Collision Avoidance of a Welding Robot for a Large Structure (Application of Human Experience)

2013 ◽  
Vol 7 (1) ◽  
pp. 88-94 ◽  
Author(s):  
Naoki Asakawa ◽  
◽  
Yoshihiro Kanjo ◽  
Keyword(s):  
Collision Avoidance ◽  
Robot Control ◽  
Industrial Robot ◽  
Control Program ◽  
Automatic Generation ◽  
Robot Arm ◽  
Welding Robot ◽  
Large Structure ◽  
Skilled Workers ◽  
Large Structures

The study deals with the automatic generation of a program with collision avoidance for a welding robot for a large structure. An industrial robot used for welding large structures must consider collisions between the tool and workpiece, the robot arm and workpiece, and with surrounding objects. In the study, the experiences of skilled workers are used to consider collision problems while generating a robot control program. Through the experiment, the system was found to have the ability to resolve collision problems.

scholarly journals Structural Design and Material Cutting Using a Laser End Effector on a Robot Arm

TEM Journal ◽  
2020 ◽  
pp. 1455-1459
Author(s):  
Martin Pollák ◽  
Jozef Dobránsky
Keyword(s):  
Structural Design ◽  
Robot Control ◽  
Control Method ◽  
Control Program ◽  
Soft Materials ◽  
Electrical Circuit ◽  
Simulation Software ◽  
Robot Arm ◽  
Software Environment ◽  
End Effector

The paper deals with the structural design of a laser end effector for the arm of the ABB IRB 140 robot which makes products by the laser cutting technology involving soft materials, such as e.g. paper, wood and others. A laser with a power of 1 W was chosen to carry out the cutting. An electrical circuit with a power supply was created for the selected laser; a control method and a structural design of the jig to be attached to the flange of the robot arm were proposed. Subsequently, the robot control program was connected to the control via a computer and the RoboDK simulation software. The paper describes in more detail the creation of the robot control program and the simulation designed in the simulation software environment, as well as the programming of laser control scripts in Python and in the programming environment of Arduino microcontroller.

scholarly journals Application of industrial robot in 5-axis milling process

2019 ◽  
Vol 299 ◽  
pp. 04004
Author(s):  
Martin Pollák ◽  
Monika Telišková ◽  
Marek Kočiško ◽  
Petr Baron
Keyword(s):  
Economic Efficiency ◽  
Manufacturing Process ◽  
Laboratory Tests ◽  
Industrial Robot ◽  
Control Program ◽  
Milling Process ◽  
Robotic Arm ◽  
Robot Arm ◽  
Nc Program ◽  
Robotic Arm Control

Present in machining creates constantly new requirements to increase economic efficiency, productivity and product quality. With this advancement, industry is no longer focusing only on commonly used machining technologies, but is paying increasing attention to the implementation of robots in the manufacturing process by machining. The paper describes the design of equipment for the implementation of 5-axis milling with the help of a robot arm ABB IRB 140. It describes the design of the milling head and deals with the creation of NC machining program in software Autodesk Fusion 360. The generated NC program is then used in RoboDK to create a robotic arm control program. At the end of the paper are described laboratory tests of machining using the designed prototype milling head.

scholarly journals OPTIMISATION OF THE ALGORITHM FOR CONTROLLING A ROBOTIC TURNING OPERATION

2021 ◽  
Vol 52 (2) ◽  
pp. 84-87
Author(s):  
Vladimir V. Romanov
Keyword(s):  
Robot Control ◽  
Initial Conditions ◽  
Industrial Robot ◽  
Control Program ◽  
Educational Process ◽  
System Management ◽  
Mathematical Apparatus ◽  
Control Task ◽  
Logical Functions ◽  
Production Conditions

This article provides an analysis of the logical functions of industrial robot control with elements of artificial intelligence. The initial conditions of the production situation are supplemented with components that make it possible to significantly simplify the mathematical apparatus of the control program. As a result of minimisation, the conditions for the implementation of the control task are clear for understanding. The derived expressions are convenient to use not only in production conditions, but also in the educational process. This task is included in the laboratory cycle on the discipline “Process and system management in mechanical engineering”.

Collision Avoidance of a Welding Robot for a Large Structure (Application of Potential Field)

2013 ◽  
Vol 7 (2) ◽  
pp. 190-195 ◽  
Author(s):  
Naoki Asakawa ◽  
◽  
Yoshihiro Kanjo ◽  
Keyword(s):  
Collision Avoidance ◽  
Configuration Space ◽  
Potential Field ◽  
Tool Path ◽  
Welding Robot ◽  
Large Structure ◽  
Tool Paths ◽  
Mechanical Interface

This study deals with the automation of welding by generating control commands for a welding robot automatically. Generally, a movement of a robot is decided depending on the tool path – a series of positions and postures of the tool attached to the mechanical interface of the robot. We tried to generate the tool path focused on the collision avoidance of the welding tool on the basis of CAD data on the workpiece. In the study, to cope with a characteristic of welding, the requirement to be continuous in tool velocity and posture, the tool path is generated through the use of a potential field in a configuration space. As a result, the system is found to successfully generate smooth and collision-free tool paths.

Proteins and direct methods

1991 ◽  
Vol 197 (3-4) ◽  
Author(s):  
Fan Hai-fu ◽  
Hao Quan ◽  
M. M. Woolfson
Keyword(s):  
First Principles ◽  
Figure Of Merit ◽  
Direct Methods ◽  
Large Structure ◽  
Low Resolution ◽  
Figures Of Merit ◽  
Large Structures ◽  
Resolution Data

AbstractConventional direct methods, which work so well for small structures, are less successful for macromolecules. Where it has been demonstrated that a solution might be found using direct methods it is then found that the usual figures of merit are unable to distinguish the few good sets of phases from the large number of sets generated. The reasons for the difficulties with very large structures are considered from a first-principles approach taking into account both the factors of having a large number of atoms and low resolution data. A proposal is made for trying to recognize good phase sets by taking a large structure as a sum of a number of smaller structures for each of which a conventional figure of merit can be applied.

ROBOTIC HANDWRITING

2005 ◽  
Vol 02 (01) ◽  
pp. 105-124 ◽  
Author(s):  
VELJKO POTKONJAK
Keyword(s):  
Mathematical Models ◽  
Muscle Fatigue ◽  
Simulation Study ◽  
Robot Control ◽  
Robot Arm ◽  
Redundancy Resolution ◽  
Kinematic Redundancy ◽  
New Concepts ◽  
Human Arm ◽  
Arm Motion

Handwriting has always been considered an important human task, and accordingly it has attracted the attention of researchers working in biomechanics, physiology, and related fields. There exist a number of studies on this area. This paper considers the human–machine analogy and relates robots with handwriting. The work is two-fold: it improves the knowledge in biomechanics of handwriting, and introduces some new concepts in robot control. The idea is to find the biomechanical principles humans apply when resolving kinematic redundancy, express the principles by means of appropriate mathematical models, and then implement them in robots. This is a step forward in the generation of human-like motion of robots. Two approaches to redundancy resolution are described: (i) "Distributed Positioning" (DP) which is based on a model to represent arm motion in the absence of fatigue, and (ii) the "Robot Fatigue" approach, where robot movements similar to the movements of a human arm under muscle fatigue are generated. Both approaches are applied to a redundant anthropomorphic robot arm performing handwriting. The simulation study includes the issues of legibility and inclination of handwriting. The results demonstrate the suitability and effectiveness of both approaches.

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