Force Control in Robotics: A Review of Applications

The aim of this article is to present an overview of the most important robotic processes in which force control methods are applied. In recent years, robotization has seen a rapid increase in the use of industrial robots in tasks that require simultaneous implementation of a given path of motion and the robot's force of interaction with the environment. In the field of industrial applications, this applies to issues related to the robotization of machining or some assembly tasks, but also the complex issue of cooperation between robots and people. One of the first applications of force control systems in robots were machining tasks such as grinding or blunting of sharp edges. Currently, robots are used in the following types of machining: grinding, polishing, chamfering, blunting, light milling. The implementation of such tasks requires the use of so-called position-force hybrid control. The task of such a control system is to implement the desired trajectory of the tool movement along the edge being machined or on the machined surface and to exert an appropriate clamping force of the tool. In the field of robotic machining, an important and still valid issue is the development and implementation of control strategies that ensure the quality of the mechanical machining process of the part despite the occurrence of unmolded phenomena, caused by, for example, significant errors in the geometry of the parts with local surface disturbances or its flexibility. Another of the basic applications of force control systems in robots are assembly tasks. In such processes, force control is particularly important, because too high interaction forces between the assembled components lead to large distortions and prevent the correct process from running. There are many papers in the literature that describe the problem of monitoring the machining process using force sensors. Monitoring the machining process is important in the industrial production of parts with a high unit cost. Any irregularity in the production of the part causing its non-compliance with the documentation is a cause of significant financial losses. Process monitoring aims to prevent irregularities during its implementation and to correct or discontinue the machining process. Friction stir welding is a method of joining materials without using consumable materials and without melting materials. In the process of friction stir welding, a cylindrical tool with a mandrel performs a rotary motion and at the same time is slowly moved along the joint area with simultaneous clamping. An industrial robot is responsible for the movement along the joint. The friction welding process is very sensitive to the temperature in the joint area. The temperature is not controlled directly, but by three other parameters: tool feed speed, tool speed and tool clamping force. For this reason, robots used for friction welding are equipped with position-force hybrid control systems. In recent years, the issue of cooperation in the human-robot system has become more and more important. The main area of application of this approach is assembly tasks. This solution has a number of advantages, such as the possibility of using the lifting capacity of the robot to lift heavy objects and the "ingenuity" of a human to maneuver the object. The robot, thanks to force sensor, is able to detect the method of maneuvering an object desired by a human. Summing up, it can be said that the use of force control has significantly increased the functionality of robotic systems in recent years.

Numerical Simulation of a Thermosyphon Radiator Used in Electronic Devices

The heat dissipation of electronic devices is an important issue. The thermosyphon radiators have high heat dissipation performance, so they are gradually widely used in electronic devices. In this study, a numerical model of the thermosyphon is established. It is observed that simulated temperatures agree well with experimental data in the literature with a relative error no more than 4%. After the numerical model is validated, it is used in the simulation of the thermosyphon radiator. The wall temperature of the condensing section under different thermal load conditions is compared, and the thermal resistance of the condensing section is analyzed. The results show that with the increase of heating and condensing heat flux, the wall temperature fluctuation of the condensing section increases, but very small just about 5K, 6K, 7K, and 9K, respectively. The thermal resistance of the condensing section decreases, indicating that the thermosyphon radiator has a better performance under high heat flux conditions.

A New Implementation of Digital Twins for Fault Diagnosis of Large Industrial Equipment

Refurbishment and remanufacturing play a vital role in the sustainability of the large industrial field, which aims at restoring the equipment that is close to the end of their life. The EU-funded project RECLAIM proposes new approaches and techniques to support these two activities in order to achieve saving valuable materials and resources by renewing and recycling the mechanical equipment rather than scraping them when they exceed the end of the lifetime. As the most critical part of predictive maintenance in RECLAIM, the fault diagnosis technique could provide the necessary information about the identification of the failure type, thus making suitable maintenance strategies. In this paper, we propose a novel implementation method that can combine the digital twins with the fault diagnosis of large industrial equipment. Experiment result and analysis demonstrate that the proposed framework performs well for the fault diagnosis of rolling bearing.

IoT Based Waste Management System

Waste not just nowadays, but since centuries is one of the biggest problems of the world. Many governments and people came and went, many revolutionists, scientists, philanthropists, etc. too tried work on this aspect of life, but 100% output was not witnessed in any case. As time passes by, population around the world increased, hence resulting in large number of waste. Slowly and gradually this number grew so high that ultimately for many, it became problem to manage such enormous amounts, resulting in disastrous outcomes. With the help of modern technology, here in this paper we tried to solve this issue. To at least begin all on our own, we started it with implementing this system in our university, as we know that well begin is half done, soon it started to produce pretty good outputs and issue of mismanagement of waste, at least in our University, was resolved to pretty much extent. This paper focuses on how a self-designed array of Ultrasonic sensors can be used to get best possible results of dustbin’s status based on amount of waste in it. Further how fast will system be synchronizing and giving its current status in a span of few minutes to main server. Further locations of dustbins will also be prescribed in system hence enhancing real-time output effects of surrounding as well, helping in better outputs and analyses.

Rent-A-Cycle (Smart Bicycle Sharing Service-IOT Based)

Bicycle Renting Service or sharing service is about renting a cycle. Bicycle sharing schemes offer a minimal effort and ecologically helpful mean of transportation for short journeys. It can likewise be utilized as a shared mode to other open travel, for example, transports, neighborhood trains. Bicycle sharing systems unite the benefits of open and private transportation to all the more likely adventure the given transportation foundation. This paper high point smart bicycle sharing service which is totally accessed by android application. This research paper also states facts and figures that bicycle sharing services are environmentally friendly and also great for an individual health. The main scope of this bicycle renting schemes is to implement it to reduce environmental pollution and for health purposes. This scheme is smart bicycle renting scheme in which GPS tracking, QR scanning, online payment, automatic locking/unlocking through android application, and all features on just one android application. This scheme also has admin website where all the information of user and bikes are stored also history of bikes, payment and rides for security purpose. From a distinctive individual's perspective, bicycle share systems take out the burden of bicycle proprietorship, the need to look for parking places, and the dread of burglary. It helps in decreasing rush hour jam clog as number of vehicles on street can be fundamentally reduced.

Numerical Simulation of Inertia Matrix for 6 DoF Industrial Robot

The robot dynamic model is essential for the precision and reliability of robot design, motion control, and simulation. A robot inertia matrix, whose elements are coefficients of joint accelerations within the robot equations of motion, plays an important role in the robot’s control design. During robot motion, elements of the inertia matrix are functions of robot configuration (robot joint positions). To facilitate the development of process models and to make an appropriate selection of motion control algorithms, it is useful to perform numerical simulations of inertia matrix elements for different robot trajectories. In this paper, numerical simulation of inertia matrix is presented for 6 DoF industrial robot with revolute joints for the programmed robot motion. Inertia matrix is obtained from the robot dynamical model developed by using modified recursive Newton-Euler algorithm. Based on the presented simulations, variation of effective inertias and magnitude and variation of cross-coupling effects in the robot inertia matrix are examined.