On the Measuring System for the Position of Industrial Robots' End-Effectors based on Monocular Vision

2021 ◽  
Author(s):  
Zizheng Yan ◽  
Guanbin Gao ◽  
Jing Na ◽  
Fei Liu
Keyword(s):  
Industrial Robots ◽  
Monocular Vision ◽  
Measuring System ◽  
End Effectors

scholarly journals Suppress Vibration on Robotic Polishing with Impedance Matching

Actuators ◽  
2021 ◽  
Vol 10 (3) ◽  
pp. 59
Author(s):  
Junjie Dai ◽  
Chin-Yin Chen ◽  
Renfeng Zhu ◽  
Guilin Yang ◽  
Chongchong Wang ◽  
...  
Keyword(s):  
Contact Force ◽  
Force Control ◽  
Impedance Control ◽  
Impedance Matching ◽  
Industrial Robots ◽  
Contact Phase ◽  
Dynamic Tracking ◽  
Force Tracking ◽  
The Difference ◽  
End Effectors

Installing force-controlled end-effectors on the end of industrial robots has become the mainstream method for robot force control. Additionally, during the polishing process, contact force stability has an important impact on polishing quality. However, due to the difference between the robot structure and the force-controlled end-effector, in the polishing operation, direct force control will have impact during the transition from noncontact to contact between the tool and the workpiece. Although impedance control can solve this problem, industrial robots still produce vibrations with high inertia and low stiffness. Therefore, this research proposes an impedance matching control strategy based on traditional direct force control and impedance control methods to improve this problem. This method’s primary purpose is to avoid force vibration in the contact phase and maintain force–tracking performance during the dynamic tracking phase. Simulation and experimental results show that this method can smoothly track the contact force and reduce vibration compared with traditional force control and impedance control.

Object Manipulation Using Compliant Fingerpads: Modeling and Control

1993 ◽  
Vol 115 (4) ◽  
pp. 638-648 ◽  
Author(s):  
A. M. Annaswamy ◽  
D. Seto
Keyword(s):  
Adaptive Control ◽  
Feedback Linearization ◽  
Industrial Robots ◽  
Dynamic Interactions ◽  
Modeling And Control ◽  
Grasp Stability ◽  
Grasping And Manipulation ◽  
End Effectors ◽  
Geometric Techniques ◽  
The Stability

Current industrial robots are often required to perform tasks requiring mechanical interactions with their environment. For tasks that require grasping and manipulation of unknown objects, it is crucial for the robot end-effector to be compliant to increase grasp stability and manipulability. The dynamic interactions that occur between such compliant end-effectors and deformable objects that are being manipulated can be described by a class of nonlinear systems. In this paper, we determine algorithms for grasping and manipulation of these objects by using adaptive feedback techniques. Methods for control and adaptive control of the underlying nonlinear system are described. It is shown that although standard geometric techniques for exact feedback linearization techniques are inadequate, yet globally stable adaptive control algorithms can be determined by making use of the stability characteristics of the underlying nonlinear dynamics.

scholarly journals Robot Skin: Fully-Compliant Control Framework Using Multi-modal Tactile Events

2019 ◽  
Vol 7 (Especial) ◽  
pp. 4-13
Author(s):  
Emmanuel Dean ◽  
Karinne Ramirez-Amaro ◽  
Florian Bergner ◽  
Gordon Cheng
Keyword(s):  
State Of The Art ◽  
Industrial Robots ◽  
Modal Control ◽  
Control Framework ◽  
Art Teaching ◽  
Wheeled Robot ◽  
Compliant Control ◽  
Sensor Signals ◽  
End Effectors ◽  
Robot Skin

In this paper, we present a multi-modal control framework to provide compliant behaviors on industrial robots, even when the robots are position commanded. This is obtained by fusing multi-modal sensor signals from robot skin with different control approaches. These compliant behaviors allow to teach robots safely. The presented framework is able to bridge kinesthetically demonstrated activities with low-level robot commands using a state-of-the-art teaching by demonstration method based on a semantic engine. We validate our framework in a real wheeled robot for an industrial scenario, where our presented framework enables a stiff robotic system to be compliant, flexible, and adaptable to different working conditions, e.g. different end-effectors with multiple command interfaces (position/velocity and torque interfaces).

The Layout of Manipulation Effector

2008 ◽  
Author(s):  
Maria´n Tolnay ◽  
Viktor Olsˇavsky´ ◽  
Milan Brody
Keyword(s):  
Basic Structure ◽  
Current Situation ◽  
Industrial Robots ◽  
Computer Aided ◽  
Suction Cups ◽  
End Effectors

The paper published in the anthology describes an automated selection and optimized layout of vacuum elements in manipulation effectors of industrial robots and manipulators. Computer aided selection provides the user with a complete proposal of the necessary number, size and layout of pneumatic suction cups for manipulation with flat parts of circular or rectangular shapes. The computation of the required size and number of suction cups is conditioned by safe manipulation with the object and layout optimation from the point of providing an allowable deflection of the component, the value of which is determined by the user. The paper presents the basic structure of end effectors and a brief comment on current situation in the area of gripper selection and design. In conclusion there are described possibilities of further completion of the computer aided system for vacuum gripper design.

scholarly journals Context-Aware Plug and Produce for Robotic Aerospace Assembly

2021 ◽  
pp. 184-199
Author(s):  
David Sanderson ◽  
Emma Shires ◽  
Jack C. Chaplin ◽  
Harvey Brookes ◽  
Amer Liaqat ◽  
...  
Keyword(s):  
Adaptive Systems ◽  
Systems Approach ◽  
Production Systems ◽  
Research Programme ◽  
Industrial Robots ◽  
Multiple Perspectives ◽  
The Face ◽  
End Effectors ◽  
Data Distribution Service ◽  
The Right

AbstractAerospace production systems face increasing requirements for flexibility and reconfiguration, along with considerations of cost, utilisation, and efficiency. This drives a need for systems with a small number of automation platforms (e.g. industrial robots) that can make use of a larger number of end effectors that are potentially flexible or multifunctional. This leads to the challenge of ensuring that the configuration and location of each end effector is tracked by the system at all times, even in the face of manual adjustments, to ensure that the correct processes are applied to the product at the right time. We present a solution based on a Data Distribution Service that provides the system with full awareness of the context of its automation platforms and end effectors. The solution is grounded with an example use case from WingLIFT, a research programme led by a large aerospace manufacturer. The WingLIFT project in which this solution was developed builds on the adaptive systems approach from the Evolvable Assembly Systems project, with focus on extending and increasing the aerospace industrial applicability of plug and produce techniques. The design of this software solution is described from multiple perspectives, and accompanied by details of a physical demonstration cell that is in the process of being commissioned.

scholarly journals Determination of the positioning accuracy of industrial manipulators using a digital photo/video camera

2019 ◽  
Vol 23 (3) ◽  
pp. 42-48
Author(s):  
N. V. Norkina ◽  
F. A. Mevis
Keyword(s):  
Measuring Equipment ◽  
Robot Manipulator ◽  
Industrial Robot ◽  
Industrial Robots ◽  
Measuring System ◽  
Light Sources ◽  
Positioning Accuracy ◽  
Digital Photo ◽  
Positioning Errors ◽  
Point Light

Purpose of research. The aim of the study is to develop a system for the analysis and evaluation of positioning errors manipulators precision industrial robots used in the production of microelectronic equipment. The positioning accuracy of the manipulator varies depending on the operating modes of the robot and is difficult to predict and difficult to analyze. The accuracy of positioning is influenced by the design features of the robot manipulator, the speed of movement and rotation of the manipulator, intermediate stops and accelerations, vibrations, both own and caused by the location of the robot in production. The positioning accuracy may differ for different points of the robot working area. We need a system of analysis and error estimation that allows us to effectively carry out a series of hundreds and thousands of measurements. One of the promising areas is the use of digital technology with subsequent processing of data on the computer. Materials and methods of research. The construction of effective robotic systems depends on the correct implementation of the certification of industrial robots in order to provide control systems of industrial robots with accurate data for trouble-free and correct operation in conditions specific to a particular production. The solution of the complex problem of certification of precision industrial robots faces difficulties in the selection of measuring equipment. Studies have been conducted aimed at the formation of point light sources of small diameter. A non-contact measurement method based on obtaining an image of point light sources using a digital photo/video camera is proposed. Application of point light sources for calibration of measuring system is described. Possibilities of specification of positions of point sources by means of computer processing of the images received from the digital camera were investigated. The algorithm of image processing of the camera carrying out in several stages definition of accuracy of positioning of the manipulator of the robot is offered.Results. A remote, non-contact method for measuring the positioning errors of industrial robot manipulators has been developed. A method of assessing the positioning accuracy of industrial robot manipulators based on specially formed point light sources installed in the grips of the manipulators and in the working area of the robot. Implemented the use of digital photo/video cameras for monitoring and fixing the space of the resulting spread of the manipulator positions. The software processing the digital image and allowing to make calculations of an error of positioning is developed. The method makes it possible to effectively carry out large series of measurements and meets the following parameters: the absence of physical points of contact between the measuring system and the robot manipulator, satisfying the accuracy of measurements, ease of operation with measuring equipment, low cost of measuring equipment. The work was presented at the XLV International youth scientific conference Gagarin readings, MATI, Moscow, Russia, 2019. and was awarded a diploma. Conclusion. The article presents the results of research on the development of non-contact system of analysis and evaluation of positioning errors of precision industrial robots. The obtained results can be used for certification of industrial robots. It is possible to control the positioning accuracy of manipulators without removing the robot from the production process. 

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