scholarly journals Calculation of industrial robot trajectory in frame composite production

2017 ◽  
Author(s):  
Jaroslav Mlýnek ◽  
Tomáš Martinec ◽  
Michal Petrů
Keyword(s):  
Industrial Robot ◽  
Robot Trajectory ◽  
Composite Production

scholarly journals Industrial robot trajectory planning based on improved pso algorithm

2021 ◽  
Vol 1820 (1) ◽  
pp. 012185
Author(s):  
Shunjie Han ◽  
Xinchao Shan ◽  
Jinxin Fu ◽  
Weijin Xu ◽  
Hongyan Mi
Keyword(s):  
Trajectory Planning ◽  
Industrial Robot ◽  
Pso Algorithm ◽  
Robot Trajectory ◽  
Improved Pso ◽  
Robot Trajectory Planning

scholarly journals Analysis of control and correction options of mobile robot trajectory by an inertial navigation system

2018 ◽  
Vol 15 (1) ◽  
pp. 172988141875516 ◽  
Author(s):  
Elena Pivarčiová ◽  
Pavol Božek ◽  
Yuri Turygin ◽  
Ivan Zajačko ◽  
Aleksey Shchenyatsky ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Control Systems ◽  
Navigation System ◽  
Reference System ◽  
Inertial Navigation System ◽  
Industrial Robot ◽  
Inertial Navigation ◽  
Control Device ◽  
Robot Trajectory ◽  
Detailed Application

The article deals with the research of the supplementation of industrial robot effector trajectory’s control systems by an inertial navigation system. The method of reverse validation and location of an object in a navigated reference system does not require additional calibration. The goal of the research is to verify the assumption that it is possible to control and correct the programmed mobile robot trajectory by implementing an inertial navigation system even in a case when the inertial navigation system is used as the only trajectory control device. The data obtained are processed by the proposed and detailed application.

scholarly journals A New Type of Industrial Robot Trajectory Generation Component Based on Motion Modularity Technology

2020 ◽  
Vol 2020 ◽  
pp. 1-11
Author(s):  
Zhaoming Liu ◽  
Nailong Liu ◽  
Hongwei Wang ◽  
Shen Tian ◽  
Ning Bai ◽  
...  
Keyword(s):  
Industrial Robot ◽  
Trajectory Generation ◽  
Motion Trajectories ◽  
Robot Controller ◽  
Robot Trajectory ◽  
Fieldbus System ◽  
Sampling Points ◽  
Dynamic Movement Primitives ◽  
Complex Trajectories ◽  
The Brain

Motion modularity is the main method of motion control for higher animals. That means the complex movements of the muscles are made up of basic motion primitives, and the brain or central nervous system does not care about the specific details of the movement. However, the industrial robot control system does not adopt the technical roadmap of motion modularity, it generates complex trajectories by providing a large number of sampling points. This approach is equivalent to using the brain to directly guide the specific movement of the muscle and has to rely on a faster Fieldbus system to obtain complex motion trajectories. This work constructs a modularized industrial robot trajectory generation component based on Dynamic Movement Primitives (DMP) theory. With this component, the robot controller can generate complex trajectories without increasing the sampling points and can obtain good trajectory accuracy. Finally, the rationality of this system is proved by simulations and experiments.

Industrial Robot Trajectory Stiffness Mapping for Hybrid Manufacturing Process

2016 ◽  
Vol 3 (1) ◽  
pp. 28-39
Author(s):  
Zhiyuan Wang ◽  
◽  
Renwei Liu ◽  
Xueyang Chen ◽  
Todd Sparks ◽  
...  
Keyword(s):  
Manufacturing Process ◽  
Industrial Robot ◽  
Hybrid Manufacturing ◽  
Robot Trajectory

Based on Monocular Vision of the Robot Coordinate for Grinding Surface within the Establishment

2011 ◽  
Vol 101-102 ◽  
pp. 556-559
Author(s):  
Hua Wang ◽  
Jin Gang Gao ◽  
Shuang Zhang ◽  
Wen Zhong Wang ◽  
Lei Yu
Keyword(s):  
Least Squares Method ◽  
Industrial Robot ◽  
Effective Means ◽  
Three Dimensional ◽  
Laser Line ◽  
Robot System ◽  
Machined Surface ◽  
Robot Trajectory ◽  
Intensity Information ◽  
Surface Technique

Using industrial robot system for grinding surface is a higher surface processing quality effective means. In order to obtain the three-dimensional coordinates on the machined surface, this paper firstly use a monocular camera and a word to construct a set of line lasers to obtain the visual acquisition system for processing surface grinding robots the sequence laser line picture. Then according to the characteristics of laser line, using the least squares method of parabolic fitting for each picture of the center of laser lines extracted. Continuous laser line of existence, this paper puts forward the cubic b-spline curve of each picture of the algorithm generated between it and break a smooth and continuous curve. Finally, stitch the intensity information of the laser line in every picture together. It builds a complete robot coordinate for processing surface within the 3-d information pictures, by it we can make the robot trajectory and speed planned. This article applied a large number of experimental proofs, and used robot grinding surface technique above to robot grinding test, satisfy the precision requirement of experiment, the introduction of the method is practicable and effective.

The Trajectory Planning and Simulation for Industrial Robot Based on Fifth-Order B-Splines

2014 ◽  
Vol 538 ◽  
pp. 367-370 ◽  
Author(s):  
Zhi Jian Gou ◽  
Cheng Wang
Keyword(s):  
Trajectory Planning ◽  
Industrial Robot ◽  
Joint Space ◽  
Robot Kinematics ◽  
Kinematic Parameters ◽  
B Spline ◽  
B Splines ◽  
Robot Trajectory ◽  
Fifth Order ◽  
Parameter Constraints

The trajectory is planned with fifth-order uniform B-splines for the industrial robot aimed to assure the motion is smooth and the trajectory is fourth-order continuous. Under the premise to satisfy the initial kinematic parameters of the robot as zero, its speed, acceleration and jerk are continuous. Based on B-spline theory, process five B-spline curve function is calculated inversely in joint space. Under the robot kinematics parameter constraints, using fifth-order B-spline interpolates to plan robot trajectory when known interpolation points and the kinematic parameters are simulated and validated by the software of ADAMS.So it provides an effective new method for the trajectory planning.

scholarly journals Digital Twin for FANUC Robots: Industrial Robot Programming and Simulation Using Virtual Reality

2021 ◽  
Vol 13 (18) ◽  
pp. 10336
Author(s):  
Gaurav Garg ◽  
Vladimir Kuts ◽  
Gholamreza Anbarjafari
Keyword(s):  
Virtual Reality ◽  
Simulation Analysis ◽  
Industrial Robot ◽  
Industrial Applications ◽  
Physical Models ◽  
Robot Programming ◽  
Digital Twin ◽  
Robot Controller ◽  
Twin Model ◽  
Robot Trajectory

A Digital Twin is the concept of creating a digital replica of physical models (such as a robot). This is similar to establishing a simulation using a robot operating system (ROS) or other industrial-owned platforms to simulate robot operations and sending the details to the robot controller. In this paper, we propose a Digital Twin model that assists in the online/remote programming of a robotic cell by creating a 3D digital environment of a real-world configuration. Our Digital Twin model consists of two components, (1) a physical model: FANUC robot (M-10iA/12), and (2) a digital model: Unity (a gaming platform) that comes with specialized plugins for virtual and augmented reality devices. One of the main challenges in the existing approach of robot programming is writing and modifying code for a robot trajectory that is eased in our framework using a Digital Twin. Using a Digital Twin setup along with Virtual Reality, we observe the trajectory replication between digital and physical robots. The simulation analysis provided a latency of approximately 40 ms with an error range of −0.28 to 0.28∘ across the robot joint movements in a simulation environment and −0.3 to 0.3∘ across the actual robot joint movements. Therefore, we can conclude that our developed model is suitable for industrial applications.

Optimization Trajectory in Handling with the Same Object

2014 ◽  
Vol 613 ◽  
pp. 230-235
Author(s):  
Marek Vagaš
Keyword(s):  
Trajectory Optimization ◽  
Industrial Robot ◽  
Optimization Method ◽  
Industrial Robots ◽  
Optimization Strategy ◽  
Mechanical Resonance ◽  
Resonance Modes ◽  
Robot Trajectory ◽  
Point To Point ◽  
Point Type

In this paper, there is presented an industrial robot trajectory optimization method for series of point-to-point type movements. Also contain an optimization strategy that has been built using through proposed automated optimizing system for handling. The optimized trajectories must lead to avoid exciting mechanical resonance modes of the industrial robot structure. This can be achieved by applying of robot interpolation. The testing results show that the trajectory optimization through this method is feasible for industrial robots.

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