Handling uncertainty due to the delay between complex sensing and manipulation in an industrial workcell

Robotica ◽  
2006 ◽  
Vol 24 (6) ◽  
pp. 697-698
Author(s):  
Yanfei Liu ◽  
Adam W. Hoover ◽  
Ian D. Walker
Keyword(s):  
Moving Objects ◽  
Industrial Robot ◽  
Robot Systems ◽  
Manipulation Capability

In this paper, we propose a generic method to model the dynamic intercept and manipulation capability of vision-based industrial robot systems. In order to verify the method, we present experiments using our industrial workcell prototype to dynamically intercept and manipulate semi-randomly moving objects.

Hierarchical Decomposition of a Manufacturing Work Cell to Promote Monitoring, Diagnostics, and Prognostics

2017 ◽  
Author(s):  
Brian A. Weiss ◽  
Guixiu Qiao
Keyword(s):  
Machine Tools ◽  
Health Management ◽  
Control Strategies ◽  
Industrial Robot ◽  
Work Cell ◽  
Critical Elements ◽  
Functional Relationships ◽  
Manufacturing Operations ◽  
Robot Systems ◽  
And Control

Manufacturing work cell operations are typically complex, especially when considering machine tools or industrial robot systems. The execution of these manufacturing operations require the integration of layers of hardware and software. The integration of monitoring, diagnostic, and prognostic technologies (collectively known as prognostics and health management (PHM)) can aid manufacturers in maintaining the performance of machine tools and robot systems by providing intelligence to enhance maintenance and control strategies. PHM can improve asset availability, product quality, and overall productivity. It is unlikely that a manufacturer has the capability to implement PHM in every element of their system. This limitation makes it imperative that the manufacturer understand the complexity of their system. For example, a typical robot systems include a robot, end-effector(s), and any equipment, devices, or sensors required for the robot to perform its task. Each of these elements is bound, both physically and functionally, to one another and thereby holds a measure of influence. This paper focuses on research to decompose a work cell into a hierarchical structure to understand the physical and functional relationships among the system’s critical elements. These relationships will be leveraged to identify areas of risk, which would drive a manufacturer to implement PHM within specific areas.

Supporting Semantic Capture During Kinesthetic Teaching of Collaborative Industrial Robots

2018 ◽  
Vol 12 (01) ◽  
pp. 167-186 ◽  
Author(s):  
Maj Stenmark ◽  
Mathias Haage ◽  
Elin A. Topp ◽  
Jacek Malec
Keyword(s):  
Domain Knowledge ◽  
Semantic Information ◽  
Industrial Robot ◽  
Semantic Context ◽  
Industrial Robots ◽  
Teaching Mode ◽  
Language Support ◽  
Semantic Data ◽  
Robot Systems ◽  
System Knowledge

Industrial robot systems being deployed today do not contain domain knowledge to aid robot operators in setup and operational use. To gather such knowledge in a robotic context requires mechanisms for entering and capturing semantic data. Such mechanisms would allow a system to gradually build a working vocabulary while interacting with the environment and operators, valuable for the bootstrapping system knowledge and ensuring the data collection over time. This paper presents a prototype user interface that assists the kinesthetic teaching mode of a collaborative industrial robot, allowing for the capture of semantic information while working with the robot in day-to-day use. Two modalities, graphical point-and-click and natural language, support capture of semantic context and the building of a working vocabulary of the environment while modifying or creating robot programs. A semantic capture experiment illustrates the approach.

scholarly journals Analysis of flexible supported industrial robot on terminal accuracy

2018 ◽  
Vol 15 (4) ◽  
pp. 172988141879302
Author(s):  
Liping Wang ◽  
Lian Chen ◽  
Zhufeng Shao ◽  
Liwen Guan ◽  
Li Du
Keyword(s):  
Vibration Suppression ◽  
Industrial Robot ◽  
Reaction Force ◽  
Industrial Robots ◽  
High Quality ◽  
Flexible Support ◽  
Performance Requirements ◽  
Large Structures ◽  
Robot Systems ◽  
Motion Range

To meet comprehensive performance requirements of large workspace, lightweight, and low energy consumption, and flexible supported industrial robots emerge, which are usually composed of a six-degrees-of-rotational-freedom (6R) industrial robot and a flexible support. Flexible support greatly expands the motion range of the attached industrial robot. Flexible supported industrial robots have been adopted in surface coating of large structures such as aircrafts and rockets. However, the rigid–flexible coupling exists in these robot systems. When the industrial robot moves, the reaction force and torque of the robot disturb the flexible support and introduce vibration, which may result in the deterioration of the system’s terminal accuracy. This study focuses on both the robot body accuracy and system vibration suppression to improve the terminal accuracy of the flexible supported industrial robot. Firstly, based on kinematics analysis, accuracy of the industrial robot is investigated with the local conditioning index. Then, reaction force and torque ellipsoids are proposed with the deduced dynamic model to evaluate disturbances that the industrial robot applies to the flexible support. Considering these two aspects, the high-quality workspace of the flexible supported industrial robot is established. Numerical simulations show that reaction force and torque are effectively limited in the high-quality workspace, which greatly reduce the vibration energy and improve the terminal accuracy of the system.

THE CAPABILITY MAP: A TOOL TO ANALYZE ROBOT ARM WORKSPACES

2013 ◽  
Vol 10 (04) ◽  
pp. 1350031 ◽  
Author(s):  
FRANZISKA ZACHARIAS ◽  
CHRISTOPH BORST ◽  
SEBASTIAN WOLF ◽  
GERD HIRZINGER
Keyword(s):  
Industrial Robot ◽  
Humanoid Robots ◽  
Design Phase ◽  
Robot Arm ◽  
Robot System ◽  
Complex Tasks ◽  
Robot Arms ◽  
Cooperative Tasks ◽  
Robot Systems ◽  
The Individual

More and more systems are developed that include several robot arms, like humanoid robots or industrial robot systems. These systems are designed for complex tasks to be solved in cooperation by the robot arms. However, the capabilities of the individual robot arms to perform given tasks or the suitability of a multi-robot system for cooperative tasks cannot be intuitively comprehended. For planning complex tasks or designing robot systems, a representation of a robot arm's workspace is needed that allows to determine from which directions objects in the workspace can be reached. In this paper, the capability map is presented. It is a representation of a robot arm's kinematic capabilities in its workspace. The capability map is used to compare existing robot arms, to support the design phase of an anthropomorphic robot arm and to enable robot workcell planning.

Strategies for ensuring safety with industrial robot systems

Omega ◽  
1986 ◽  
Vol 14 (4) ◽  
pp. 287-297 ◽  
Author(s):  
R. Jones ◽  
S Dawson
Keyword(s):  
Industrial Robot ◽  
Robot Systems

scholarly journals Robotic technologies for fast deployment of industrial robot systems

2016 ◽  
Author(s):  
Emmanuel Dean-Leon ◽  
Karinne Ramirez-Amaro ◽  
Florian Bergner ◽  
Ilya Dianov ◽  
Pablo Lanillos ◽  
...  
Keyword(s):  
Industrial Robot ◽  
Robot Systems ◽  
Robotic Technologies
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