scholarly journals Dynamic Simulation Modeling of Industrial Robot Kinematics in Industry 4.0

2022 ◽  
Vol 2022 ◽  
pp. 1-11
Author(s):  
Guang Jin ◽  
Shuai Ma ◽  
Zhenghui Li
Keyword(s):  
Dynamic Simulation ◽  
Trajectory Planning ◽  
Simulation Modeling ◽  
Industry 4.0 ◽  
Industrial Robot ◽  
Error Model ◽  
Position Error ◽  
Industrial Robots ◽  
Robot Kinematics ◽  
Kinetic Characteristics

This paper studies the kinematic dynamic simulation modeling of industrial robots in the Industry 4.0 environment and guides the kinematic dynamic simulation modeling of industrial robots in the Industry 4.0 environment in the context of the research. To address the problem that each parameter error has different degrees of influence on the end position error, a method is proposed to calculate the influence weight of each parameter error on the end position error based on the MD-H error model. The error model is established based on the MD-H method and the principle of differential transformation, and then the function of uniform variation of six joint angles with time t is constructed to ensure that each linkage geometric parameter is involved in the motion causing error accumulation. Through the analysis of the robot marking process, the inverse solution is optimized for multiple solutions, and a unique engineering solution is obtained. Linear interpolation, parabolic interpolation, polynomial interpolation, and spline curve interpolation are performed on the results after multisolution optimization in the joint angle, and the pros and cons of various interpolation results are analyzed. The trajectory planning and simulation of industrial robots in the Industry 4.0 environment are carried out by using a special toolbox. The advantages and disadvantages of the two planning methods are compared, and the joint space trajectory planning method is selected to study the planning of its third and fifth polynomials. The kinetic characteristics of the robot were simulated and tested by experimental methods, and the reliability of the simulation results of the kinetic characteristics was verified. The kinematic solutions of industrial robots and the results of multisolution optimization are simulated. The methods, theories, and strategies studied in this paper are slightly modified to provide theoretical and practical support for another dynamic simulation modeling of industrial robot kinematics with various geometries.

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.

Error Comparison and Analysis of Parallel and Constraint Mechanism for 3-TPS Hybrid Machine Tool

2011 ◽  
Vol 127 ◽  
pp. 277-282
Author(s):  
Peng Fei Dang ◽  
Li Jin Fang
Keyword(s):  
Machine Tool ◽  
Parallel Mechanism ◽  
Parallel Robot ◽  
Error Model ◽  
Position Error ◽  
Robot Kinematics ◽  
Motion Error ◽  
Movable Plate ◽  
Hybrid Machine Tool ◽  
Hybrid Machine

This paper establishes position error model based on parallel robot kinematics theory, and analyses position error of the 3-TPS hybrid machine tool. Firstly, to calculate position error of the movable plate caused by the parallel mechanism links, through error model of the parallel mechanism which is established through inverse kinematics of the hybrid machine tool. Then, according to the error model of constraint mechanism established by transformation matrix method, the position error has been simulated and calculated. Finally, this paper compares the effects of both mechanisms. The analysis indicates the link error of constraint mechanism has more influence on movable plate posture than parallel mechanism, and provides help with motion error compensation and kinematic calibration.

scholarly journals Maximizing the Coverage of Roadmap Graph for Optimal Motion Planning

Complexity ◽  
2018 ◽  
Vol 2018 ◽  
pp. 1-23 ◽  
Author(s):  
Jae-Han Park ◽  
Tae-Woong Yoon
Keyword(s):  
Motion Planning ◽  
Industry 4.0 ◽  
Industrial Robot ◽  
Efficient Solutions ◽  
Industrial Robots ◽  
Optimal Motion ◽  
Optimal Motion Planning ◽  
Planning Problems ◽  
Complex Planning ◽  
Satisfactory Quality

Automated motion-planning technologies for industrial robots are critical for their application to Industry 4.0. Various sampling-based methods have been studied to generate the collision-free motion of articulated industrial robots. Such sampling-based methods provide efficient solutions to complex planning problems, but their limitations hinder the attainment of optimal results. This paper considers a method to obtain the optimal results in the roadmap algorithm that is representative of the sampling-based method. We define the coverage of a graph as a performance index of its optimality as constructed by a sampling-based algorithm and propose an optimization algorithm that can maximize graph coverage in the configuration space. The proposed method was applied to the model of an industrial robot, and the results of the simulation confirm that the roadmap graph obtained by the proposed algorithm can generate results of satisfactory quality in path-finding tests under various conditions.

Industrial Robot Kinematics Parameter Identification

2014 ◽  
Vol 889-890 ◽  
pp. 1136-1143
Author(s):  
Yong Gui Zhang ◽  
Chen Rong Liu ◽  
Peng Liu
Keyword(s):  
Experimental Data ◽  
Genetic Algorithms ◽  
Parameter Identification ◽  
Industrial Robot ◽  
Industrial Robots ◽  
Robot Kinematics ◽  
Kinematic Parameters ◽  
Unknown Parameters ◽  
Preliminary Measurement ◽  
Kinematics Modeling

For an industrial robots with unknown parameters, on the basis of preliminary measurement and data of the Cartesian and joints coordinates which are shown on the FlexPendant, the kinematic parameters is identified by using genetic algorithms and accurate kinematics modeling of the robot is established. Experimental data could prove the validity of this method.

A direct approach to solving trajectory planning problems using genetic algorithms with dynamics considerations in complex environments

Robotica ◽  
2014 ◽  
Vol 33 (3) ◽  
pp. 669-683 ◽  
Author(s):  
Fares J. Abu-Dakka ◽  
Francisco J. Valero ◽  
Jose Luis Suñer ◽  
Vicente Mata
Keyword(s):  
Trajectory Planning ◽  
Direct Method ◽  
Industrial Robot ◽  
Industrial Robots ◽  
Computational Time ◽  
Planning Problem ◽  
Complex Environments ◽  
Operational Parameters ◽  
Algorithm Efficiency ◽  
Planning Problems

SUMMARYThis paper presents a new genetic algorithm methodology to solve the trajectory planning problem. This methodology can obtain smooth trajectories for industrial robots in complex environments using a direct method. The algorithm simultaneously creates a collision-free trajectory between initial and final configurations as the robot moves. The presented method deals with the uncertainties associated with the unknown kinematic properties of intermediate via points since they are generated as the algorithm evolves looking for the solution. Additionally, the objective of this algorithm is to minimize the trajectory time, which guides the robot motion. The method has been applied successfully to the PUMA 560 robotic system. Four operational parameters (execution time, computational time, end-effector distance traveled, and significant points distance traveled) have been computed to study and analyze the algorithm efficiency. The experimental results show that the proposed optimization algorithm for the trajectory planning problem of an industrial robot is feasible.

The Trajectory Planning and Simulation for Industrial Robot Based on Fifth-Order B-Splines

2014 ◽  
Vol 538 ◽  
pp. 367-370 ◽  
Author(s):  
Zhi Jian Gou ◽  
Cheng Wang
Keyword(s):  
Trajectory Planning ◽  
Industrial Robot ◽  
Joint Space ◽  
Robot Kinematics ◽  
Kinematic Parameters ◽  
B Spline ◽  
B Splines ◽  
Robot Trajectory ◽  
Fifth Order ◽  
Parameter Constraints

The trajectory is planned with fifth-order uniform B-splines for the industrial robot aimed to assure the motion is smooth and the trajectory is fourth-order continuous. Under the premise to satisfy the initial kinematic parameters of the robot as zero, its speed, acceleration and jerk are continuous. Based on B-spline theory, process five B-spline curve function is calculated inversely in joint space. Under the robot kinematics parameter constraints, using fifth-order B-spline interpolates to plan robot trajectory when known interpolation points and the kinematic parameters are simulated and validated by the software of ADAMS.So it provides an effective new method for the trajectory planning.

Dynamic Simulation of the Six Axis Machining Robot for Trajectory Planning in CATIA-LMS

2012 ◽  
Vol 163 ◽  
pp. 74-78
Author(s):  
Yi Luo ◽  
Olivier Gibaru ◽  
Adel Olabi
Keyword(s):  
Dynamic Simulation ◽  
Trajectory Planning ◽  
Machine Tools ◽  
Industrial Robots ◽  
Machining Accuracy ◽  
Aluminum Castings ◽  
Robot Machining ◽  
Machining Robot ◽  
Low Stiffness ◽  
Stiff Joint

Nowadays six axis machining robots are widely used in many fields of industry. Compared to machine tools, industrial robots offer a cheaper yet more flexible alternative to the machine-tools in the cleaning and pre-machining applications of aluminum castings. But the low stiffness has limited the application of industrial robots to the machining tasks with very low precision requirement. This paper presents a practical approach to improve the robot-machining accuracy by developing an off line simulation tool. Firstly we will complete the dynamic simulation of the 6-axis stiff model in CATIA-LMS for trajectory planning. Secondly we will set flexible joints and balancing system for the industry machining robot in LMS. Finally we will make some compare with the position trajectories generated by flexible joint and stiff joint, and then adjust the parameters under the references of the simulation result before the industry machining.

Heterogeneous Connection and Process Anomaly Detection of Industrial Robot in Intelligent Factory

2020 ◽  
Vol 34 (12) ◽  
pp. 2059041
Author(s):  
Xianhe Wen ◽  
Heping Chen
Keyword(s):  
Anomaly Detection ◽  
Industry 4.0 ◽  
Short Term Memory ◽  
Industrial Robot ◽  
Industrial Robots ◽  
Main Research ◽  
Open Platform ◽  
Leading Role ◽  
Unsupervised Anomaly Detection ◽  
Long Short Term Memory

Since the concept of industry 4.0 was proposed in 2011, the trend of industry 4.0 has been surging around the world. Intelligent factory is one of the main research points in the industry 4.0 era. In order to improve the intelligent level of the factory, the connection-and-cognition ability has to be established for the factory and its equipment. Connection builds data pipes among equipment and systems while cognition automatically turns the data into knowledge. In an intelligent factory, industrial robot plays a leading role. Hence, the aim of this paper is to synthetically study connection and cognition of industrial robots in intelligent factories. To be specific, open platform communications unified architecture (OPC UA) is applied to establish heterogeneous connection of industrial robots with factory management software. A long short-term memory (LSTM) joint auto encoder method is proposed to establish the unsupervised anomaly detection cognition ability for industrial robot process (e.g. grinding, welding and assembling). In summary, this study puts OPC UA and LSTM auto encoder technology together to study heterogeneous connection and process anomaly detection of industrial robots in intelligent factory. The experimental results showed that the proposed method successfully realized heterogeneous connection of an industrial robot and detected process anomaly from the robot built-in sensors’ data.

A fixed-distance planning algorithm for 6-DOF manipulators

2015 ◽  
Vol 42 (6) ◽  
pp. 586-599 ◽  
Author(s):  
Mingyu Gao ◽  
Da Chen ◽  
Yuxiang Yang ◽  
Zhiwei He
Keyword(s):  
Trajectory Planning ◽  
Degrees Of Freedom ◽  
Position Control ◽  
Control Strategies ◽  
Industrial Robot ◽  
Industrial Robots ◽  
Cartesian Coordinates ◽  
Content Type ◽  
Fixed Distance ◽  
Planning Algorithm

Purpose – The purpose of this paper is to propose a new trajectory planning algorithm for industrial robots, which can let the robots move through a desired spatial trajectory, avoid colliding with other objects and achieve accurate movements. Trajectory planning algorithms are the soul of motion control of industrial robots. A predefined space trajectory can let the robot move through the desired spatial coordinates, avoid colliding with other objects and achieve accurate movements. Design/methodology/approach – The mathematical expressions of the proposed algorithm are deduced. The speed control, position control and orientation control strategies are realized and verified with simulations, and then implemented on a six degrees of freedom (6-DOF) industrial robot platform. Findings – A fixed-distance trajectory planning algorithm based on Cartesian coordinates was presented. The linear trajectory, circular trajectory, helical trajectory and parabolic trajectory in Cartesian coordinates were implemented on the 6-DOF industrial robot. Originality/value – A simple and efficient algorithm is proposed. Enrich the kind of trajectory which the industrial robot can realize. In addition, the industrial robot can move more concisely, smoothly and precisely.

scholarly journals SUMMARY OF CHOSEN LEGISLATION USED IN AUTOMATED OPERATION

2018 ◽  
pp. 225-230
Author(s):  
Marek Vagas
Keyword(s):  
Material Flow ◽  
Industry 4.0 ◽  
Industrial Robot ◽  
Industrial Robots ◽  
Robotic Arm ◽  
Limited Area ◽  
Target Setting ◽  
Safety Requirements ◽  
Complex Information ◽  
Clear Idea

Urgency of the research. In the field of automation currently exists a lot of standards and directives deals with this area, and frequent mistakes and errors occur during implementation of automated workplaces (especially with robotic arm). Target setting. Purpose of article is to give an overview and brief summary of chosen legislation that is most used during of implementation of such systems. Actual scientific researches and issues analysis. Several books and articles were published during past of years, but a lot of them contain general and complex information, only few of them were focused on limited area, such automated workplac-es. Uninvestigated parts of general matters defining. Despite to lot of information from this area, still is missed clear idea for automated workplace implementation. The research objective. The point of article is showing the most important legislative for automated workplace designing with safety requirements. The statement of basic materials. For success realization of automated solution (obviously with robotic arm) is needed evaluation and assessment of risk that can occur there, with regards to the persons around workplace. Conclusions. The results published in this article increase the correct installation of such automated workplaces, together with industrial robots. In addition, presented legislative helps persons for better understanding of material flow creation in these types of workplaces, where major role is realized via industrial robot. Our proposed solution can be considered as rele-vant base for introducing such workplaces into the “INDUSTRY 4.0” concept.

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