scholarly journals Mobile Industrial Robots Localization Algorithm Based on Improved Multidimensional Scale and Received Signal Strength Indication

2021 ◽  
Vol 2021 ◽  
pp. 1-9
Author(s):  
Jian Jiao
Keyword(s):  
Industrial Robot ◽  
Large Error ◽  
Industrial Robots ◽  
Experimental Simulation ◽  
Localization Algorithm ◽  
Selection Methods ◽  
Location Algorithm ◽  
Positioning Algorithm ◽  
Received Signal Strength Indication ◽  
Robot Selection

Aiming at the problem of large error in the location algorithm based on MDS-MAP when the distance between mobile industrial robots is not measurable, a mobile industrial robot location algorithm based on improved MDS-MAP is proposed. Experimental simulation shows that the algorithm can achieve good positioning effect. When the distance between mobile industrial robots is measurable, the positioning algorithm based on RSSI achieves good positioning effect. Therefore, this paper discusses the influence of different anchor robot selection methods on the positioning accuracy of RSSI positioning algorithm. The experimental simulation shows that when the selection method of anchoring robot is that the unknown robot with adjacent anchoring robot uses the original anchoring robot for positioning and the unknown robot without anchoring robot uses the adjacent positioning robot as the anchoring robot for positioning, its positioning effect is the best, and it can still achieve good positioning effect when there are few anchoring robots.

New Application of the Hybrid Localization Algorithm of TDOA and AOA

2019 ◽  
Vol 23 (1) ◽  
pp. 134-138
Author(s):  
Nanchao Luo ◽  
Keyword(s):  
Power Consumption ◽  
Arrival Time ◽  
Localization Algorithm ◽  
Hybrid Positioning ◽  
Zigbee Protocol ◽  
High System ◽  
Location Algorithm ◽  
System Life ◽  
Positioning Algorithm ◽  
System Power

The location algorithm based on arrival time difference has high complexity and high system power consumption. When using the traditional TDOA positioning algorithm to locate, we will encounter over-determined nonlinearity of positioning equation, and you need to use iterative method to solve it. Based on this, this paper proposed a hybrid positioning algorithm of TDOA and AOA. Combining the TDOA and AOA information, the problem of solving the iterative positioning equation was simplified successfully, which reduced the complexity of the algorithm and reduced the system power consumption. At the same time, in order to solve the problem of high system power consumption, this paper also proposed the use of Zigbee protocol instead of the traditional Wi-Fi protocol to develop the positioning system, thereby effectively reducing system power consumption, increasing system life and improving system applicability.

scholarly journals Industrial robot selection using a multiple criteria group decision making method with individual preferences

PLoS ONE ◽  
2021 ◽  
Vol 16 (12) ◽  
pp. e0259354
Author(s):  
Jinling Zhao ◽  
Yubing Sui ◽  
Yang Xu ◽  
K. K. Lai
Keyword(s):  
Decision Making ◽  
Group Decision Making ◽  
Group Decision ◽  
Industrial Robot ◽  
Multiple Criteria ◽  
Industrial Robots ◽  
Individual Decision ◽  
Decision Matrix ◽  
Individual Preferences ◽  
Robot Selection

This paper proposes a multiple criteria group decision making with individual preferences (MCGDM-IP) to address the robot selection problem (RSP). Four objective criteria elicitation approaches, namely, Shannon entropy approach, CRITIC approach, distance-based approach, and ideal-point approach, are proposed to indicate individual decision makers. A preliminary group decision matrix is therefore formulated. Both preferential differences representing the preference degrees among different robots, and preferential priorities representing the favorite ranking of robots for each individual decision maker, are analyzed to propose a revised group decision matrix. A satisfaction index is developed to manifest the merits of the proposed MCGDM-IP. An illustrative example using the data drawn from previous literature is conducted to indicate the effectiveness and validity of MCGDM-IP. The results demonstrate that the MCGDM-IP could generate a more satisfactory scheme to evaluate and select industrial robots, with an improvement of group satisfactory level as 2.12%.

A comparative evaluation of three industrial robots using three reference measuring techniques

2015 ◽  
Vol 42 (6) ◽  
pp. 572-585 ◽  
Author(s):  
Mohamed Slamani ◽  
Ahmed Joubair ◽  
Ilian A. Bonev
Keyword(s):  
Manufacturing Systems ◽  
Tool Path ◽  
Laser Interferometer ◽  
Industrial Robot ◽  
Industrial Robots ◽  
Laser Tracker ◽  
Specific Test ◽  
Reference Measuring ◽  
Content Type ◽  
Robot Selection

Purpose – The purpose of this paper is to present a technique for assessing and comparing the static and dynamic performance of three different models of small six-axis industrial robots using a Renishaw XL80 laser interferometer system, a FARO ION laser tracker and a Renishaw QC20-W telescoping ballbar. Design/methodology/approach – Specific test methods are proposed in this work, and each robot has been measured in a similar area of its working envelope. The laser interferometer measurement instrument is used to assess the static positioning performance along three linear and orthogonal paths. The laser tracker is used to assess the contouring performance at different tool center point (TCP) speeds along a triangular tool path, whereas the telescoping ballbar is used to assess the dynamic positioning performance for circular paths at different TCP speeds and trajectory radii. Findings – It is found that the tested robots behave differently, and that the static accuracy of these non-calibrated robots varies between 0.5 and 2.3 mm. On the other hand, results show that these three robots can provide acceptable corner tracking at low TCP speeds. However, a significant overshoot at the corner is observed at high TCP speed for all the robots tested. It was also found that the smallest increment of Cartesian displacement (Cartesian resolution) that can be taken by the tested robots is approximately 50 μm. Practical implications – The technique used in this paper allows extremely accurate diagnosis of the robot performance, which makes it possible for the robot user to determine whether the robot is in good or bad condition. It can also help the decision-maker to select the most suitable industrial robot to achieve the desired task with minimum cost and specific application ability. Originality/value – This paper proposed a new method based on the performance verification approach for solving the robot selection problem for flexible manufacturing systems. Furthermore, despite their importance, bidirectional repeatability and Cartesian resolution are never specified by the manufacturers of industrial robots nor are they described in the ISO 9283:1998 guide, and they are rarely the object of performance assessments. In this work, specific tests are performed to check and quantify the bidirectional repeatability and the Cartesian resolution of each robot.

scholarly journals Research on Workshop-Based Positioning Technology Based on Internet of Things in Big Data Background

Complexity ◽  
2018 ◽  
Vol 2018 ◽  
pp. 1-11 ◽  
Author(s):  
FengChun Liu ◽  
YaLou Liu ◽  
DongHao Jin ◽  
XueYong Jia ◽  
TingTing Wang
Keyword(s):  
Big Data ◽  
Data Collection ◽  
Internet Of Things ◽  
Signal Strength ◽  
The Internet ◽  
Localization Algorithm ◽  
The Difference ◽  
Positioning Algorithm ◽  
Received Signal Strength Indication ◽  
The Internet Of Things

This paper first analyzes the data collection and data management of the workshop, obtains the data of the workshop changes with time, and accumulates the data. There are bottleneck problems such as big data being difficult to be fully used. Then, the concept of the Internet of Things was introduced into the workshop positioning to realize the comprehensive use of the big data in the workshop. Finally, aiming at the positioning problem of manufacturing workshop items, the ZigBee positioning algorithm, the received signal strength indication algorithm RSSI and the trilateration algorithm, is applied, and the trilateral positioning algorithm is applied to the CC2430 wireless MCU, and the positioning node is designed and implemented. The three-sided localization algorithm was used to locate and simulate the horizontal and vertical comparisons of six groups of workshop terminals. The results showed that the difference between the simulated position and the actual position did not exceed 1m, which was in line with the positioning requirements of the workshop.

scholarly journals Hybrid BW-EDAS MCDM methodology for optimal industrial robot selection

PLoS ONE ◽  
2021 ◽  
Vol 16 (2) ◽  
pp. e0246738
Author(s):  
Tabasam Rashid ◽  
Asif Ali ◽  
Yu-Ming Chu
Keyword(s):  
Sensitivity Analysis ◽  
Hybrid Method ◽  
Reliable Method ◽  
Industrial Robot ◽  
Industrial Robots ◽  
Ideal Solution ◽  
Order Preference ◽  
Robot Selection ◽  
Best Worst Method

Industrial robots have different capabilities and specifications according to the required applications. It is becoming difficult to select a suitable robot for specific applications and requirements due to the availability of several types with different specifications of robots in the market. Best-worst method is a useful, highly consistent and reliable method to derive weights of criteria and it is worthy to integrate it with the evaluation based on distance from average solution (EDAS) method that is more applicable and needs fewer number of calculations as compared to other methods. An example is presented to show the validity and usability of the proposed methodology. Comparison of ranking results matches with the well-known distance-based approach, technique for order preference by similarity to ideal solution and VIseKriterijumska Optimizacija I Kompromisno Resenje (VIKOR) methods showing the robustness of the best-worst EDAS hybrid method. Sensitivity analysis performed using eighty to one ratio shows that the proposed hybrid MCDM methodology is more stable and reliable.

scholarly journals Research on Accurate Location Algorithm of Optimized Multi-source Data Fusion Based on Improved GRU Network

2021 ◽  
Vol 2113 (1) ◽  
pp. 012073
Author(s):  
Zhongzhi Li ◽  
Xiaoxue Li ◽  
Yufeng Huang
Keyword(s):  
Data Fusion ◽  
Large Error ◽  
Measurement Unit ◽  
Training Time ◽  
L2 Norm ◽  
Source Data ◽  
Location Algorithm ◽  
Single Data ◽  
Positioning Algorithm ◽  
Gated Recurrent Unit

Abstract The uncertainty of positioning trajectory and the existence of abnormal trajectory points are major challenges in the field of navigation and positioning. The method that only relies on global positioning system (GPS) has a large error, and the traditional location algorithms still have shortcomings in location efficiency and accuracy. Due to the successful exploration of deep learning in the field of navigation and positioning, an accurate positioning algorithm based on improved gated recurrent unit (GRU) and multi-source data fusion was proposed in this paper. Firstly, interpolation was used to fuse GPS data and inertial measurement unit (IMU) data to overcome the defect of single data. Then, an improved gated recurrent unit was introduced to process the data fusion. On this basis, the attention mechanism (AM) was added to reduce the loss of historical information and strengthen the influence of important information, so as to achieve accurate positioning. Compared with other advanced algorithms with regard to L2 norm and time of training iteration, the training time of this algorithm is reduced by more than 27%, and the highest optimization rate is 12.08%. Therefore, this algorithm can obtain higher positioning accuracy in a shorter time.

scholarly journals CRITERIA AND MODEL OF CHOICE OF INDUSTRIAL ROBOT

2021 ◽  
Vol 1 (92) ◽  
pp. 109
Author(s):  
Yuri Petrenko ◽  
Ruslan Posukan
Keyword(s):  
Mathematical Model ◽  
Computer Technology ◽  
Industrial Robot ◽  
Industrial Robots ◽  
Decision Methods ◽  
Increase Productivity ◽  
Robot Selection ◽  
The Mathematical Model ◽  
Selection Of

Problem. The relevance of the work is to increase the efficiency of robotics in Ukraine based on the development of computer technology for the selection of industrial robots for the enterprise, which will improve the quality of robot selection and increase productivity in all industries. Goal. Substantiate the criteria and develop the mathematical model for the selection of an industrial robot. The proposed mathematical model will allow the development of computer technology for the selection of industrial robots for the enterprise. Methodology. This work gives the analysis of the development of robotics in Ukraine, theoretical material on industrial robots, substantiated the criteria for the selection of industrial robots, the developed mathematical model for the selection of robots. Results. The developed criteria and mathematical model of an industrial robot selection allow making scientifically substantiated decisions on the acquisition of an industrial robot by an enterprise according to many criteria. This will reduce the time and cost of making a decision. Originality. Was received further development of making decision methods according to many criteria an was developed the mathematical model of the industrial robot selection. Practical value. The proposed mathematical model will allow the development of computer technology for the selection of industrial robots for the enterprise. This will reduce spent time and money to choose a robot.

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.

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