scholarly journals Optimizing Cycle Time of Industrial Robotic Tasks with Multiple Feasible Configurations at the Working Points

Robotics ◽  
2022 ◽  
Vol 11 (1) ◽  
pp. 16
Author(s):  
Matteo Bottin ◽  
Giovanni Boschetti ◽  
Giulio Rosati
Keyword(s):  
Cycle Time ◽  
Industrial Robot ◽  
Travelling Salesman Problem ◽  
Computational Time ◽  
Working Cycle ◽  
Task Order ◽  
Robotic Application ◽  
Robot Configurations ◽  
Robotic Tasks ◽  
Very High

Industrial robot applications should be designed to allow the robot to provide the best performance for increasing throughput. In this regard, both trajectory and task order optimization are crucial, since they can heavily impact cycle time. Moreover, it is very common for a robotic application to be kinematically or functionally redundant so that multiple arm configurations may fulfill the same task at the working points. In this context, even if the working cycle is composed of a small number of points, the number of possible sequences can be very high, so that the robot programmer usually cannot evaluate them all to obtain the shortest possible cycle time. One of the most well-known problems used to define the optimal task order is the Travelling Salesman Problem (TSP), but in its original formulation, it does not allow to consider different robot configurations at the same working point. This paper aims at overcoming TSP limitations by adding some mathematical and conceptual constraints to the problem. With such improvements, TSP can be used successfully to optimize the cycle time of industrial robotic tasks where multiple configurations are allowed at the working points. Simulation and experimental results are presented to assess how cost (cycle time) and computational time are influenced by the proposed implementation.

Design of spline surface vacuum gripper for pick and place robotic arms

2020 ◽  
Vol 4 (2) ◽  
pp. 48-55
Author(s):  
A. S. Jamaludin ◽  
M. N. M. Razali ◽  
N. Jasman ◽  
A. N. A. Ghafar ◽  
M. A. Hadi
Keyword(s):  
Cycle Time ◽  
Industrial Robot ◽  
Annealing Process ◽  
Vacuum Suction ◽  
Robotic Arms ◽  
Custom Made ◽  
Pick And Place ◽  
Manufacturing Procedure ◽  
Production Flexibility ◽  
The Impact

The gripper is the most important part in an industrial robot. It is related with the environment around the robot. Today, the industrial robot grippers have to be tuned and custom made for each application by engineers, by searching to get the desired repeatability and behaviour. Vacuum suction is one of the grippers in Watch Case Press Production (WCPP) and a mechanism to improve the efficiency of the manufacturing procedure. Pick and place are the important process for the annealing process. Thus, by implementing vacuum suction gripper, the process of pick and place can be improved. The purpose of vacuum gripper other than design vacuum suction mechanism is to compare the effectiveness of vacuum suction gripper with the conventional pick and place gripper. Vacuum suction gripper is a mechanism to transport part and which later sequencing, eliminating and reducing the activities required to complete the process. Throughout this study, the process pick and place became more effective, the impact on the production of annealing process is faster. The vacuum suction gripper can pick all part at the production which will lower the loss of the productivity. In conclusion, vacuum suction gripper reduces the cycle time about 20%. Vacuum suction gripper can help lower the cycle time of a machine and allow more frequent process in order to increase the production flexibility.

Application of non-linear H∞ control to the Tetrabot robot manipulator

1998 ◽  
Vol 212 (6) ◽  
pp. 459-465 ◽  
Author(s):  
I Postlethwaite ◽  
A Bartoszewicz
Keyword(s):  
Degrees Of Freedom ◽  
Robot Manipulator ◽  
Industrial Robot ◽  
External Disturbances ◽  
Six Degrees Of Freedom ◽  
Control Scheme ◽  
Non Linear ◽  
Modelling Uncertainties ◽  
Real Robot ◽  
Robotic Application

In this paper, an application of a non-linear H∞ control law for an industrial robot manipulator is presented. Control of the manipulator motion is formulated into a non-linear H∞ optimization problem, namely optimal tracking performance in the presence of modelling uncertainties and external disturbances. Analytical solutions for this problem are implemented on a real robot. The robot under consideration is the six-degrees-of-freedom GEC Tetrabot. Investigations are made into the selection of weights for the H∞ controller and it is shown how different selections of weights affect the Tetrabot performance. The authors believe this to be the first robotic application of nonlinear H∞ control. Comparisons of the proposed control strategy with conventional proportional-derivative and proportional-integral-derivative controllers show favourable performance of the Tetrabot under the new non-linear H∞ control scheme.

An Industrially Validated Method for Weld Load Balancing in Multi Station Sheet Metal Assembly Lines

2013 ◽  
Vol 136 (1) ◽  
Author(s):  
Johan Segeborn ◽  
Daniel Segerdahl ◽  
Fredrik Ekstedt ◽  
Johan S. Carlson ◽  
Mikael Andersson ◽  
...  
Keyword(s):  
Sheet Metal ◽  
Cycle Time ◽  
Industrial Robot ◽  
Complex Problem ◽  
Line Balancing ◽  
Processing Unit ◽  
Mathematical Methods ◽  
Central Processing ◽  
Robot Positioning ◽  
Sheet Metal Assembly

Sheet metal assembly is investment intense. Therefore, the equipment needs to be efficiently utilized. The balancing of welds has a significant influence on achievable production rate and equipment utilization. Robot line balancing is a complex problem, where each weld is to be assigned to a specific station and robot, such that line cycle time is minimized. Industrial robot line balancing has been manually conducted in computer aided engineering (CAE)-tools based on experience and trial and error rather than mathematical methods. However, recently an automatic method for robot line balancing was proposed by the authors. To reduce robot coordination cycle time losses, this method requires identical reach ability of all line stations. This limits applicability considerably since in most industrial lines, reach ability differs over the stations to further line reach ability and flexibility. Therefore, in this work we propose a novel generalized simulation-based method for automatic robot line balancing that allows any robot positioning. It reduces the need for robot coordination significantly by spatially separating the robot weld work loads. The proposed method is furthermore successfully demonstrated on automotive stud welding lines, with line cycle times lower than that of the corresponding running production programs. Moreover, algorithm central processing unit (CPU)-times are mere fractions of the lead times of existing CAE-tools.

scholarly journals A High Accurate and Stable Legendre Transform Based on Block Partitioning and Butterfly Algorithm for NWP

Mathematics ◽  
2019 ◽  
Vol 7 (10) ◽  
pp. 966
Author(s):  
Fukang Yin ◽  
Jianping Wu ◽  
Junqiang Song ◽  
Jinhui Yang
Keyword(s):  
Computational Complexity ◽  
Error Analysis ◽  
Numerical Stability ◽  
High Order ◽  
Numerical Results ◽  
Computational Time ◽  
Legendre Transform ◽  
Practical Application ◽  
Block Partitioning ◽  
Very High

In this paper, we proposed a high accurate and stable Legendre transform algorithm, which can reduce the potential instability for a very high order at a very small increase in the computational time. The error analysis of interpolative decomposition for Legendre transform is presented. By employing block partitioning of the Legendre-Vandermonde matrix and butterfly algorithm, a new Legendre transform algorithm with computational complexity O(Nlog2N /loglogN) in theory and O(Nlog3N) in practical application is obtained. Numerical results are provided to demonstrate the efficiency and numerical stability of the new algorithm.

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.

HIGH-SPEED INDUSTRIAL REAL-TIME NETWORK OF CYBERPHYSICAL SYSTEMS

2019 ◽  
pp. 46-52
Author(s):  
A. A. Zelensky
Keyword(s):  
Real Time ◽  
Cycle Time ◽  
High Speed ◽  
High Efficiency ◽  
Industrial Robot ◽  
Field Tests ◽  
Industrial Robots ◽  
Third Party ◽  
Industrial Equipment ◽  
Industrial Automation

The construction of a high-speed industrial real-time network based on FPGA (Field-Programmable Gate Array) for the control of machines and industrial robots is considered. A brief comparative analysis of the performance of the implemented Ethernet-based Protocol with industrial protocols of other leading manufacturers is made. The aim of the research and development of its own industrial automation Protocol was to reduce the dependence on third-party real-time protocols based on Ethernet for controlling robots, machines and technological equipment. In the course of the study, the requirements for the network of the motion control system of industrial equipment were analyzed. In order to synchronize different network nodes and provide short exchange cycle time, an industrial managed switch was developed, as well as a specialized hardware controller for processing Ethernet packets for end devices, presented as a IP-core. A key feature of the developed industrial network is that the data transmission in it is completely determined, and the exchange cycle time for each of the network devices can be configured individually. High efficiency and performance of implemented network devices became possible due to the use of hardware solutions based on FPGAs. All solutions described in the article as part of a modular digital system have been successfully tested in the control of machines and industrial robot. The results of field tests show that the use of FPGAs and soft processors with specialized peripheral IP-blocks can significantly reduce the tact of managing industrial equipment through the use of hardware computing structures, which indicates the promise of the proposed approach for solving industrial automation tasks.

scholarly journals AUTOMATIC DETECTION AND CHARACTERISATION OF POWER LINES AND THEIR SURROUNDINGS USING LIDAR DATA

2019 ◽  
Vol XLII-2/W13 ◽  
pp. 1161-1168 ◽  
Author(s):  
M. Yermo ◽  
J. Martínez ◽  
O. G. Lorenzo ◽  
D. L. Vilariño ◽  
J. C. Cabaleiro ◽  
...  
Keyword(s):  
Low Voltage ◽  
Parallel Implementation ◽  
Point Clouds ◽  
Power Line ◽  
Power Lines ◽  
Computational Time ◽  
Efficient Memory ◽  
3D Lidar ◽  
Very High ◽  
Line Classification

<p><strong>Abstract.</strong> Light Detection and Ranging (LiDAR) is nowadays one of the most used tools to obtain geospatial data. In this paper, a method to detect and characterise power lines of both high and low voltage and their surroundings from 3D LiDAR point clouds exclusively is proposed. First, to identify points of the power lines a global search of candidate points is carried out based on the height of each point compared to its neighbours. Then, the Hough Transform (HT) is applied on the set of candidate points to extract the catenaries that belong to each power line, allowing the identification of each conductor individually. Finally, conductors located on the same power line are grouped, their geometric characteristics analysed, and the quantitative features of the surroundings are computed. A very high accuracy of power line classification is reached with these methods, while the computational time is optimised by efficient memory usage and parallel implementation of the code.</p>

scholarly journals Output Error Methods for Robot Identification

2019 ◽  
Vol 142 (3) ◽  
Author(s):  
Mathieu Brunot ◽  
Alexandre Janot ◽  
Francisco Carrillo ◽  
Joono Cheong ◽  
Jean-Philippe Noël
Keyword(s):  
Degrees Of Freedom ◽  
Target Identification ◽  
Industrial Robot ◽  
Computational Time ◽  
Dynamic Identification ◽  
Inverse Dynamic ◽  
Six Degrees Of Freedom ◽  
Output Error ◽  
Modeling Errors ◽  
Regression Techniques

Abstract Industrial robot identification is usually based on the inverse dynamic identification model (IDIM) that comes from Newton's laws and has the advantage of being linear with respect to the parameters. Building the IDIM from the measurement signals allows the use of linear regression techniques like the least-squares (LS) or the instrumental variable (IV) for instance. Nonetheless, this involves a careful preprocessing to deal with sensor noise. An alternative in system identification is to consider an output error approach where the model's parameters are iteratively tuned in order to match the simulated model's output and the measured system's output. This paper proposes an extensive comparison of three different output error approaches in the context of robot identification. One of the main outcomes of this work is to show that choosing the input torque as target identification signal instead of the output position may lead to a gain in robustness versus modeling errors and noise and in computational time. Theoretical developments are illustrated on a six degrees-of-freedom rigid robot.

scholarly journals ORB-SLAM accelerated on heterogeneous parallel architectures

2021 ◽  
Vol 229 ◽  
pp. 01055
Author(s):  
Ayoub Mamri ◽  
Mohamed Abouzahir ◽  
Mustapha Ramzi ◽  
Rachid Latif
Keyword(s):  
Autonomous Vehicle ◽  
Computational Time ◽  
Heterogeneous Architecture ◽  
Ongoing Research ◽  
Efficient System ◽  
Software Optimization ◽  
Slam Algorithm ◽  
High Level ◽  
Autonomous Vehicle Navigation ◽  
Robotic Application

SLAM algorithm permits the robot to cartography the desired environment while positioning it in space. It is a more efficient system and more accredited by autonomous vehicle navigation and robotic application in the ongoing research. Except it did not adopt any complete end-to-end hardware implementation yet. Our work aims to a hardware/software optimization of an expensive computational time functional block of monocular ORB-SLAM2. Through this, we attempt to implement the proposed optimization in FPGA-based heterogeneous embedded architecture that shows attractive results. Toward this, we adopt a comparative study with other heterogeneous architecture including powerful embedded GPGPU (NVIDIA Tegra TX1) and high-end GPU (NVIDIA GeForce 920MX). The implementation is achieved using high-level synthesis-based OpenCL for FPGA and CUDA for NVIDIA targeted boards.

Gripper with Average Continuous Reconfigurability for Industrial Robots

2015 ◽  
Vol 811 ◽  
pp. 279-283
Author(s):  
Sebastian Jitariu ◽  
Ionel Staretu
Keyword(s):  
Industrial Robot ◽  
Low Complexity ◽  
Industrial Robots ◽  
Original Version ◽  
Cad Model ◽  
Cad Simulation ◽  
Alternative Solutions ◽  
Robotic Applications ◽  
Very High ◽  
Continuous Average

Anthropomorphic grippers for robots are used increasingly in robotic applications for handling and assembly. Currently there are several versions of anthropomorphic grippers as projects, prototypes or commercial variants that due to high prices or even for very high ones, are not available for current applications. Among them, high functionality at a relatively low complexity can be noticed in the case of reconfigurable grippers with high reconfigurability, Barrett Hand type. In this context, it is justified finding alternative solutions at lower prices at a lower reconfigurability, with acceptable functionality for current robotic operations. The paper presents an original version of modular anthropomorphic gripper continuous average reconfigurability, with three fingers. There are mentioned, briefly, major structural, kinematic and static issues, a CAD model and CAD simulation for gripping several types of pieces. Furthermore, we intend to achieve a prototype and test it by mounting on an industrial robot.

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