Papers by Keyword: Industrial Robot

Abstract: This study proposes a method for passing through the singularity and its vicinity, the biggest challenge on off-line teaching for end-milling by industrial robots. When passing through the singularity and its vicinity, some joints rotate rapidly. However, by changing the wrist configuration: NONFLIP and FLIP, when passing through the singularity, the robot motion can be stabilized. This was verified with a six-degree-of-freedom manipulator. This robot was moved in a linear path such that the end-effector passed through the wrist singularity and its vicinity, and the encoder values were measured simultaneously. The results showed that the commanded rotational speed of the wrist joint exceeded the maximum rotational speed of the servomotor when passing through the wrist singularity and its vicinity, resulting in a trajectory tracking error. However, by changing the wrist configuration, the robot could pass through the singularity and its vicinity without decreasing the trajectory tracking accuracy.

Abstract: Robot simulation has developed quickly in recent decades. Along with the development of computer science, a lot of simulation soft-wares have been created to perform many purposes such as studying kinematic, dynamic, and off-line program to avoid obstacle on manipulator robots. The main objective of this study is therefore to analyze kinematic, dynamic characteristics of an R-R robotic manipulator in order to control this robot. Newton-Euler method was used to calculate the torque acting on each joint of the robot. Then, a numerical model of the robot was established by a multi-body dynamics software to compare with the results obtained by Newton-Euler theory. After that, a feed-forward control system was created by RecurDyn/CoLink to control the end-effector of the robot following a desired trajectory. The results showed that this research can be used for efficient simulation of structural kinematics, dynamics as well as control of the real manipulator robot with the robot structure in a virtual environment.

Abstract: In this paper we propose the gripper handle real-time based embedded system for operating robot manipulator. The general gripper has only a simple function and has also I/O module. Thus general gripper and position based robot controller combination is not suitable for precision process operation, IT assembly process. In order to give various functions and intelligence to the gripper, it is necessary to have an embedded controller that real-time guarantees. The proposed embedded system have five component that handle the pose of the gripper, measure the pose and translation of gripper, motoring the gripping tip, operate the stiffness of the gripper and communicate with Ethernet interface to the external robot controller. The external robot interface parts are supported to communicate with various external robot maker, KUKA, DENSO, ROBOSTAR etc. The validation and functional ability is tested on the LAB environment.

Abstract: This paper describes design and implementation of remote lab with industrial robot accessible through the web based on Moodle portal, Easy Java Simulations (EJS) and Arduino Sw & Hw. The main purpose of this lab is to improve study, training and programming knowledge in industrial and service robotics for students, teachers of secondary vocational schools and company workers that deal with problems that arise on real robotic workplaces. This lab allows the user to work from their homes and operates with industrial robot at real workplace. Such remote lab can also enable users to use expensive lab equipment, which is not usually available to all persons. Practical example of application of the lab with industrial robot on Department of Robotics, Technical University of Kosice, Slovakia is presented.

Abstract: Article deals with design of automated workplace for electric socket by using an industrial SCARA robot. Electric socket contains of plastic cover, metal tab and plastic support part and serves for ensuring from connection of devices. There is, secondly, a process for electric socket assembly and also the actual design of workplace with individual devices.

Abstract: According to the characteristics of firebricks palletization and the structure of the manipulator, this paper puts forward the concept of using group policy to palletize firebricks by robot. On this basis, the concept of “Horizontal bar “and” Horizontal slice " is introduced with features of stacking firebricks. Then mathematical model is constructed to palletize Firebricks in shortest time. The firebrick robot palletising optimization model has been applied in the enterprise.

Abstract: Current trends in the industrial or any other economic sector is to mechanize and gradually to automate individual procedures through the use of various technologies. The purpose of this is to minimize strenuous human labour and eliminate human error. Robotic automation can be effectively used in material handling operations, whether it is a logistics warehouse operation or a transport loading operation. This article deals with the characteristics of different types of industrial robots. It compares the different types of robots in terms of their appropriate application and consequently defines the requirements for those robots that can be applied in handling operations in transport and logistics.

Abstract: The experiment carried in this paper aims to study the feasibility of controlling an industrial robot to carry Peg-in-Hole assembling task using what called a Force/Torque Map. This type of control is based on real-time F/T sensor data during contact between the peg and the hole. The F/T Map presents the data acquired during previous attempts of the assembly task.

Abstract: The article deals with the usage of methods of learning algorithms of neural networks for solving of collision states problem within multi-robotic cooperation. Nowadays, multi-robotic cooperation is a highly used method of work of two or more industrial robots. The requirements for elimination of collision states are getting more difficult when the multi-robotic system is more complicated. Methods of neural networks provide suitable tools for solving of complex cooperating problems. In the beginning of the article, we discuss the term “collision state” and the possibilities of its solving. In the following chapter, we discuss the theory of neural networks and learning algorithms, which we applied in solving of the collision states. In the final chapter, we implemented the practical verification of the model neural network in JSNN programme. It consisted of creating and learning of the training data and subsequent verification of the test data.

Abstract: The need for simple and safe teaching methods for robot manipulators need to be considered because: 1) Small size robots presence in everyday life environments is increasing requiring non-experts operators to teach the robot; 2) In small applications, the operator has to teach several different motions in a short time. In this paper, we evaluate the performance of three teaching systems for robot manipulators which utilize the following devices 1) i-phone; 2) haptic and 3) kinect. In difference from previous force sensor based teaching, proposed systems are safe because the operator keeps the distance with the robot. The performance is compared in terms of time to complete the task and accuracy. The results of 10 non-experienced subjects show the advantages of one method over the others.