Expert System for Design of Industrial Robots — ESDIR

1989 ◽  
Author(s):  
M. J. Tsai ◽  
T. G. Wu ◽  
L. Hong
Keyword(s):  
Expert System ◽  
Cycle Time ◽  
Design Automation ◽  
Industrial Robot ◽  
Design Procedure ◽  
Industrial Robots ◽  
Design Efficiency ◽  
Improve Design ◽  
Power Drive ◽  
On Line

Abstract A prototype frame base expert system ESDIR (Expert System for Design of Industrial Robot) has been built. For a given specification and application, the design procedure of ESDIR is first to synthesize and evaluate the robot geometry. The synthesis is accomplished by on-line interfacing with external CAD programs written in conventional language. Then the selections of power drive, actuation, and coordination method are recommended. Iterations between design and re-design are needed in ordinary design procedure. This is time consuming and error-prone. ESDIR is one of the efforts toward design automation trying to minimize the cycle time and improve design efficiency.

Design Automation of Modular Industrial Robots

2009 ◽  
Author(s):  
Mehdi Tarkian ◽  
Johan O¨lvander ◽  
Xiaolong Feng ◽  
Marcus Petterson
Keyword(s):  
Design Automation ◽  
Parametric Design ◽  
Industrial Robot ◽  
Industrial Robots ◽  
Modular Robots ◽  
Integrated Analysis ◽  
Analysis Tool ◽  
Modeling Methodology ◽  
Novel Approach ◽  
Main Components

This paper presents a novel approach for designing modular robots. There are two main components in this approach namely the modeling methodology of the robot and a framework for simulation of the models and execution of an optimization process. To illustrate the presented methodology an integrated analysis tool for an industrial robot is developed combining dynamic and geometric models in a parametric design approach. An optimization case is conducted to visualize the automation capabilities of the proposed framework, and enhance the design for modular industrial robots.

HIGH-SPEED INDUSTRIAL REAL-TIME NETWORK OF CYBERPHYSICAL SYSTEMS

2019 ◽  
pp. 46-52
Author(s):  
A. A. Zelensky
Keyword(s):  
Real Time ◽  
Cycle Time ◽  
High Speed ◽  
High Efficiency ◽  
Industrial Robot ◽  
Field Tests ◽  
Industrial Robots ◽  
Third Party ◽  
Industrial Equipment ◽  
Industrial Automation

The construction of a high-speed industrial real-time network based on FPGA (Field-Programmable Gate Array) for the control of machines and industrial robots is considered. A brief comparative analysis of the performance of the implemented Ethernet-based Protocol with industrial protocols of other leading manufacturers is made. The aim of the research and development of its own industrial automation Protocol was to reduce the dependence on third-party real-time protocols based on Ethernet for controlling robots, machines and technological equipment. In the course of the study, the requirements for the network of the motion control system of industrial equipment were analyzed. In order to synchronize different network nodes and provide short exchange cycle time, an industrial managed switch was developed, as well as a specialized hardware controller for processing Ethernet packets for end devices, presented as a IP-core. A key feature of the developed industrial network is that the data transmission in it is completely determined, and the exchange cycle time for each of the network devices can be configured individually. High efficiency and performance of implemented network devices became possible due to the use of hardware solutions based on FPGAs. All solutions described in the article as part of a modular digital system have been successfully tested in the control of machines and industrial robot. The results of field tests show that the use of FPGAs and soft processors with specialized peripheral IP-blocks can significantly reduce the tact of managing industrial equipment through the use of hardware computing structures, which indicates the promise of the proposed approach for solving industrial automation tasks.

Fast, Accurate, and Automated 3D Reconstruction Using a Depth Camera Mounted on an Industrial Robot

2021 ◽  
Author(s):  
Rishi Malhan ◽  
Rex Jomy Joseph ◽  
Prahar M. Bhatt ◽  
Brual Shah ◽  
Satyandra K. Gupta
Keyword(s):  
3D Reconstruction ◽  
Cycle Time ◽  
Industrial Robot ◽  
Low Cost ◽  
Point Clouds ◽  
Industrial Robots ◽  
Depth Camera ◽  
Reconstruction Process ◽  
Depth Cameras ◽  
Manufacturing Applications

Abstract 3D reconstruction technology is used in a wide variety of applications. Currently, automatically creating accurate pointclouds for large parts requires expensive hardware. We are interested in using low-cost depth cameras mounted on commonly available industrial robots to create accurate pointclouds for large parts automatically. Manufacturing applications require fast cycle times. Therefore, we are interested in speeding up the 3D reconstruction process. We present algorithmic advances in 3D reconstruction that achieve a sub-millimeter accuracy using a low-cost depth camera. Our system can be used to determine a pointcloud model of large and complex parts. Advances in camera calibration, cycle time reduction for pointcloud capturing, and uncertainty estimation are made in this work. We continuously capture point-clouds at an optimal camera location with respect to part distance during robot motion execution. The redundancy in pointclouds achieved by the moving camera significantly reduces errors in measurements without increasing cycle time. Our system produces sub-millimeter accuracy.

A comparison of industrial robots interface: force guidance system and teach pendant operation

2016 ◽  
Vol 43 (5) ◽  
pp. 552-562 ◽  
Author(s):  
Guilherme Boulhosa Rodamilans ◽  
Emília Villani ◽  
Luís Gonzaga Trabasso ◽  
Wesley Rodrigues de Oliveira ◽  
Ricardo Suterio
Keyword(s):  
Evaluation Method ◽  
Industrial Robot ◽  
Industrial Applications ◽  
Human Robot Interaction ◽  
Industrial Robots ◽  
Guidance System ◽  
Learning Criterion ◽  
Content Type ◽  
On Line ◽  
Guidance Systems

Purpose This paper aims to propose an evaluation method to compare two different Human–Robot Interaction (HRI) solutions that can be used for on-line programming in an industrial context: a force guidance system and the traditional teach pendant operation. Design/methodology/approach The method defines three evaluation criteria (agility, accuracy and learning) and describes an experimental approach based on the analysis of variance to verify the performance of guidance systems according to these criteria. This method is used in this paper to compare the traditional teach pendant interface with an implementation of a force guidance system based on the use of an external force/torque sensor. Findings The application of the proposed method to an off-the-shelf industrial robot shows that the force guidance system has a better performance according to the agility criterion. Both solutions have a similar performance for the accuracy criterion, with a limit of about 2 mm in the achieved position accuracy. Regarding the learning criterion, the authors cannot affirm that any of the methods has an improved agility when the operator repeats the tasks. Practical implications This work supports the selection of guidance systems to be used in on-line programming of industrial applications. It shows that the force guidance system is an option potentially faster than the teach pendant when the required positioning accuracy is greater than 2 mm. Originality/value The new method proposed in this paper can be applied to a large range of robots, not being limited to commercial available collaborative robots. Furthermore, the method is appropriate to accomplish further investigations in HRI not only to compare programming methods but also to evaluate guidance systems approaches or robot control systems.

Behaviour-based approach for skill acquisition during assembly operations, starting from scratch

Robotica ◽  
2006 ◽  
Vol 24 (6) ◽  
pp. 657-671 ◽  
Author(s):  
J. Corona-Castuera ◽  
I. Lopez-Juarez
Keyword(s):  
Neural Network ◽  
Knowledge Base ◽  
Skill Acquisition ◽  
Industrial Robot ◽  
A Priori ◽  
Industrial Robots ◽  
Fuzzy Artmap ◽  
Compliant Motion ◽  
On Line ◽  
Assembly Operations

Industrial robots in poorly structured environments have to interact compliantly with this environment for successful operations. In this paper, we present a behaviour-based approach to learn peg-in-hole operations from scratch. The robot learns autonomously the initial mapping between contact states to motion commands employing fuzzy rules and creating an Acquired-Primitive Knowledge Base (ACQ-PKB), which is later used and refined on-line by a Fuzzy ARTMAP neural network-based controller. The effectiveness of the approach is tested comparing the compliant motion behaviour using the ACQ-PKB and a priori Given-Primitive Knowledge Base (GVN-PKB). Results using a KUKA KR15 industrial robot validate the approach.

Adaptive control of an industrial robot

Robotica ◽  
1986 ◽  
Vol 4 (4) ◽  
pp. 243-246 ◽  
Author(s):  
Ajit M. Karnik ◽  
Naresh K. Sinha
Keyword(s):  
Control Systems ◽  
Industrial Robot ◽  
Industrial Robots ◽  
Superior Performance ◽  
Robot Arm ◽  
Adaptive Controllers ◽  
Self Tuning ◽  
On Line ◽  
Robot Performance ◽  
And Performance

SUMMARYFor the past several years, industrial robots are being used extensively. These robots are generally equipped with relatively simple control systems. Such control systems have proved adequate, but with increased demand on robot performance, there is need for advanced and sophisticated controllers. One of the probelms in the control of robots is that system dynamics change due to several factors such as the orientation of arms and their effective inertia.Adaptive controllers have the advantage that the system is continuously modelled and controller parameters are evaluated on-line, thus resulting in superior performance. Adaptive controllers can be realized in several ways.This paper describes the design and performance of an explicit self tuning regulator for a robot arm.

ALGORITHMS FOR IMPROVING SPEED AND ACCURACY OF AUTOMATED 3D RECONSTRUCTION WITH A DEPTH CAMERA MOUNTED ON AN INDUSTRIAL ROBOT

2021 ◽  
pp. 1-13
Author(s):  
Rishi K. Malhan ◽  
Rex Jomy Joseph ◽  
Prahar Bhatt ◽  
Brual Shah ◽  
Satyandra K. Gupta
Keyword(s):  
3D Reconstruction ◽  
Cycle Time ◽  
Industrial Robot ◽  
Low Cost ◽  
Industrial Robots ◽  
Depth Camera ◽  
Reconstruction Process ◽  
Depth Cameras ◽  
Camera Location ◽  
Manufacturing Applications

Abstract 3D reconstruction technology is used in a wide variety of applications. Currently, automatically creating accurate pointclouds for large parts requires expensive hardware. We are interested in using low-cost depth cameras mounted on commonly available industrial robots to create accurate pointclouds for large parts automatically. Manufacturing applications require fast cycle times. Therefore, we are interested in speeding up the 3D reconstruction process. We present algorithmic advances in 3D reconstruction that achieve a sub-millimeter accuracy using a low-cost depth camera. Our system can be used to determine a pointcloud model of large and complex parts. Advances in camera calibration, cycle time reduction for pointcloud capturing, and uncertainty estimation are made in this work. We continuously capture pointclouds at an optimal camera location with respect to part distance during robot motion execution. The redundancy in pointclouds achieved by the moving camera significantly reduces errors in measurements without increasing cycle time. Our system produces sub-millimeter accuracy.

scholarly journals KNOWLEDGE-BASED ROBUST PIPING DESIGN

2011 ◽  
Author(s):  
Blake Lu ◽  
Guobiao Wang ◽  
Peihua Gu
Keyword(s):  
Expert System ◽  
Stress Analysis ◽  
Robust Design ◽  
Cycle Time ◽  
Design Problem ◽  
Substantial Reduction ◽  
Design Procedure ◽  
Layout Design ◽  
Knowledge Based ◽  
Current Design

Substantial reduction of the cycle time between the piping layout design and the stress analysis is still a challenge that engineering, procurement and construction (EPC) are facing. This paper discusses such a design problem. The research proposes a knowledge-based expert system, which integrates professional knowledge and codes, expert experiences, and the effective robust design concept, in order for piping designers to create ready-to-approve layouts in an easy and fast way. This paper aims to eliminate the unnecessary cycle time for the current design procedure – not to change the procedure.

Design of spline surface vacuum gripper for pick and place robotic arms

2020 ◽  
Vol 4 (2) ◽  
pp. 48-55
Author(s):  
A. S. Jamaludin ◽  
M. N. M. Razali ◽  
N. Jasman ◽  
A. N. A. Ghafar ◽  
M. A. Hadi
Keyword(s):  
Cycle Time ◽  
Industrial Robot ◽  
Annealing Process ◽  
Vacuum Suction ◽  
Robotic Arms ◽  
Custom Made ◽  
Pick And Place ◽  
Manufacturing Procedure ◽  
Production Flexibility ◽  
The Impact

The gripper is the most important part in an industrial robot. It is related with the environment around the robot. Today, the industrial robot grippers have to be tuned and custom made for each application by engineers, by searching to get the desired repeatability and behaviour. Vacuum suction is one of the grippers in Watch Case Press Production (WCPP) and a mechanism to improve the efficiency of the manufacturing procedure. Pick and place are the important process for the annealing process. Thus, by implementing vacuum suction gripper, the process of pick and place can be improved. The purpose of vacuum gripper other than design vacuum suction mechanism is to compare the effectiveness of vacuum suction gripper with the conventional pick and place gripper. Vacuum suction gripper is a mechanism to transport part and which later sequencing, eliminating and reducing the activities required to complete the process. Throughout this study, the process pick and place became more effective, the impact on the production of annealing process is faster. The vacuum suction gripper can pick all part at the production which will lower the loss of the productivity. In conclusion, vacuum suction gripper reduces the cycle time about 20%. Vacuum suction gripper can help lower the cycle time of a machine and allow more frequent process in order to increase the production flexibility.

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.

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