scholarly journals The Design and Evaluation of an Ergonomic Contactless Gesture Control System for Industrial Robots

2018 ◽  
Vol 2018 ◽  
pp. 1-10 ◽  
Author(s):  
Gilbert Tang ◽  
Phil Webb
Keyword(s):  
Factor Analysis ◽  
Control System ◽  
Human Factor ◽  
Industrial Robot ◽  
Industrial Robots ◽  
Effective Control ◽  
Analysis Tool ◽  
Leap Motion ◽  
Gesture Control ◽  
Human Robot Collaboration

In industrial human-robot collaboration, variability commonly exists in the operation environment and the components, which induces uncertainty and error that require frequent manual intervention for rectification. Conventional teach pendants can be physically demanding to use and require user training prior to operation. Thus, a more effective control interface is required. In this paper, the design and evaluation of a contactless gesture control system using Leap Motion is described. The design process involves the use of RULA human factor analysis tool. Separately, an exploratory usability test was conducted to compare three usability aspects between the developed gesture control system and an off-the-shelf conventional touchscreen teach pendant. This paper focuses on the user-centred design methodology of the gesture control system. The novelties of this research are the use of human factor analysis tools in the human-centred development process, as well as the gesture control design that enable users to control industrial robot’s motion by its joints and tool centre point position. The system has potential to use as an input device for industrial robot control in a human-robot collaboration scene. The developed gesture control system was targeting applications in system recovery and error correction in flexible manufacturing environment shared between humans and robots. The system allows operators to control an industrial robot without the requirement of significant training.

The integration of contactless static pose recognition and dynamic hand motion tracking control system for industrial human and robot collaboration

2015 ◽  
Vol 42 (5) ◽  
pp. 416-428 ◽  
Author(s):  
Gilbert Tang ◽  
Seemal Asif ◽  
Phil Webb
Keyword(s):  
Control System ◽  
Motion Tracking ◽  
Industrial Robot ◽  
Integrated System ◽  
Industrial Robots ◽  
Content Type ◽  
Hand Motion ◽  
Pose Recognition ◽  
Gesture Control ◽  
Potential Applications

Purpose – The purpose of this paper is to describe the integration of a gesture control system for industrial collaborative robot. Human and robot collaborative systems can be a viable manufacturing solution, but efficient control and communication are required for operations to be carried out effectively and safely. Design/methodology/approach – The integrated system consists of facial recognition, static pose recognition and dynamic hand motion tracking. Each sub-system has been tested in isolation before integration and demonstration of a sample task. Findings – It is demonstrated that the combination of multiple gesture control methods can increase its potential applications for industrial robots. Originality/value – The novelty of the system is the combination of a dual gesture controls method which allows operators to command an industrial robot by posing hand gestures as well as control the robot motion by moving one of their hands in front of the sensor. A facial verification system is integrated to improve the robustness, reliability and security of the control system which also allows assignment of permission levels to different users.

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.

Adaptive Industrial Robots Using Machine Vision

2018 ◽  
Author(s):  
Vladimir Kuts ◽  
Tauno Otto ◽  
Toivo Tähemaa ◽  
Khuldoon Bukhari ◽  
Tengiz Pataraia
Keyword(s):  
Machine Vision ◽  
Manufacturing Industry ◽  
Industrial Robot ◽  
Industrial Robots ◽  
Engineering Industry ◽  
Test Environment ◽  
Operation System ◽  
Robotic Cells ◽  
Self Learning ◽  
Human Robot Collaboration

The use of industrial robots in modern manufacturing scenarios is a rising trend in the engineering industry. Currently, industrial robots are able to perform pre-programmed tasks very efficiently irrespective of time and complexity. However, often robots encounter unknown scenarios and to solve those, they need to cooperate with humans, leading to unnecessary downtime of the machine and the need for human intervention. The main aim of this study is to propose a method to develop adaptive industrial robots using Machine Learning (ML)/Machine Vision (MV) tools. The proposed method aims to reduce the effort of re-programming and enable self-learning in industrial robots. The elaborated online programming method can lead to fully automated industrial robotic cells in accordance with the human-robot collaboration standard and provide multiple usage options of this approach in the manufacturing industry. Machine Vision (MV) tools used for online programming allow industrial robots to make autonomous decisions during sorting or assembling operations based on the color and/or shape of the test object. The test setup consisted of an industrial robot cell, cameras and LIDAR connected to MATLAB through a Robot Operation System (ROS). The online programming tests and simulations were performed using Virtual/Augmented Reality (VR/AR) toolkits together with a Digital Twin (DT) concept, to test the industrial robot program on a digital object before executing it on the real object, thus creating a safe and secure test environment.

Design Automation of Modular Industrial Robots

2009 ◽  
Author(s):  
Mehdi Tarkian ◽  
Johan O¨lvander ◽  
Xiaolong Feng ◽  
Marcus Petterson
Keyword(s):  
Design Automation ◽  
Parametric Design ◽  
Industrial Robot ◽  
Industrial Robots ◽  
Modular Robots ◽  
Integrated Analysis ◽  
Analysis Tool ◽  
Modeling Methodology ◽  
Novel Approach ◽  
Main Components

This paper presents a novel approach for designing modular robots. There are two main components in this approach namely the modeling methodology of the robot and a framework for simulation of the models and execution of an optimization process. To illustrate the presented methodology an integrated analysis tool for an industrial robot is developed combining dynamic and geometric models in a parametric design approach. An optimization case is conducted to visualize the automation capabilities of the proposed framework, and enhance the design for modular industrial robots.

Control System for Industrial Robot Equipped with Tool for Advanced Task in Manufacturing

2015 ◽  
Vol 783 ◽  
pp. 105-113 ◽  
Author(s):  
Tadeusz Mikolajczyk
Keyword(s):  
Control System ◽  
Industrial Robot ◽  
Steering System ◽  
Industrial Robots ◽  
Manual Control ◽  
Control Panel ◽  
Automated Control ◽  
Special Control

A special control system of IRb 60 industrial robots by using PC computer was shown in this work. Robots steering system equipped with the controller connected to computer’s LPT port was made and tested. This interface was connected to a manual control panel of the robot. The system was controlled by special VB 6.0 software. It is possible manual or automated control of robot move. Using this system was made other applications for many tasks of using an industrial robot equipped with tool and sensors in research and manufacturing.

Control System Design for High Payload Industrial Robot via High Speed Communication Bus and Real-Time System

2011 ◽  
Vol 464 ◽  
pp. 272-278 ◽  
Author(s):  
Wei You ◽  
Min Xiu Kong ◽  
Li Ning Sun ◽  
Chan Chan Guo
Keyword(s):  
Control System ◽  
Real Time ◽  
High Speed ◽  
Industrial Robot ◽  
Engineering Application ◽  
Industrial Robots ◽  
Centralized Control ◽  
Time System ◽  
Real Time System ◽  
High Payload

In this paper, aiming at solving the problems of dynamic coupling effects and flexibility of joints and links, a kind of control system specialized for high payload industrial robots is proposed . After the comparisons between the control systems in all kinds of robots and numerical machines, industrial PC with TwinCAT real-time system is chosen as the motion control unit, EtherCAT is used for command transmitting. The whole control system has a decoupled and centralized control structure. The proposed control system is applied in control of a kind of high payload material handling robots with complex compound control algorithms. The final results shows that the control commands can be easily calculated and transmitted in one sample unit. The proposed control scheme is meaningful to real engineering application.

scholarly journals A review on control systems hardware and software for robots of various scale and purpose. Part 1. Industrial robotics

2019 ◽  
Vol 7 (5) ◽  
pp. 30-46 ◽  
Author(s):  
A. M. Romanov
Keyword(s):  
Control System ◽  
Fault Tolerance ◽  
Control Systems ◽  
Intelligent Control ◽  
Industrial Robot ◽  
Cloud Service ◽  
Point Of View ◽  
Industrial Robots ◽  
Robotic Systems ◽  
Industrial Robotics

A review of robotic systems is presented. The paper analyzes applied hardware and software solutions and summarizes the most common block diagrams of control systems. The analysis of approaches to control systems scaling, the use of intelligent control, achieving fault tolerance, reducing the weight and size of control system elements belonging to various classes of robotic systems is carried out. The goal of the review is finding common approaches used in various areas of robotics to build on their basis a uniform methodology for designing scalable intelligent control systems for robots with a given level of fault tolerance on a unified component base. This part is dedicated to industrial robotics. The following conclusions are made: scaling in industrial robotics is achieved through the use of the modular control systems and unification of main components; multiple industrial robot interaction is organized using centralized global planning or the use of previously simulated control programs, eliminating possible collisions in working area; intellectual technologies in industrial robotics are used primarily at the strategic level of the control system which is usually non-real time, and in some cases even implemented as a remote cloud service; from the point of view of ensuring fault tolerance, the industrial robots developers are primarily focused on the early prediction of faults and the planned decommissioning of the robots, and are not on highly-avaliability in case of failures; industrial robotics does not impose serious requirements on the dimensions and weight of the control devices.

Applications of Robotics in Welding

2018 ◽  
Vol 7 (3) ◽  
pp. 30
Author(s):  
Tanveer Majeed ◽  
Mohd Atif Wahid ◽  
Faizan Ali
Keyword(s):  
Control System ◽  
Industrial Robot ◽  
Seam Tracking ◽  
Effective Control ◽  
Welding Parameters ◽  
Profile Measurement ◽  
Robotic Welding ◽  
Intelligent Control System ◽  
Joint Location ◽  
Welding Processes

An Industrial robot is reprogrammable, automatically controlled, multifunctional manipulator programmable in three or more axes, which may be either fixed in place or mobile for use in industrial automation applications. Technical innovations in robotic welding has facilitated manual welding processes in sever working conditions with enormous heat and fumes to be replaced with robotic welding. The robotic welding has greater capability to control robot motion, welding parameters and enhanced wrong detection and wrong correction. Major difficulties in robotic welding are joint edge inspection, weld penetration control, seam tracking of joints, and width or profile measurement of a joint. These problems can be more easily solved by use of sensory feedback signals from weld joint.  Robotic welding system has intelligent and effective control system that can track the joint, monitor the joint in process and accounts for variation in joint location. Sensors play an important role in robotic welding systems with adaptive and intelligent control system features that can track the joint, account for variation in joint location and geometry monitor in-process quality of the weld. In this paper various aspects of robotic welding, robot programming, and problems associated with robot welding are undertaken.

Fuzzy Logic Based Path Planning for Industrial Robot

2020 ◽  
pp. 355-364
Author(s):  
Supriya Sahu ◽  
Bibhuti Bhusan Choudhury
Keyword(s):  
Artificial Intelligence ◽  
Fuzzy Logic ◽  
Control System ◽  
Path Planning ◽  
Industrial Robot ◽  
Industrial Robots ◽  
The Other ◽  
Membership Functions ◽  
Fuzzy Logic Systems ◽  
Pick And Place

This article describes how industrial robots are generally used to perform different tasks in industries, such as pick and place, and many more operations in industries. Among these, pick and place is a very common and frequently used task. Path planning is the most important thing in order to make any process more economical. The main focus of the research is to design a fuzzy control system for path planning for industrial robots using artificial intelligence using fuzzy logic. For the analysis, ten different tasks are tested. For fuzzy logic systems, three membership functions are analyzed and compared to find the best result. From the research, it has been found that a Gaussian membership function gives more accurate result in comparison to the other two membership functions.

Integration of Parametric CAD and Dynamic Models for Industrial Robot Design and Optimization

2008 ◽  
Author(s):  
Mehdi Tarkian ◽  
Bjo¨rn Lunde´n ◽  
Johan O¨lvander
Keyword(s):  
Dynamic Models ◽  
Parametric Design ◽  
Industrial Robot ◽  
Geometric Model ◽  
Industrial Robots ◽  
Integrated Analysis ◽  
Robot Design ◽  
Analysis Tool ◽  
Design And Optimization ◽  
Dynamic Simulation Model

This paper presents an approach of integration between multiple analysis tools that covers several engineering disciplines, used for robot design and optimization. There are three main components in this approach namely a highly flexible geometric model, a parametric dynamic simulation model, and a framework for integration of the models and execution of an optimization process through a user friendly interface. To illustrate the presented methodology an integrated analysis tool for an industrial robot is developed combining dynamic and geometric models in a parametric design approach. An optimization case is conducted to visualize the automation capabilities of the proposed framework, and enhance the early design phases for industrial robots.

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