In-Box Picking System Design for Six-Axis Robot Arm

The design of high performance motion controls for industrial robots is based on accurate models for the robot arm and drive systems. This paper presents analytical models and experimental data to show that interactions between electromechanical drives coupled with compliant linkages to arm link drive points are of fundamental importance to robot control system design. Flexibility in harmonic drives produces resonances in the 5 Hz to 8 Hz range. Flexibility in the robot linkages and joints connecting essentially rigid arm members produces higher frequency modes at 14 Hz and 40 Hz. The nonlinear characteristics of the drive system are modeled, and compared to experimental data. The models presented have been validated over the frequency range 0 to 50 Hz. The paper concludes with a brief discussion of the influence of model characteristics on motion control design.

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Human Factors in Order Picking System Design: A Content Analysis

IFAC-PapersOnLine ◽

10.1016/j.ifacol.2015.06.101 ◽

2015 ◽

Vol 48 (3) ◽

pp. 320-325 ◽

Cited By ~ 11

Author(s):

Eric H. Grosse ◽

Christoph H. Glock ◽

W. Patrick Neumann

Keyword(s):

Content Analysis ◽

Human Factors ◽

System Design ◽

Order Picking ◽

Picking System

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Development of a framework for pick-and-pass order picking system design

The International Journal of Advanced Manufacturing Technology ◽

10.1007/s00170-010-2881-2 ◽

2010 ◽

Vol 53 (9-12) ◽

pp. 841-854 ◽

Cited By ~ 12

Author(s):

Marco Melacini ◽

Sara Perotti ◽

Angela Tumino

Keyword(s):

System Design ◽

Order Picking ◽

Picking System

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Control System Design for Two Link Robot Arm with MACCEPA 2.0 Variable Stiffness Actuators

2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) ◽

10.1109/aim.2019.8868490 ◽

2019 ◽

Cited By ~ 2

Author(s):

Sergei Savin ◽

Svyatoslav Golousov ◽

Ramil Khusainov ◽

Oleg Balakhnov ◽

Alexandr Klimchik

Keyword(s):

Control System ◽

System Design ◽

Variable Stiffness ◽

Control System Design ◽

Robot Arm ◽

Variable Stiffness Actuators

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Wireless Gesture Controlled Semi-Humanoid Robot

IAES International Journal of Robotics and Automation (IJRA) ◽

10.11591/ijra.v5i4.pp237-243 ◽

2016 ◽

Vol 5 (4) ◽

pp. 237

Author(s):

Toshika Fegade ◽

Yogesh Kurle ◽

Sagar Nikale ◽

Praful Kalpund

Keyword(s):

System Design ◽

Mobile Phones ◽

High Speed ◽

Humanoid Robot ◽

Robotic Arm ◽

Motion Sensors ◽

Robot Arm ◽

Change Perception ◽

Human Arm ◽

Perception Of Action

<p>Robotics is a field concerned with the “intelligent connection of perception of action”. The most common manufacturing robot is the robotic arm with different degree of freedoms. Today, these humanoids perform many functions to assist humans in different undertakings such as space missions, driving and monitoring high speed vehicles. They are called semi-humanoids because they resemble to upper part of human body.</p><p> The idea of this paper is to change perception of controlling robotic arm. This paper provides a way to get rid of old fashioned remote controls and gives an intuitive technique for implementation of Semi-Humanoid Gesture controlled robot. It includes two robot arms which are exactly similar to human arm (5 fingers) increasing sensitivity of the system. It includes motion sensors -flex and accelerometer (used in mobile phones for tilting motion). The system design is divided into 3 parts namely: Robotic Arm, Real time video and Platform.</p> The prime aim of the design is that the robot arm and platform starts the movement as soon as the operator makes hand and leg gesture. The Robotic arm is synchronized with the gestures (hand postures) of the operator and the platform part is controlled by the leg gestures of the operator. The robot and the Gesture device are connected wireless via RF. The wireless communication enables user to interact with the robot in an effortless way.

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