scholarly journals ALGORITHM FOR IMPROVING FEEDING RATES OF INDUSTRIAL WELDING ROBOT TA 1400 IN COMBINATION WITH A TURNTABLE FRAME

2020 ◽  
Vol 36 (3) ◽  
pp. 285-294
Author(s):  
Ngoc Anh Mai ◽  
Xuan Bien Duong
Keyword(s):  
Degrees Of Freedom ◽  
Industrial Robots ◽  
Kinematics And Dynamics ◽  
Simulation Environment ◽  
Welding Robot ◽  
Feeding Rates ◽  
Matlab Software ◽  
The Future ◽  
Simulation Results ◽  
6 Degrees Of Freedom

An algorithm for improving feeding rates of industrial welding robot TA 1400 of Panasonic with 6 degrees of freedom is presented. The kinematics and dynamics of the robot are calculated on MATLAB software. The proposed algorithm for improving feeding rates is mathematically analyzed and the performance of the system is evaluated in a simulation environment. The simulation results are used for proving the efficiency of the solution. Based on the achieved results, the algorithm can be applied for reducing time and improving the productivity of other industrial robots in the future

Development of six-DOF welding robot with machine vision

2018 ◽  
Vol 32 (34n36) ◽  
pp. 1840079
Author(s):  
Wensheng Huang ◽  
Hongli Xu
Keyword(s):  
Machine Vision ◽  
High Speed ◽  
Degrees Of Freedom ◽  
High Efficiency ◽  
Target Location ◽  
Industrial Robots ◽  
Welding Robot ◽  
Edge Pixel ◽  
Six Dof ◽  
Hardware Processing

The application of machine vision to industrial robots is a hot topic in robot research nowadays. A welding robot with machine vision had been developed, which is convenient and flexible to reach the welding point with six degrees-of-freedom (DOF) manipulator, while the singularity of its movement trail is prevented, and the stability of the mechanism had been fully guaranteed. As the precise industry camera can capture the optical feature of the workpiece to reflect in the camera’s CCD lens, the workpiece is identified and located through a visual pattern recognition algorithm based on gray scale processing, on the gradient direction of edge pixel or on geometric element so that high-speed visual acquisition, image preprocessing, feature extraction and recognition, target location are integrated and hardware processing power is improved. Another task is to plan control strategy of control system, and the upper computer software is programmed in order that multi-axis motion trajectory is optimized and servo control is accomplished. Finally, prototype was developed and validation experiments show that the welding robot has high stability, high efficiency, high precision, even if welding joints are random and workpiece contour is irregular.

Simulation of 8-Degrees of Freedom Based Bio-Inspired Humanoid Robotic Arm Using MATLAB/ADAMS Co-Simulation Environment

2015 ◽  
Vol 799-800 ◽  
pp. 1054-1057 ◽  
Author(s):  
Jayabalan Sudharsan ◽  
L. Karunamoorthy
Keyword(s):  
Degrees Of Freedom ◽  
Humanoid Robot ◽  
Learning Algorithm ◽  
Dynamic Control ◽  
Research Work ◽  
Robotic Arm ◽  
Programming Environment ◽  
Simulation Environment ◽  
Simulation Results ◽  
Matlab Programming

This research work presents a dynamic control of a 8 – Degrees of freedom (DOF) based bio-inspired humanoid robotic arm which was simulated using MATLAB / Adams Co-Simulation environment. The robotic arm has been modeled using PRO-E and its invoked in ADAMS and Controlled by MATLAB programming environment. With the help of the simulation results, parameters like torque, position, etc of the system have been analyzed for various trajectories or path of the robot and the results have been discussed in detail. This research work is part of a real time humanoid robot project titled – RALA (Robot based on Autonomous Learning Algorithm).

Kinematics and Dynamics Simulation of Feed Mechanism of Sewing Machine Based on SimMechanics

2013 ◽  
Vol 694-697 ◽  
pp. 31-35
Author(s):  
Xiao Zheng Dang ◽  
Liang Sheng Zhou ◽  
Bao Cheng Ding
Keyword(s):  
Stress State ◽  
Simulation Model ◽  
Textile Industry ◽  
Dynamics Simulation ◽  
Kinematics And Dynamics ◽  
Sewing Machine ◽  
Machine System ◽  
The Future ◽  
Simulation Results

Planner six-bar mechanism is widely used in the textile industry. In this article, feed mechanism of sewing machine is studied. The kinematics and dynamics simulation model is established for this kind of mechanism. On the basis of it, a relevant simulation is carried out through SimMechanics. Thus, the motion rules and stress state for all parts of mechanism are described vividly. The simulation results show that this method is effective and efficient when the simulation is implemented for a certain machine system. Meanwhile, it provides a foundation for the further research of the mechanism in the future.

Kinematics Analysis and Torch Pose Fitting for Welding Robot

2014 ◽  
Vol 940 ◽  
pp. 153-158
Author(s):  
Run Xin Qu ◽  
Yuan Yuan Zou ◽  
Xiao Wei An ◽  
Si Jun Zhu
Keyword(s):  
Kinematic Analysis ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Robot Kinematics ◽  
Automatic Welding ◽  
Kinematics Analysis ◽  
Welding Robot ◽  
Welding Torch ◽  
Simulation Results ◽  
Large Work

Giant structure processes involve highly dangerous manual welding operations. aiming at the welding for giant structures, tankers and other large work pieces, a five degrees of freedom (DOF) gantry type automatic welding robot was developed which has our own property right. Forward/inverse kinematics for the mechanical structure is analyzed in which pose of the welding torch is defined as a free vector. Then kinematics equations were proposed for torch pose fitting. Finally, simulation results for robot kinematics analysis and torch pose fitting were also proposed with Matlab. The result not only proves the feasibility of torch pose fitting, but also provides a basis for further study on kinematic analysis, torch pose fitting and off-line programming about gantry type automatic welding robot.

Design and Simulation of a Single DOF Human-Like Leg Mechanism

2013 ◽  
Vol 332 ◽  
pp. 491-496 ◽  
Author(s):  
Ionut Daniel Geonea ◽  
Cătălin Alexandru ◽  
Alexandru Margine ◽  
Alin Ungureanu
Keyword(s):  
Degrees Of Freedom ◽  
Low Cost ◽  
Virtual Simulation ◽  
Kinematics And Dynamics ◽  
Dynamics Analysis ◽  
Simulation Results ◽  
Leg Motion ◽  
And Performance ◽  
Motion Characteristics ◽  
Easy Operation

In this paper is carried out the selection and simulation of a one degrees of freedom (DOF) leg mechanism. The leg mechanism consist of a nine bar linkage and is based on a Low-cost Easy-operation idea. Virtual simulation tests of the model shows the feasible of the proposed leg mechanism, for human leg motion assistance. Kinematics and dynamics analysis of the leg mechanism is carried out. Finally, dynamic simulation results reveal the motion characteristics and performance of the leg mechanism.

Research on Simulation of Kinematics and Dynamics for Planner Six-Bar Mechanism Based on MATLAB/Simulink

2013 ◽  
Vol 391 ◽  
pp. 109-113 ◽  
Author(s):  
Zheng Qiang Li
Keyword(s):  
Mathematical Model ◽  
Stress State ◽  
Analytical Approach ◽  
Theoretical Foundation ◽  
Kinematics And Dynamics ◽  
Matlab Simulink ◽  
Machine System ◽  
Machinery Industry ◽  
The Future ◽  
Simulation Results

Planner multi-bar mechanisms are widely used in the machinery industry. In this article, a typical planner six-bar mechanism is researched. The kinematics and dynamics mathematical model is established for this kind of mechanism. On the basis of it, a relevant simulation is carried out through MATLAB/Simulink. Thus, the motion rules and stress state for all parts of the mechanism are described vividly. The simulation results show that this method is much more effective and efficient when the simulation is implemented for a certain machine system. Meanwhile, it provides a theoretical foundation and a better analytical approach of simulation for the design and analysis of complex multi-linkage mechanisms in the future.

Study on Design and Combined Adaptive Control for a Remotely Operated Vehicle (VIAM-ROV900)

2020 ◽  
Vol 902 ◽  
pp. 13-22
Author(s):  
Ngoc Huy Tran ◽  
Thanh Nam Nguyen
Keyword(s):  
Degrees Of Freedom ◽  
Main Task ◽  
Remotely Operated Vehicle ◽  
Underwater Robots ◽  
Model Base ◽  
Model Control ◽  
Simulation Results ◽  
6 Degrees Of Freedom ◽  
And Control ◽  
Base Design

This paper presents the research of model-base design and control of Remotely Operated Vehicle (ROV) built in VietNam Automation & Mechatronics Laboratory (VIAMLAB). This is one of the most important types of underwater robots used in water environments for many purposes, especially for navy and marine industries. The design keeps our tethered ROV self-stabilized in the horizontal plane. It is also equipped with thrusters and sensor feedbacks, allowing 6 degrees-of-freedom motion. Moreover, cameras and grabber integrated into ROV support underwater survey tasks. In addition, the paper also simulates controllers with the main task of keeping depth for ROV. The controllers designed and surveyed here include: PID, optimal control (LQR), standard model control (MRAC) and combination controller between LQR and MRAC. The performance of the algorithm will be evaluated through simulation results using Matlab / Simulink.

scholarly journals ANN Training Method with a Small Number of Examples Used for Robots Control

2015 ◽  
Vol 10 (5) ◽  
pp. 643 ◽  
Author(s):  
Emilia Ciupan ◽  
Florin Lungu ◽  
Cornel Ciupan
Keyword(s):  
Degrees Of Freedom ◽  
Neural Model ◽  
Industrial Robots ◽  
Suitable Model ◽  
Mathematical Functions ◽  
Uniform Generation ◽  
Validation Technique ◽  
Training Examples ◽  
6 Degrees Of Freedom ◽  
The Relationship

This paper presents a method for obtaining a neural model used in industrial robots control. The method refers to the forming of a small number of examples used in the training of a neural network that lead to the creation of a suitable model. This paper constitutes a development of the work [2] in order to increase the opportunities for its application in various fields. The description of the method is generally done, without relying on a specific application in the domain of industrial robots. The testing and the validation of the shown method were completed using the example of a system in which the relationship between inputs and outputs is described by means of mathematical functions. The set of learning examples, generated through the proposed method, served to the ANN training by a cross-validation technique, in case of these functions. The evaluation of the proposed method has been done by analysing the results obtained by applying it compared to those obtained with a known method, namely the uniform generation of training examples. The use of the method in the field of industrial robots’ control was illustrated by a concrete application in the case of a robot with 6 degrees of freedom.

scholarly journals ANALYSIS OF PRECISION PROBLEMS OF PRECISION INDUSTRIAL ROBOTS

2021 ◽  
Vol 31 (4) ◽  
pp. 110-119
Author(s):  
S. V. Vantsov ◽  
◽  
V. A. Sokolov ◽  
O. V. Khomutskaya
Keyword(s):  
Artificial Intelligence ◽  
Control Systems ◽  
Degrees Of Freedom ◽  
Machine Building ◽  
Industrial Robots ◽  
Technical Documentation ◽  
Instrument Making ◽  
Automatic Control Systems ◽  
Wide Range ◽  
The Future

The article highlights the issues of compliance of the mechanics of manipulators of precision industrial robots (PIRs) with the highest accuracy standards specified in the normative technical documentation and practically achieved in the fields of machine-building, instrument-making and electronic industries. In the spotlight there are the possibilities of systems of multi - connected control of complex spatial mechanisms with excessive degrees of freedom (including manipulators of PIRs), the possibilities of systems of multi-circuit control of PIR drives with precision sensors of linear and angular displacements, velocities, accelerations, acceleration gradients (in the future), the issues of matching these parameters with the parameters of the computational part of control systems — the bit depth of digital sensors (more than 20 digits) with an resolution of less than an arc second. PIR manipulators are used in systems of multi-connected and multi-circuit regulation and control with elements of artificial intelligence, such as automatic adjustment systems (AASs), automatic control systems (ACSs) and artificial intelligence systems (AISs). These problems are considered in a wide range, including the transition to the fields of nanotechnologies, specifically: for linear (nanometers) and angular (hundredths of arc seconds) measurements, as well as the measurements of velocities, accelerations, and acceleration gradients (in the future — for systems with a human operator in the loop, i.e. human-machine systems (HMSs)).

scholarly journals Software Platform for the Assisted Research of the Kinematics and Dynamics of Industrial Robots

2021 ◽  
pp. 94-100
Author(s):  
Olaru A. ◽  
◽  
Dobrescu T. ◽  
Olaru S. ◽  
Mihai I.
Keyword(s):  
Input Data ◽  
Degrees Of Freedom ◽  
Industrial Robots ◽  
Kinematics And Dynamics ◽  
Software Platform ◽  
Virtual Instrumentation ◽  
Incidence Matrices ◽  
Motion Trajectories ◽  
Motion Parameters ◽  
Current Stage

The paper presents a software platform made with LabVIEWTM for the assisted research of the kinematic and dynamic behavior of industrial robots. The platform comprises a series of virtual instrumentation LabVIEWTM programs (subVI-s) with: the input data modules in the form of several clusters with the parameters of the trapezoidal velocity characteristics of each joint, the axes of movement and the type of each joints, the dimensions of each body, the graph associated to the robot’s structure, the incidence matrices bodies - joints and joints- bodies, as well as the control buttons for movement up or down with or without object in the end- effecter, some modules with 2D characteristics of positions, velocities, accelerations, forces and moments in each joints and also the 3D characteristics of them. The research of the current stage shows that such a complex platform like this was not realized, the current research being limited to the animation of motion trajectories, determining the characteristics of positions, velocities, accelerations, forces and moments without the possibility of changing all motion parameters and robot’s dimensions and without show how these parameters change the behavior. The paper studies the case of an articulated arm type robot, but the platform can be used for any type of robot with four degrees of freedom (DOF).

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