Multi-station test scheduling optimization method for industrial robot servo system

2020 ◽  
Author(s):  
Shaomin Tang ◽  
Guixiong Liu ◽  
Zhiyu Lin ◽  
Xiaobing Li
Keyword(s):  
Industrial Robot ◽  
Servo System ◽  
Optimization Method ◽  
Test Scheduling ◽  
Scheduling Optimization

scholarly journals A Test Procedure Optimization Method for an Industrial Robot Servo System on an Integrated Testing Platform

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-12
Author(s):  
Shaomin Tang ◽  
Guixiong Liu ◽  
Zhiyu Lin ◽  
Xiaobing Li ◽  
Minqiang Pan
Keyword(s):  
Industrial Robot ◽  
Test Procedure ◽  
Control Variable ◽  
Servo System ◽  
Optimization Method ◽  
Test Time ◽  
Optimal Test ◽  
Testing Platform ◽  
Integrated Testing ◽  
Test Project

A test procedure optimization method was proposed in this paper to improve the test efficiency of the industrial robot servo system (IRSS) to be tested on the IRSS integrated testing platform (IITP). First, an ordered sequence was used to define the IRSS test project when tested on the IITP. The ordered sequence consisted of execution subelements, which were a combination of control variable parameters of the IITP. Second, the optimization relationships among the IRSS test projects were dug out according to the IRSS test project sequences. Finally, by using the traveling salesmen problem (TSP), an optimization model was established based on the optimization relationships of the IRSS test projects, and the optimal test order of the IRSS test projects to be tested on the IITP was obtained by solving the model. A case analysis showed that the proposed method optimized the test procedure on the IITP effectively, and the test time when implementing the test on the IITP according to the optimized order was nearly 50% shorter than before optimization. The optimization effect was thus found to be significant.

Cable-path optimization method for industrial robot arms

2022 ◽  
Vol 73 ◽  
pp. 102245
Author(s):  
Shintaro Iwamura ◽  
Yoshiki Mizukami ◽  
Takahiro Endo ◽  
Fumitoshi Matsuno
Keyword(s):  
Industrial Robot ◽  
Optimization Method ◽  
Path Optimization ◽  
Robot Arms

EFFECT OF SERVO SYSTEMS ON THE CONTOURING ERRORS IN INDUSTRIAL ROBOTS

2012 ◽  
Vol 36 (1) ◽  
pp. 83-96 ◽  
Author(s):  
Mohamed Slamani ◽  
Albert Nubiola ◽  
Ilian A. Bonev
Keyword(s):  
High Speed ◽  
Industrial Robot ◽  
Statistical Tests ◽  
Measurement Instrument ◽  
Servo System ◽  
Industrial Robots ◽  
Structural Vibration ◽  
Tool Centre Point ◽  
Prediction Capability ◽  
Radius Size

Two important aspects of the performance of a servo system, tracking errors and contour errors, significantly affect the accuracy of industrial robots under high-speed motion. Careful tuning of the control parameters in a servo system is essential, if the risk of severe structural vibration and a large contouring error is to be avoided. In this paper, we present an overview of a method to diagnose contouring errors caused by the servo control system of an ABB IRB 1600 industrial robot by measuring the robot’s motion accuracy in a Cartesian circular shape using a double ballbar (DBB) measurement instrument. Tests were carried out at different TCP (tool centre-point) speed and trajectory radii to investigate the main sources of errors that affect circular contouring accuracy. Results show that radius size errors and out-of-roundness are significant. A simple experimental model based on statistical tests was also developed to represent and predict the radius size error. The model was evaluated by comparing its prediction capability in several experiments. An excellent error prediction capability was observed.

Scheduling Optimization for Parking and Taking Car about the Vertical Circulation Type Stereo Garage

2012 ◽  
Vol 214 ◽  
pp. 52-57 ◽  
Author(s):  
Shu Li ◽  
Hong Ru Li ◽  
Xiao Bo Zhang ◽  
Meng Fan Ji
Keyword(s):  
Management Strategy ◽  
High Efficiency ◽  
Low Cost ◽  
Optimization Method ◽  
Circulation Type ◽  
Service Rate ◽  
Vertical Circulation ◽  
Scheduling Optimization ◽  
Queue Theory ◽  
Short Time

The vertical circulation type stereo garage has some advantages such as its simple construction, low cost, easy combination and less ground occupation. Regarding the problem of parking and taking car in the vertical circulation type stereo garage, the paper studies the queue system in the garage through a queue theory, the management strategy of scheduling optimization for parking and driving is obtained. The simulation experiment proved that, the whole vertical circulation garage by the optimization method stated in this paper has some advantages such as average short time for parking and taking car one time, high efficiency for average service rate.

Servo System Design Considering Low-Stiffness of Robot

1996 ◽  
Vol 8 (3) ◽  
pp. 252-258 ◽  
Author(s):  
Akira Shimada ◽  
Keyword(s):  
System Design ◽  
Design Method ◽  
Industrial Robot ◽  
Servo System ◽  
The Other ◽  
Special Relation ◽  
Practical Design ◽  
Single Moment ◽  
Industrial Use ◽  
Low Stiffness

This paper describes the practical design method of an advanced servo system for industrial robot manipulators, where it includes a disturbance and velocity observer. It is first assumed that the feature on frequency response of the robot is approximated to the feature of two-mass mechanism. Actually this is confirmed by some experiments. On the other hand, it is insisted that the actual servo system should be simple for industrial use. The observer is designed for the load which has the feature of single moment of inertia. Based on the assumption that there is a difference between these features, it is introduced that the servo system can be effectively used if only the qualified gains are selected considering lowstiffness. The special relation between the frequency analysis and the pole allocations are then shown, and Finally the experimental results are introduced.

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