Assisted Research of the Robots Kinematics and Dynamics Behavior with LabVIEW Instrumentation

2013 ◽  
Vol 332 ◽  
pp. 276-285 ◽  
Author(s):  
Adrian Olaru ◽  
Serban Olaru
Keyword(s):  
Dynamic Behavior ◽  
Industrial Robots ◽  
Matrix Equations ◽  
Complex Matrix ◽  
Virtual Instrumentation ◽  
Mechanical Parts ◽  
3D Space ◽  
The World ◽  
On Line ◽  
Velocity Characteristic

In the industrial robots research one of the most important problem is to know cinematic and dynamic behavior to use them in the optimization process of the 3D space trajectory. Now, in the world, the results of the dynamic behavior research where obtained by research without one complex matrix model and without LabVIEW virtual instrumentation. In this paper it is show one assisted method and mathematical modeling with quadratic 6x6 matrix equations in the theoretical and experimental cinematic and dynamic analyze of didactical robot. For that where realized and used many virtual LabVIEW instruments (VI) and one didactical robot. All VI-s work on-line with the possibility to change some constructive and functional parameters of the structure or of the command low and see what is happened with the position, velocities, accelerations, forces and moments in all robot’s joints It is possible to try different control low of the movements like: simultaneously, successive or successive and simultaneously in all joints. The most important of the results is the possibility to know in every moment what is the better velocity characteristic for the dynamic behavior, validate easily the dynamic model and to know what is the variation of the absolute joint’s moments, forces, accelerations and velocities to can calculate all mechanical parts in each joints.

Optimizing the Global Dynamic Compliance by Using the Smart Damper and LabVIEW Instrumentation

2012 ◽  
Vol 186 ◽  
pp. 26-34 ◽  
Author(s):  
Adrian Olaru ◽  
Serban Olaru ◽  
Dan Paune
Keyword(s):  
Dynamic Behavior ◽  
Industrial Robot ◽  
Dynamic Compliance ◽  
Industrial Robots ◽  
Magnetorheological Damper ◽  
Dynamic Parameters ◽  
Virtual Instrumentation ◽  
Dynamic Damper ◽  
Global Dynamic ◽  
Resonance Frequencies

The actual required productivity, accuracy and reliability impose that the robots must be optimized concerning the dynamic behavior. The joints and robots bodies are necessary to be optimized for their usability performance to assure the productivity requirements. The global dynamic compliance (GDC) is one of the most important dynamic parameters of the dynamic behavior of the industrial robots. The viscose global dynamic damper coefficient (VGDDC) is other important parameter of the dynamic behavior what must be optimized to obtain the desired dynamic behavior, the avoiding of the resonance frequencies. The paper shows one new assisted method of the GDC analyzes of the industrial robot with LabVIEW virtual instrumentation (VI) in three different cases: with/without smart magnetorheological damper (MRD) and with aero damper. The created VI-s assures to obtain the assisted research of the dynamic behavior. With this research was possible to determine in the frequencies domain, the robot GDC and the viscose global dynamic damper equivalent coefficient (VGDDEC) value in a case with MRD and finally the transmission of the vibration from the floor to the robot’s tool center point (TCP). This method and the created virtual LabVIEW instrumentation are generally and they are possible to apply in many others dynamic behavior researches.

A hitchhiker’s guide to microscopy and microanalysis using telecommunications, e-mail, and the Internet

1994 ◽  
Vol 52 ◽  
pp. 390-391 ◽  
Author(s):  
Nestor J. Zaluzec
Keyword(s):  
The Internet ◽  
Information Superhighway ◽  
The World ◽  
Exchange Information ◽  
On Line ◽  
Computer Based ◽  
Software And Hardware ◽  
Communication Software ◽  
Basic Ideas ◽  
E Mail

The Information SuperHighway, Email, The Internet, FTP, BBS, Modems, : all buzz words which are becoming more and more routine in our daily life. Confusing terminology? Hopefully it won't be in a few minutes, all you need is to have a handle on a few basic concepts and terms and you will be on-line with the rest of the "telecommunication experts". These terms all refer to some type or aspect of tools associated with a range of computer-based communication software and hardware. They are in fact far less complex than the instruments we use on a day to day basis as microscopist's and microanalyst's. The key is for each of us to know what each is and how to make use of the wealth of information which they can make available to us for the asking. Basically all of these items relate to mechanisms and protocols by which we as scientists can easily exchange information rapidly and efficiently to colleagues in the office down the hall, or half-way around the world using computers and various communications media. The purpose of this tutorial/paper is to outline and demonstrate the basic ideas of some of the major information systems available to all of us today. For the sake of simplicity we will break this presentation down into two distinct (but as we shall see later connected) areas: telecommunications over conventional phone lines, and telecommunications by computer networks. Live tutorial/demonstrations of both procedures will be presented in the Computer Workshop/Software Exchange during the course of the meeting.

Optimization of the Robots Fourier Spectrum by Using the Assisted Research, Neural Network, Smart Damper and LabVIEW Instrumentation

2012 ◽  
Vol 245 ◽  
pp. 24-32 ◽  
Author(s):  
Adrian Olaru ◽  
Serban Olaru ◽  
Aurel Oprean
Keyword(s):  
Neural Network ◽  
Transfer Function ◽  
Spectral Density ◽  
Vibration Analysis ◽  
Manufacturing Systems ◽  
Fourier Spectrum ◽  
Industrial Robots ◽  
Vibration Behavior ◽  
Power Spectral ◽  
The World

The most important things in the dynamic research of industrial robots are the vibration behavior, the transfer function and the vibration power spectral density between some of the robot joints and components. In the world this research is made without the assisted research. In each of the study cases in this paper was used the proper virtual Fourier analyzer and was presented one new method of the assisted vibration analysis. With this research it is possible the optimal choosing the base modulus type to avoid the frequencies from the robot spectrum. In the manufacturing systems, the most important facts are the vibration behavior of the robot, the compatibility with some other components of the system. All the VI where achieved in the LabVIEW soft 8.2 version, from National Instruments, USA. This method and the created virtual LabVIEW instrumentation are generally and they are possible to apply in many other dynamic behavior research.

Ein semiaktiver Ansatz zur Verbesserung des dynamischen Verhaltens/Vibration damping on industrial robots – A semi-active approach to improve the dynamic behavior

2021 ◽  
Vol 111 (09) ◽  
pp. 622-627
Author(s):  
Michael Neubauer ◽  
Patrick Mesmer ◽  
Armin Lechler ◽  
Alexander Verl
Keyword(s):  
Dynamic Behavior ◽  
Disturbance Rejection ◽  
Vibration Damping ◽  
Active Damping ◽  
Drive Train ◽  
Industrial Robots ◽  
System Behavior ◽  
Eine Hohe ◽  
Damped System ◽  
Active Approach

Von Industrierobotern wird zunehmend eine hohe Bahn genauigkeit und ein gutes Störunterdrückungsverhalten gefordert. Um dem gerecht zu werden, wird hier ein semiaktiver Dämpfungsansatz vorgestellt, der Antriebsstrangschwingungen aktorbasiert dämpft. Damit geht ein stärker gedämpftes Systemverhalten einher, wodurch sich die Regelverstärkungsfaktoren erhöhen lassen. Das Resultat ist ein verbessertes Gesamtverhalten, das an einem „Kr210–2“ von Kuka mit semiaktiver Dämpfung an Achse 1 nachgewiesen wird.   Industrial robots are increasingly required to provide high path accuracy and good disturbance rejection behavior. In order to achieve this, a semi-active damping approach is presented, which damps drive train vibrations actuator-based. This leads to a more damped system behavior, allowing control gains to be increased. The result is an improved overall behavior, which is demonstrated on a Kuka Kr210–2 with semi-active damping on axis 1.

scholarly journals JOB HUNTING ONLINE AND KNOWLEDGE EVALUATION OF THE EMPLOYEES IN THE WORLD

2004 ◽  
Vol 10 (4) ◽  
pp. 174-180
Author(s):  
Giedrė Rimkevičiūtė
Keyword(s):  
Job Search ◽  
World Knowledge ◽  
Job Market ◽  
The World ◽  
On Line ◽  
Knowledge Evaluation

In this article the possibilities of finding the job by net are displayed. In today's world job hunting on‐line becomes more and more popular. The majority of Internet sites that can be used for job hunting is classified in thematic categories. Brainbench is the most authoritative system of the world that values skills of employees of different fields on‐line. Brainbench, the technologies of the world knowledge assessing system tests which Lithuanian market of job search ‐supply cannot offer, are being analyzed. The conclusions about the advantages and shortcommings of Brainbench system are given about the importance and significance of Brainbench certificates in job market.

Simulated On-Line Process Optimization of a Robotic Materials Handling System

1986 ◽  
Vol 108 (3) ◽  
pp. 285-291
Author(s):  
M. S. King ◽  
J. K. Blundell
Keyword(s):  
Process Optimization ◽  
Kinematic Model ◽  
Industrial Robots ◽  
Time Varying ◽  
Optimization Strategy ◽  
Materials Handling ◽  
On Line ◽  
Line Process ◽  
Time Varying Environment ◽  
Varying Environment

Industrial robots in use today lack the total ability to perceive and interact with their environment. This limitation is a major obstacle confronting robotic systems developers. This work outlines an on-line process optimization strategy which allows a robot to work within a time-varying environment. After developing the kinematic model of the robot and its relationship to its environment, the process optimization strategy is simulated. The performance of the system is measured by using an index of performance and comparing the simulation results against a series of non-optimized models. The results indicate that on-line process optimization strategy significantly increases the performance of a robotic system operating in a time-varying environment.

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