Design of DSP-based Open Control System for Industrial Robot

Installing a six-dimensional force/torque sensor on an industrial arm for force feedback is a common robotic force control strategy. However, because of the high price of force/torque sensors and the closedness of an industrial robot control system, this method is not convenient for industrial mass production applications. Various types of data generated by industrial robots during the polishing process can be saved, transmitted, and applied, benefiting from the growth of the industrial internet of things (IIoT). Therefore, we propose a constant force control system that combines an industrial robot control system and industrial robot offline programming software for a polishing robot based on IIoT time series data. The system mainly consists of four parts, which can achieve constant force polishing of industrial robots in mass production. (1) Data collection module. Install a six-dimensional force/torque sensor at a manipulator and collect the robot data (current series data, etc.) and sensor data (force/torque series data). (2) Data analysis module. Establish a relationship model based on variant long short-term memory which we propose between current time series data of the polishing manipulator and data of the force sensor. (3) Data prediction module. A large number of sensorless polishing robots of the same type can utilize that model to predict force time series. (4) Trajectory optimization module. The polishing trajectories can be adjusted according to the prediction sequences. The experiments verified that the relational model we proposed has an accurate prediction, small error, and a manipulator taking advantage of this method has a better polishing effect.

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Control system design for heavy duty industrial robot

Industrial Robot the international journal of robotics research and application ◽

10.1108/01439911211227944 ◽

2012 ◽

Vol 39 (4) ◽

pp. 365-380 ◽

Cited By ~ 13

Author(s):

Wei You ◽

Minxiu Kong ◽

Lining Sun ◽

Yanbin Diao

Keyword(s):

Control System ◽

System Design ◽

Industrial Robot ◽

Control System Design ◽

Heavy Duty

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The Application of Intelligent Industrial Robotic Control System Based on PLC in Mechanical Automation

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.738.272 ◽

2013 ◽

Vol 738 ◽

pp. 272-275

Author(s):

Dun Chen Lan

Keyword(s):

Control System ◽

Control Method ◽

Control Function ◽

Industrial Robot ◽

Interface State ◽

Research Field ◽

Normal Operation ◽

System Control ◽

Experiment Platform ◽

Excellent Control

In the field of mechanical automation, intelligent industrial robot technology is an important branch in the research field of robot; it is always the hot spots of the world robot research, and it being used to get the application in the industry today. Robot experiment platform of PLC and motor control technology, it based on the control method used by the robot control system improvements to make it more perfect run more precise, reasonable. In the same time, the man-machine interface state run monitoring, to ensure the normal operation of the system. Improved control method of the improvement of the work efficiency, reduce the work of the workers a duplication degree have a significant effect, and the system control at the scene, especially PLC control has excellent control function and good cost performance .

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An Analysis of Model Feedback Control System with Application to Industrial Robot

IEEJ Transactions on Electronics Information and Systems ◽

10.1541/ieejeiss1987.107.12_1109 ◽

1987 ◽

Vol 107 (12) ◽

pp. 1109-1116

Author(s):

Tatsuo Narikiyo ◽

Teruyuki Izumi ◽

Toshio Yamakawa

Keyword(s):

Control System ◽

Feedback Control ◽

Industrial Robot ◽

Feedback Control System

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An Industrial Robot Based Drilling System for Aircraft Structures

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.433-435.151 ◽

2013 ◽

Vol 433-435 ◽

pp. 151-157 ◽

Cited By ~ 5

Author(s):

Yun Bo Bi ◽

Yong Chao Li ◽

Yi Hang Jiang ◽

Jiang Xiong Li ◽

Wei Wang ◽

...

Keyword(s):

Control System ◽

High Efficiency ◽

Industrial Robot ◽

Computer Control ◽

Normal Vector ◽

Compensation Methods ◽

Hole Position ◽

Drilling System ◽

And Robotics ◽

Better Than

In order to realize automatic flexible drilling with high efficiency and good quality, a drilling system was established, which integrates the technology of laser measurement, off-line programming, computer control and robotics. In this system, the key coordinate frames are established by the laser tracker, the drilling programs are generated by the off-line programming and simulation system, the communication between the automatic drilling control system and the robot control system is based on the socket technique. By running drilling program, the moving platform, robot and the end effector can work automatically and harmoniously. In addition, the deviation compensation methods of hole position and its normal vector are proposed. The experimental results show that the efficiency of drilling can achieve 6 holes per minute, the position accuracy can be effectively controlled within 0.3mm, and the normal accuracy is better than 0.5°.

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