chosen as the path to be traversed by the robot end-effector. The method was implemented using MATLAB running on a PC and tested on a two-link SCARA robotic arm. The tests were successful and indicate that the method could be feasibly implemented on many practical applications.

Trajectory Generation of an Industrial Robot With Constrained Kinematic and Dynamic Variations for Improving Positional Accuracy

2021 ◽  
Vol 12 (3) ◽  
pp. 163-179
Author(s):  
Amruta Rout ◽  
Deepak BBVL ◽  
Bibhtui Bhusan Biswal ◽  
Golak B. Mahanta
Keyword(s):  
Travel Time ◽  
Optimal Trajectory ◽  
Pareto Front ◽  
Industrial Robot ◽  
Trajectory Generation ◽  
Fuzzy Membership Function ◽  
Positional Accuracy ◽  
Nsga Ii ◽  
Dynamic Variations ◽  
Total Travel Time

The joint trajectory of the robot needs to be computed in an optimal manner for proper torch orientation, smooth travel of the robot along the trajectory path. This can be achieved by limiting the travel time, kinematic and dynamic variations of the robot joints like the jerks, and torque induced in the joints in the travel of the robot. As the objectives of total travel time and joint jerk and torque rate are contradictory functions, non-dominated sorting genetic algorithm-II (NSGA-II) approach has been used to obtain the pareto front consisting of optimal solutions. The fuzzy membership function has been used to obtain the optimal solution from the pareto front with best trade-off between objectives for further optimal trajectory generation. From the simulation results, it can be concluded that the proposed approach can be effectively used for optimal trajectory planning of Kawasaki RS06L industrial manipulator with minimal jerk, torque rate, and total travel time for smooth travel of robot with higher positional accuracy.

The Architectural Design of an Industrial Robot Controller

1996 ◽  
Vol 29 (1) ◽  
pp. 367-372
Author(s):  
C. Maffezzoni ◽  
G. Magnani ◽  
L. Ferrarini ◽  
G. Ferretti
Keyword(s):  
Architectural Design ◽  
Industrial Robot ◽  
Robot Controller

scholarly journals Analysis of control and correction options of mobile robot trajectory by an inertial navigation system

2018 ◽  
Vol 15 (1) ◽  
pp. 172988141875516 ◽  
Author(s):  
Elena Pivarčiová ◽  
Pavol Božek ◽  
Yuri Turygin ◽  
Ivan Zajačko ◽  
Aleksey Shchenyatsky ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Control Systems ◽  
Navigation System ◽  
Reference System ◽  
Inertial Navigation System ◽  
Industrial Robot ◽  
Inertial Navigation ◽  
Control Device ◽  
Robot Trajectory ◽  
Detailed Application

The article deals with the research of the supplementation of industrial robot effector trajectory’s control systems by an inertial navigation system. The method of reverse validation and location of an object in a navigated reference system does not require additional calibration. The goal of the research is to verify the assumption that it is possible to control and correct the programmed mobile robot trajectory by implementing an inertial navigation system even in a case when the inertial navigation system is used as the only trajectory control device. The data obtained are processed by the proposed and detailed application.

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