Industrial Robot

2018 ◽  
pp. 77-110
Keyword(s):  
Industrial Robot ◽  
Industrial Robots ◽  
Robot Motion ◽  
Uncertain Environments ◽  
Power Sources ◽  
Motion Type ◽  
Essential Components ◽  
History Of ◽  
Research Studies

This chapter provides various aspects of industrial robots. The various aspects which have been discussed are history of industrial robots, various application areas of industrial robots, general characteristics, and essential components of industrial robots. After this, concepts of robot motion, type of joints of industrial robots, various power sources for the robots are discussed. Next, the characteristics of various types of industrial robots are presented, followed by a list of leading manufacturers and research studies on industrial robots, along with the research studies on the performance of robots in various uncertain environments.

Finding Features of Positioning Error for Large Industrial Robots Based on Convolutional Neural Network

2021 ◽  
Author(s):  
Daiki Kato ◽  
Kenya Yoshitugu ◽  
Naoki Maeda ◽  
Toshiki Hirogaki ◽  
Eiichi Aoyama ◽  
...  
Keyword(s):  
Neural Network ◽  
Convolutional Neural Network ◽  
Production Systems ◽  
Industrial Robot ◽  
Three Dimensional ◽  
Industrial Robots ◽  
Numerical Control ◽  
Robot Motion ◽  
Positioning Error ◽  
End Effector

Abstract Most industrial robots are taught using the teaching playback method; therefore, they are unsuitable for use in variable production systems. Although offline teaching methods have been developed, they have not been practiced because of the low accuracy of the position and posture of the end-effector. Therefore, many studies have attempted to calibrate the position and posture but have not reached a practical level, as such methods consider the joint angle when the robot is stationary rather than the features during robot motion. Currently, it is easy to obtain servo information under numerical control operations owing to the Internet of Things technologies. In this study, we propose a method for obtaining servo information during robot motion and converting it into images to find features using a convolutional neural network (CNN). Herein, a large industrial robot was used. The three-dimensional coordinates of the end-effector were obtained using a laser tracker. The positioning error of the robot was accurately learned by the CNN. We extracted the features of the points where the positioning error was extremely large. By extracting the features of the X-axis positioning error using the CNN, the joint 1 current is a feature. This indicates that the vibration current in joint 1 is a factor in the X-axis positioning error.

scholarly journals Optimal Robot Motion for Accelerated Life Testing of a 6-DoF Industrial Robot

2020 ◽  
Vol 10 (21) ◽  
pp. 7459
Author(s):  
Seungjin Yoo ◽  
Jin Jang ◽  
Jai-Kyung Lee ◽  
Jong-Won Park
Keyword(s):  
Industrial Robot ◽  
Geometric Mean ◽  
Industrial Robots ◽  
Acceleration Factor ◽  
Accelerated Life Test ◽  
System Level ◽  
Test Time ◽  
Robot Motion ◽  
Life Test ◽  
Accelerated Life

In order to verify the reliability of drive components for industrial robots, component-level life tests must be accompanied by a system-level life test using actual robots in which predefined robot motions are repeated throughout the test. To properly verify the durability of drive components through a system-level life test, it is important to design test modes so that the required test time is the same for all joint drive components of the robot, and it is necessary to design test modes with a high acceleration factor so as to shorten the required test time as much as possible. To solve this problem, the present research proposes a method for designing robot motions that makes the accelerated life test time for all the drive components of the robot equal. In particular, we solve a dynamic based motion optimization problem for an industrial 6-DoF (degrees-of-freedom) robot that minimizes the AM-GM (arithmetic mean to geometric mean) ratio of the acceleration factors of each joint. The results show that C2-continuous test modes with the same acceleration factor, which is inversely proportional to the cycle time of the robot motion, can be derived.

scholarly journals SIMULATORS FOR CALIBRATION OF TOOL CENTER OF INDUSTRIAL ROBOTS

2017 ◽  
Vol 2017 (1) ◽  
pp. 44-49 ◽  
Author(s):  
Геннадий Крахмалев ◽  
Gennadiy Krakhmalev ◽  
Дмитрий Петрешин ◽  
Dmitriy Petreshin ◽  
Олег Крахмалев ◽  
...  
Keyword(s):  
Control System ◽  
Robot Control ◽  
Industrial Robot ◽  
Calibration Procedure ◽  
Industrial Robots ◽  
Robot Motion ◽  
Coordinate Transformations ◽  
Permanent Memory

A complex of measures on a new robot tooling envisages a fulfillment of the calibration procedure of the tool before its use in an operation. It is necessary for that the system of industrial robot control could carry out a tool travel in a robot operation space in the correct way. For that purpose the simulators describing coordinate transformations in this robot model must be supplemented by a simulator developed for the tool determined. Simulators describing coordinate trans-formations for a tool are created by a system of control automatically at the fulfillment of a tool calibration before the introduction of a new tool in operation. The simulators created are saved in permanent memory (ROM) of a controller of the control system in a tool library with the indication of logical naming for this tool. In the following at the pro-gramming of industrial robot motion a tool installed on a robot is pointed out to the system of control by means of logical naming a tool chosen. This paper reports the simulators for the tool center calibration of industrial robots corresponding to the methods used most commonly in practice of industrial robot operation. The simulators obtained can be used in systems for industrial robot control.

scholarly journals The analysis of industrial robot – external axes system movements with the use of virtual off-line programming

2018 ◽  
Vol 90 (10) ◽  
Author(s):  
Paweł Cegielski ◽  
Dariusz Golański ◽  
Paweł Kołodziejczak ◽  
Andrzej Kolasa ◽  
Tadeusz Sarnowski
Keyword(s):  
Design Process ◽  
Carrying Capacity ◽  
Industrial Robot ◽  
Systems Design ◽  
Industrial Robots ◽  
Functional Verification ◽  
Robot Motion ◽  
Work Requirements ◽  
High Work

Both, positioners as well as robot motion tracks to be integrated with industrial ro-bots as their external axes should fulfil high work requirements. The toughness structureof such systems resulted in high carrying capacity and repeatability of positioning must be compatible with the system kinematic ability to be used in typical technological appli-cation. During such systems design process its functional verification can be done withthe use of virtual off-line programming. The already complemented in PPU ZAP Robotyka in Ostrów Wielkopolski research methodic as well as results of analysis performed of newly developed manipulating machines as external axes of industrial robots.

Research on Kinematics and Trajectory Planning for 6-DOF Industrial Robot

2013 ◽  
Vol 823 ◽  
pp. 345-348
Author(s):  
Qi Ping Zhao ◽  
Li Sun ◽  
Zi Gang Zhu ◽  
Guang Chen Chen
Keyword(s):  
Trajectory Planning ◽  
Industrial Robot ◽  
Linear Interpolation ◽  
Industrial Robots ◽  
Robot Motion ◽  
Servo Drive ◽  
Advantages And Disadvantages ◽  
Cartesian Space ◽  
Quadratic Interpolation ◽  
Servo Drive System

The industrial robot is a typical electromechanical integration equipment constituted by operating machine, controller, servo drive system and the detection of sensing device. It is one of the most common industrial robots in the industrial field, which makes it work in almost any track or angle. This paper mainly presents the research on kinematics and trajectory planning for 6-DOF industrial robot. This study has finished the linear interpolation and arc interpolation in the Cartesian space. According to the advantages and disadvantages, this paper proposes the method of quadratic interpolation that meets the demands of 6-DOF industrial robot motion in the joints space and Cartesian space which ensures that the motion of 6-DOF industrial robot is smooth and stable.

Political psychology

2013 ◽  
Vol 154 (16) ◽  
pp. 619-626
Author(s):  
Mária Resch ◽  
Tamás Bella
Keyword(s):  
Social Sciences ◽  
Political Psychology ◽  
Group Dynamics ◽  
Political Institutions ◽  
Cognitive Mapping ◽  
Medical Sciences ◽  
Political Processes ◽  
Behavioural Patterns ◽  
Essential Components ◽  
History Of

In Hungary one can mostly find references to the psychological processes of politics in the writings of publicists, public opinion pollsters, philosophers, social psychologists, and political analysts. It would be still important if not only legal scientists focusing on political institutions or sociologist-politologists concentrating on social structures could analyse the psychological aspects of political processes; but one could also do so through the application of the methods of political psychology. The authors review the history of political psychology, its position vis-à-vis other fields of science and the essential interfaces through which this field of science, which is still to be discovered in Hungary, connects to other social sciences. As far as its methodology comprising psycho-biographical analyses, questionnaire-based queries, cognitive mapping of interviews and statements are concerned, it is identical with the psychiatric tools of medical sciences. In the next part of this paper, the focus is shifted to the essence and contents of political psychology. Group dynamics properties, voters’ attitudes, leaders’ personalities and the behavioural patterns demonstrated by them in different political situations, authoritativeness, games, and charisma are all essential components of political psychology, which mostly analyses psychological-psychiatric processes and also involves medical sciences by relying on cognitive and behavioural sciences. This paper describes political psychology, which is basically part of social sciences, still, being an interdisciplinary science, has several ties to medical sciences through psychological and psychiatric aspects. Orv. Hetil., 2013, 154, 619–626.

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.

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.

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