Software Framework for Robot-Assisted Large Structure Assembly

2018 ◽  
Author(s):  
Shuyang Chen ◽  
Yuan-Chi Peng ◽  
John Wason ◽  
Jinda Cui ◽  
Glenn Saunders ◽  
...  
Keyword(s):  
Industrial Robot ◽  
Industrial Robots ◽  
Robotic Assembly ◽  
Software Framework ◽  
Multiple Sensors ◽  
Robot Positioning ◽  
Autonomous Assembly ◽  
Visualization And Simulation ◽  
Joint Limits ◽  
Structure Assembly

This paper presents the design and initial results of a project involving the robotic assembly of a large segmented structure. This project aims to develop an operator-guided semi-autonomous assembly process using industrial robots integrated with multiple sensors. The goal is to demonstrate the potential of robotic technology to reduce cycle time, enhance assembly quality, and improve worker ergonomics, as compared to the current manual or fixture-based approaches. The focus is primarily on the software framework which is composed of a collection of commercial and customized components for robot positioning, motion planning, low latency teleoperation, visualization and simulation. A foundation step of the implementation is safe teleoperation which allows the user to operate the robot without concern of collision or joint limits. The concept has been demonstrated in RobotStudio, the simulation environment for ABB robots, and a physical ABB robot. While some of the software is specific to the ABB industrial robot used in the project, the framework is readily adapted to other industrial robots that allow externally commanded motion.

scholarly journals Modeling and Identification of an Industrial Robot with a Selective Modal Approach

2020 ◽  
Vol 10 (13) ◽  
pp. 4619 ◽  
Author(s):  
Matteo Bottin ◽  
Silvio Cocuzza ◽  
Nicola Comand ◽  
Alberto Doria
Keyword(s):  
Dynamic Model ◽  
Material Removal ◽  
Industrial Robot ◽  
Joint Stiffness ◽  
Industrial Applications ◽  
Industrial Robots ◽  
Robotic Assembly ◽  
Machined Surface ◽  
Modal Approach ◽  
Removal Processes

The stiffness properties of industrial robots are very important for many industrial applications, such as automatic robotic assembly and material removal processes (e.g., machining and deburring). On the one hand, in robotic assembly, joint compliance can be useful for compensating dimensional errors in the parts to be assembled; on the other hand, in material removal processes, a high Cartesian stiffness of the end-effector is required. Moreover, low frequency chatter vibrations can be induced when low-stiffness robots are used, with an impairment in the quality of the machined surface. In this paper, a compliant joint dynamic model of an industrial robot has been developed, in which joint stiffness has been experimentally identified using a modal approach. First, a novel method to select the test configurations has been developed, so that in each configuration the mode of vibration that chiefly involves only one joint is excited. Then, experimental tests are carried out in the selected configurations in order to identify joint stiffness. Finally, the developed dynamic model of the robot is used to predict the variation of the natural frequencies in the workspace.

scholarly journals Analysis of the Compliance Properties of an Industrial Robot with the Mozzi Axis Approach

Robotics ◽  
2019 ◽  
Vol 8 (3) ◽  
pp. 80 ◽  
Author(s):  
Doria ◽  
Cocuzza ◽  
Comand ◽  
Bottin ◽  
Rossi
Keyword(s):  
Industrial Robot ◽  
Industrial Robots ◽  
Robotic Assembly ◽  
Robot Arm ◽  
Machined Surface ◽  
End Effector ◽  
Chatter Vibrations ◽  
Modes Of Vibration ◽  
Machining Robot ◽  
Robot Performance

In robotic processes, the compliance of the robot arm plays a very important role. In some conditions, for example, in robotic assembly, robot arm compliance can compensate for small position and orientation errors of the end-effector. In other processes, like machining, robot compliance may generate chatter vibrations with an impairment in the quality of the machined surface. In industrial robots, the compliance of the end-effector is chiefly due to joint compliances. In this paper, joint compliances of a serial six-joint industrial robot are identified with a novel modal method making use of specific modes of vibration dominated by the compliance of only one joint. Then, in order to represent the effect of the identified compliances on robot performance in an intuitive and geometric way, a novel kinematic method based on the concept of “Mozzi axis” of the end-effector is presented and discussed.

scholarly journals Industrial Robot Positioning Performance Measured on Inclined and Parallel Planes by Double Ballbar

2021 ◽  
Vol 11 (4) ◽  
pp. 1777
Author(s):  
Ivan Kuric ◽  
Vladimír Tlach ◽  
Milan Sága ◽  
Miroslav Císar ◽  
Ivan Zajačko
Keyword(s):  
Machine Tools ◽  
Industrial Robot ◽  
Industrial Robots ◽  
Cnc Machine Tools ◽  
Circular Path ◽  
Robot Arm ◽  
Cnc Machine ◽  
Positional Analysis ◽  
Polar Graph ◽  
Robot Positioning

Renishaw Ballbar QC20–W is primarily intended for diagnostics of CNC machine tools, but it is also used in connection with industrial robots. In the case of standard measurement, when the measuring plane is parallel to the robot base, not all robot joints move. The purpose of the experiments of the present article was to verify the hypothesis of the motion of all the robot joints when the desired circular path is placed on an inclined plane. In the first part of the conducted experiments is established hypothesis is confirmed, through positional analysis on a simulation model of the robot. They are then carried out practical measurements being evaluated the influence of individual robot joints to deform the circular path, shown as a polar graph. As a result, it is found that in the case of the robot used, changing the configuration of the robot arm has the greatest effect on changing the shape of the polar graph.

scholarly journals Sensor-Guided Assembly of Segmented Structures with Industrial Robots

2021 ◽  
Vol 11 (6) ◽  
pp. 2669
Author(s):  
Yuan-Chih Peng ◽  
Shuyang Chen ◽  
Devavrat Jivani ◽  
John Wason ◽  
William Lawler ◽  
...  
Keyword(s):  
Composite Structures ◽  
Industrial Robot ◽  
Robot Vision ◽  
Laminated Composite ◽  
Ground Truth ◽  
Industrial Robots ◽  
Robotic Assembly ◽  
Assembly Process ◽  
Finite State ◽  
Robot Wrist

This paper presents a robotic assembly methodology for the manufacturing of large segmented composite structures. The approach addresses three key steps in the assembly process: panel localization and pick-up, panel transport, and panel placement. Multiple stationary and robot-mounted cameras provide information for localization and alignment. A robot wrist-mounted force/torque sensor enables gentle but secure panel pick-up and placement. Human-assisted path planning ensures reliable collision-free motion of the robot with a large load in a tight space. A finite state machine governs the process flow and user interface. It allows process interruption and return to the previous known state in case of error condition or when secondary operations are needed. For performance verification, a high resolution motion capture system provides the ground truth reference. An experimental testbed integrating an industrial robot, vision and force sensors, and representative laminated composite panels demonstrates the feasibility of the proposed assembly process. Experimental results show sub-millimeter placement accuracy with shorter cycle times, lower contact force, and reduced panel oscillation than manual operations. This work demonstrates the versatility of sensor guided robotic assembly operation in a complex end-to-end tasks using the open source Robot Operating System (ROS) software framework.

Optical scanner assisted robotic assembly

2017 ◽  
Vol 37 (4) ◽  
pp. 434-441 ◽  
Author(s):  
Jakub Wojciechowski ◽  
Marcin Suszynski
Keyword(s):  
Industrial Robot ◽  
Sensory System ◽  
Industrial Robots ◽  
Robotic Assembly ◽  
Mutual Position ◽  
Content Type ◽  
Optical Scanner ◽  
Universal Procedure ◽  
Combination Of Methods ◽  
The One

Purpose This paper aims to propose the method of automatic robotic assembly of two or more parts placed without fixing instrumentation and positioning on the pallet. Design/methodology/approach Assembly tasks performed by industrial robots are usually based on a constant program, extensive tooling, fixing objects in a given place and a relatively limited sensory system. In this study, a different approach is presented. The industrial robot program is adjusted to the location of parts for assembly in the work space. This leads to a transition from a clearly defined assembly sequence realized by the industrial robot to the one in which the order of execution of the assembly operations can be determined by the mutual position of parts to be assembled. Findings The method presented in this study combines many already known algorithms. The contribution of the authors is to test and select the appropriate combination of methods capable of supporting robotic assembly process based on data from optical 3D scanners. The sequence of operations from scanning to place the parts in the installation position by an industrial robot is developed. A set of parameters for selected methods is presented. The result is a universal procedure that determines the position of the preset models in partial measurements performed at a fixed relative position of the sensor, the measurement object. Originality/value The developed procedure for determining the position of the parts is essential to develop a flexible robotic assembly system. It will be able to perform the task of assembly on the basis of appropriate search algorithms taking into account the selected and implemented sequence of assembly position and orientation of parts, particularly the base unit freely placed on an assembly pallete. It is also the basis of a system for testing different algorithms to optimize the flexible robotic assembly.

scholarly journals Experimental studies of robotic assembly of precision parts

2021 ◽  
Vol 49 (1) ◽  
pp. 44-55
Author(s):  
Mikhail Polishchuk ◽  
M. Tkach
Keyword(s):  
High Speed ◽  
Industrial Robot ◽  
Economic Effect ◽  
Experimental Studies ◽  
Industrial Robots ◽  
Robotic Assembly ◽  
Robot Arm ◽  
Positioning Accuracy ◽  
Position Correction ◽  
The Cost

At present, robotization of assembly processes is achieved through the use of industrial robots with high positioning accuracy in conjunction with tactile means of adaptation to the conditions of assembly of precision parts. The cost of such robots is many times higher than the cost of simple robots with low positioning accuracy of the robot arm. The research in this article is aimed at reducing the cost of assembly processes for precision parts by applying the position correction of the connected parts not by the robot hand, but by an additional technological module that is installed on the manipulator of a simple robot and performs high-speed stochastic mismatch scan of assembly objects. The article presents the results of a full factorial experiment of the process of joining precision cylindrical parts with a gap of no more than 3...5 microns. A regression model of this process is proposed, a formula for calculating the quasi-optimal modes of precision assembly and graphanalytical dependences of the assembly time on the scanning modes of the misalignment of assembly objects are given. The proposed high-speed method for compensating for the positioning error of an industrial robot makes it possible to assemble precision parts in a very short time within 1...3(s). The main economic effect of the research results is that the device for scanning the misalignment of assembly objects, which is installed on the arm of an inexpensive robot with a low positioning accuracy, can significantly increase the assembly speed and reduce capital investments in robotic assembly of high-precision parts.

SAFETY AND RISK ASSESSMENT AT AUTOMATED WORKPLACE

2018 ◽  
pp. 78-84
Author(s):  
Marek Vagas
Keyword(s):  
Risk Assessment ◽  
Industrial Robot ◽  
Industrial Robots ◽  
Added Value ◽  
Growing Up ◽  
Target Setting ◽  
Clear View ◽  
General Safety

Urgency of the research. Automated workplaces are growing up in present, especially with implementation of industrial robots with feasibility of various dispositions, where safety and risk assessment is considered as most important issues. Target setting. The protection of workers must be at the first place, therefore safety and risk assessment at automated workplaces is most important problematic, which had presented in this article Actual scientific researches and issues analysis. Actual research is much more focused at standard workplaces without industrial robots. So, missing of information from the field of automated workplaces in connection with various dispositions can be considered as added value of article. Uninvestigated parts of general matters defining. Despite to lot of general safety instructions in this area, still is missed clear view only at automated workplace with industrial robots. The research objective. The aim of article is to provide general instructions directly from the field of automated workplaces The statement of basic materials. For success realization of automated workplace is good to have a helping hand and orientation requirements needed for risk assessment at the workplace. Conclusions. The results published in this article increase the awareness and information of such automated workplaces, together with industrial robots. In addition, presented general steps and requirements helps persons for better realization of these types of workplaces, where major role takes an industrial robot. Our proposed solution can be considered as relevant base for risk assessment such workplaces with safety fences or light barriers.

A Polishing Robot Force Control System Based on Time Series Data in Industrial Internet of Things

2021 ◽  
Vol 21 (2) ◽  
pp. 1-22
Author(s):  
Chen Zhang ◽  
Zhuo Tang ◽  
Kenli Li ◽  
Jianzhong Yang ◽  
Li Yang
Keyword(s):  
Time Series ◽  
Control System ◽  
Force Control ◽  
Time Series Data ◽  
Industrial Robot ◽  
Industrial Robots ◽  
Series Data ◽  
Industrial Internet Of Things ◽  
Industrial Internet ◽  
Force Control System

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.

scholarly journals Comparative Analysis of the Life-Cycle Cost of Robot Substitution: A Case of Automobile Welding Production in China

Symmetry ◽  
2021 ◽  
Vol 13 (2) ◽  
pp. 226
Author(s):  
Xuyang Zhao ◽  
Cisheng Wu ◽  
Duanyong Liu
Keyword(s):  
Life Cycle ◽  
Systems Engineering ◽  
Life Cycle Cost ◽  
Manufacturing Systems ◽  
Large Scale ◽  
Cost Allocation ◽  
Industrial Robot ◽  
Case Analysis ◽  
Industrial Robots ◽  
Analysis Model

Within the context of the large-scale application of industrial robots, methods of analyzing the life-cycle cost (LCC) of industrial robot production have shown considerable developments, but there remains a lack of methods that allow for the examination of robot substitution. Taking inspiration from the symmetry philosophy in manufacturing systems engineering, this article further establishes a comparative LCC analysis model to compare the LCC of the industrial robot production with traditional production at the same time. This model introduces intangible costs (covering idle loss, efficiency loss and defect loss) to supplement the actual costs and comprehensively uses various methods for cost allocation and variable estimation to conduct total cost and the cost efficiency analysis, together with hierarchical decomposition and dynamic comparison. To demonstrate the model, an investigation of a Chinese automobile manufacturer is provided to compare the LCC of welding robot production with that of manual welding production; methods of case analysis and simulation are combined, and a thorough comparison is done with related existing works to show the validity of this framework. In accordance with this study, a simple template is developed to support the decision-making analysis of the application and cost management of industrial robots. In addition, the case analysis and simulations can provide references for enterprises in emerging markets in relation to robot substitution.

scholarly journals Research of Calibration Method for Industrial Robot Based on Error Model of Position

2021 ◽  
Vol 11 (3) ◽  
pp. 1287
Author(s):  
Tianyan Chen ◽  
Jinsong Lin ◽  
Deyu Wu ◽  
Haibin Wu
Keyword(s):  
Coordinate System ◽  
Industrial Robot ◽  
Calibration Method ◽  
Error Model ◽  
Position Error ◽  
Industrial Robots ◽  
Positioning Error ◽  
Robot Position ◽  
General Measurement ◽  
Parameter Error

Based on the current situation of high precision and comparatively low APA (absolute positioning accuracy) in industrial robots, a calibration method to enhance the APA of industrial robots is proposed. In view of the "hidden" characteristics of the RBCS (robot base coordinate system) and the FCS (flange coordinate system) in the measurement process, a comparatively general measurement and calibration method of the RBCS and the FCS is proposed, and the source of the robot terminal position error is classified into three aspects: positioning error of industrial RBCS, kinematics parameter error of manipulator, and positioning error of industrial robot end FCS. The robot position error model is established, and the relation equation of the robot end position error and the industrial robot model parameter error is deduced. By solving the equation, the parameter error identification and the supplementary results are obtained, and the method of compensating the error by using the robot joint angle is realized. The Leica laser tracker is used to verify the calibration method on ABB IRB120 industrial robot. The experimental results show that the calibration method can effectively enhance the APA of the robot.

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