Dynamic Simulation Modeling of Industrial Robot Kinematics in Industry 4.0

This paper studies the kinematic dynamic simulation modeling of industrial robots in the Industry 4.0 environment and guides the kinematic dynamic simulation modeling of industrial robots in the Industry 4.0 environment in the context of the research. To address the problem that each parameter error has different degrees of influence on the end position error, a method is proposed to calculate the influence weight of each parameter error on the end position error based on the MD-H error model. The error model is established based on the MD-H method and the principle of differential transformation, and then the function of uniform variation of six joint angles with time t is constructed to ensure that each linkage geometric parameter is involved in the motion causing error accumulation. Through the analysis of the robot marking process, the inverse solution is optimized for multiple solutions, and a unique engineering solution is obtained. Linear interpolation, parabolic interpolation, polynomial interpolation, and spline curve interpolation are performed on the results after multisolution optimization in the joint angle, and the pros and cons of various interpolation results are analyzed. The trajectory planning and simulation of industrial robots in the Industry 4.0 environment are carried out by using a special toolbox. The advantages and disadvantages of the two planning methods are compared, and the joint space trajectory planning method is selected to study the planning of its third and fifth polynomials. The kinetic characteristics of the robot were simulated and tested by experimental methods, and the reliability of the simulation results of the kinetic characteristics was verified. The kinematic solutions of industrial robots and the results of multisolution optimization are simulated. The methods, theories, and strategies studied in this paper are slightly modified to provide theoretical and practical support for another dynamic simulation modeling of industrial robot kinematics with various geometries.

High-precision modeling of CNCs’ spatial errors based on screw theory

A method for establishing machine tool’s spatial error model is put forward based on screw theory, which is different from the traditional error modeling method. By analyzing the position relationship between the ideal coordinate vector and the actual coordinate vector jointly affected by linear errors and angular errors, a single-axis screw conversion matrix error expression is brought up based on screw theory. Meanwhile, the comprehensive spatial error model of the CNC machine tool is derived by considering the influence of the workpiece motion chain and the tool motion chain on the model. Further, to compensating spatial errors of CNCs, such screw theory-based model is embedded in the error compensation system by means of integration of a few specific application examples. And in order to evaluate the compensation effects, an integrated evaluation method of quantitative spatial diagonal calculation and MATLAB simulation is proposed. Application results show that the screw theory-based spatial error model of tool has a very substantial compensation effect, which makes the position error of the machine tool decreased by about 80%.

Pemodelan Data Kemiskinan di Provinsi Jawa Barat Menggunakan Regresi Spasial Data Panel

Persentase kemiskinan di Provinsi Jawa Barat masih tergolong cukup tinggi dan masih menjadi fokus perhatian pemerintah. Faktor-faktor yang memengaruhi kemiskinan penting untuk diketahui agar pemerintah mampu membuat suatu kebijakan yang tepat untuk menekan angka kemiskinan. Oleh karena itu, pada penelitian ini, dilakukan suatu analisis untuk mengetahui faktor-faktor yang memengaruhi tingkat kemiskinan di Provinsi Jawa Barat. Analisis pada penelitian ini menggunakan metode regresi spasial data panel karena diduga pada data kemiskinan di Provinsi Jawa Barat terdapat efek spasial dan unit amatan diamati pada jangka waktu tertentu. Model yang terbentuk dari analisis ini adalah Fixed Effect Spatial Error Model karena interaksi spasial yang terbentuk pada data kemiskinan di Provinsi Jawa Barat nyata pada error. Model ini juga berhasil menjadi model terbaik dibandingkan model lainnya berdasarkan kriteria nilai R-square terbesar. Analisis data kemiskinan di Provinsi Jawa Barat menggunakan metode regresi spasial data panel memperoleh hasil bahwa usia harapan hidup, pengeluaran per kapita disesuaikan, dan rata-rata lama sekolah berpengaruh secara signifikan terhadap persentase penduduk miskin di Provinsi Jawa Barat.

Parameter Calibration on Replacement Manipulator for UHV Valve-Side Bushing Based on Spinor Theory

In this paper, a structure design scheme of intelligent replacement device for the ultrahigh voltage (UHV) converter transformer valve-side bushing is put forward, and its size is determined according to the actual size of domestic converter station valve hall and UHV converter transformer valve-side bushing. Moreover, the weak links in its working state are analyzed by finite element method to ensure the safety and reliability of the structure. Based on the spinor theory, the forward kinematics and Jacobian matrix model of the manipulator are established, and the analytical solution of inverse kinematics is derived. In order to analyze the accuracy of the intelligent replacement manipulator for the UHV converter transformer valve-side bushing, considering that the end actuator of the robot arm is under heavy load, the absolute positioning accuracy and repeated positioning accuracy are analyzed. In addition, the corresponding error model is established, the least square method is proposed to identify the error model, and the influence of the error caused by the load on the repetition accuracy is analyzed. Finally, the whole process simulation in ROS provides data support for the calculation of repetitive precision and verifies the feasibility of the intelligent replacement device for the UHV converter valve-side bushing.