Experimental Compliance Breakdown of Industrial Robots

1994 ◽  
Vol 116 (4) ◽  
pp. 1065-1072 ◽  
Author(s):  
F. Demeester ◽  
H. Van Brussel
Keyword(s):  
Industrial Robot ◽  
Real Life ◽  
Industrial Robots ◽  
Motion Sensors ◽  
Test Results ◽  
Life Test ◽  
Static Compliance ◽  
Low Frequencies ◽  
Variable Configuration ◽  
Instantaneous Configuration

An engineering tool is described, enabling a static compliance breakdown of a machine (with fixed or varying geometry) from a modal analysis performed at a quasi-static frequency. The most interesting feature of the method is that the compliances of the constitutive machine components can be determined independent from the instantaneous configuration of the machine. Real-life test results on a fixed-configuration beamlike structure and on a variable-configuration industrial robot show the accuracy and the power of the method but also reveal some stringent requirements for the motion sensors needed. Some new results on the need for correction of the influence of gravity on the accelerometer signals at low frequencies are also included.

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 Teleoperation Cloud Industrial Robot using XMPP Protocol

2019 ◽  
Vol 8 (3) ◽  
pp. 6280-6284
Keyword(s):  
High Reliability ◽  
Industrial Robot ◽  
Nuclear Industry ◽  
Industrial Robots ◽  
The Internet ◽  
Test Results ◽  
Cloud Platform ◽  
Robot Operating System ◽  
Robot Tasks ◽  
Better Than

Teleoperation is an operation needed to complete a variety of robot tasks in dangerous and difficult-to-reach environments. In the industrial world, teleoperation robots can be used to help humans complete dangerous tasks such as grasping and lifting in the nuclear industry. Controlling industrial robots can be done remotely via the Internet. However, communication still needs to be improved so that it can achieve low latency, be safe, high reliability, and be interoperable. This study proposes the use of the XMPP protocol to handle data interactions between robots and cloud platform. We modified the Robot Operating System (ROS) package by adding a special node that bridges communication using the XMPP protocol. We compare the performance of MQTT with the HTTP protocol. The test results show that the MQTT latency time is better than HTTP. The results of this study can be used in robot teleoperation operations in various industries that consider aspects of communication quality

Intuitive Control System for Industrial Robot Application Using Smartphone

2014 ◽  
Vol 685 ◽  
pp. 284-288
Author(s):  
Ren Qing He ◽  
Gang Feng Yan
Keyword(s):  
Control System ◽  
Industrial Robot ◽  
Industrial Robots ◽  
Motion Sensors ◽  
Teaching Process ◽  
Robot Controller

Most of industrial robots are still programmed using the typical teaching process, through the use of the robot teach pendant. In order to simplify the teaching process, an intuitive control system using smartphone is proposed. The smartphone has multiple motion and position sensors in it. When smartphone is being held in hand, the motion sensors capture posture of hand which the input of robot controller is depended on. The smartphone and robot controller communicates wirelessly through TCP/IP protocol. The system can complete typical operations of teaching process. Compared with the typical teaching process, this system is intuitive and much easier to use.

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.

scholarly journals Fault diagnosis of industrial robot reducer by an extreme learning machine with a level-based learning swarm optimizer

2021 ◽  
Vol 13 (5) ◽  
pp. 168781402110195
Author(s):  
Jianwen Guo ◽  
Xiaoyan Li ◽  
Zhenpeng Lao ◽  
Yandong Luo ◽  
Jiapeng Wu ◽  
...  
Keyword(s):  
Fault Diagnosis ◽  
Extreme Learning Machine ◽  
Large Scale ◽  
Production Efficiency ◽  
Industrial Robot ◽  
Optimal Solution ◽  
Industrial Robots ◽  
Generalization Performance ◽  
Gradient Descent Algorithm ◽  
Learning Machine

Fault diagnosis is of great significance to improve the production efficiency and accuracy of industrial robots. Compared with the traditional gradient descent algorithm, the extreme learning machine (ELM) has the advantage of fast computing speed, but the input weights and the hidden node biases that are obtained at random affects the accuracy and generalization performance of ELM. However, the level-based learning swarm optimizer algorithm (LLSO) can quickly and effectively find the global optimal solution of large-scale problems, and can be used to solve the optimal combination of large-scale input weights and hidden biases in ELM. This paper proposes an extreme learning machine with a level-based learning swarm optimizer (LLSO-ELM) for fault diagnosis of industrial robot RV reducer. The model is tested by combining the attitude data of reducer gear under different fault modes. Compared with ELM, the experimental results show that this method has good stability and generalization performance.

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.

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