scholarly journals EGM Toolbox—Interface for Controlling ABB Robots in Simulink

Sensors ◽  
2021 ◽  
Vol 21 (22) ◽  
pp. 7463
Author(s):  
Paweł Obal ◽  
Piotr Gierlak
Keyword(s):  
Industrial Robots ◽  
Control Algorithms ◽  
Industrial Robotics ◽  
Extensive Program ◽  
The Impact

The development of industrial robotics requires the use of increasingly sophisticated control algorithms. In modern tasks posed by industry, it is not sufficient for the manipulator to move along a programmed path, reaching individual points with the greatest accuracy. There is a need for solutions that can allow detection and avoidance of obstacles appearing on the robot’s path and that can compensate the path for low-repetitive workpieces, adjust the strength of the impact of manipulator tools on the workpiece or enable safe cooperation of manipulators with people. To support this development, this work proposes an interface for controlling industrial robots in the Simulink environment. With its use, we can easily test our control algorithms using an external controller without the need to write an extensive program in the RAPID language. The robot controller’s task is to control the drives to achieve the set trajectory.

scholarly journals ELSA in Industrial Robotics

2020 ◽  
Vol 1 (4) ◽  
pp. 179-186
Author(s):  
Matthew Studley ◽  
Alan Winfield
Keyword(s):  
Manufacturing Industry ◽  
Industrial Revolution ◽  
Human Life ◽  
Human Robot Interaction ◽  
Industrial Robots ◽  
Robot Interaction ◽  
Industrial Robotics ◽  
Primary Focus ◽  
Legal Frameworks ◽  
The Impact

Abstract Purpose of Review Industry is changing; converging technologies allow a fourth Industrial Revolution, where it is envisaged that robots will work alongside humans. We investigate how the research community is responding to the ethical, legal, and social aspects of industrial robots, with a primary focus on manufacturing industry. Recent Findings The literature shows considerable interest in the impact of robotics and automation on industry. This interest spans many disciplines, which is to be expected given that the ELS impacts of industrial robotics may be profound in their depth and far-reaching in their scope. Summary We suggest that the increasing importance of human-robot interaction (HRI) reduces the differentiation between industrial robotics and other robotic domains and that the main challenges to successful adoption for the benefit of human life are above all political and economic. Emerging standards and legal frameworks may scaffold this success, but it is apparent that getting it wrong might have repercussions that last for generations.

scholarly journals Q-Learning Neural Controller for Steam Generator Station in Micro Cogeneration Systems

Energies ◽  
2021 ◽  
Vol 14 (17) ◽  
pp. 5334
Author(s):  
Krzysztof Lalik ◽  
Mateusz Kozek ◽  
Szymon Podlasek ◽  
Rafał Figaj ◽  
Paweł Gut
Keyword(s):  
Numerical Model ◽  
Control Systems ◽  
Steam Generator ◽  
Full Range ◽  
Combustion Process ◽  
Liquid Fuels ◽  
Control Algorithms ◽  
Exhaust Gas ◽  
Gas Temperature ◽  
The Impact

This article presents the results of the optimization of steam generator control systems powered by mixtures of liquid fuels containing biofuels. The numerical model was based on the results of experimental research of steam generator operation in an open system. The numerical model is used to build control algorithms that improve performance, increase efficiency, reduce fuel consumption and increase safety in the full range of operation of the steam generator and the cogeneration system of which it is a component. In this research, the following parameters were monitored: temperature and pressure of the circulating medium, exhaust gas temperature, oxygen content in exhaust gas, percentage control of oil burner power. Two methods of controlling the steam generator were proposed: the classic one, using the PID regulator, and the advanced one, using artificial neural networks. The work shows how the model is adapted to the real system and the impact of the control algorithms on the efficiency of the combustion process. The example is considered for the implementation of advanced control systems in micro-, small- and medium-power cogeneration and trigeneration systems in order to improve their final efficiency and increase the profitability of implementation.

The Efficiency of Hybrid Stepping Motors: Analyzing the Impact of Control Algorithms

2014 ◽  
Vol 20 (4) ◽  
pp. 50-60 ◽  
Author(s):  
Stijn Derammelaere ◽  
Bram Vervisch ◽  
Frederik De Belie ◽  
Bart Vanwalleghem ◽  
Johannes Cottyn ◽  
...  
Keyword(s):  
Control Algorithms ◽  
The Impact

Fall on Backpack: Damage Minimizing Humanoid Fall on Targeted Body Segment Using Momentum Control

2011 ◽  
Author(s):  
Sung-Hee Lee ◽  
Ambarish Goswami
Keyword(s):  
Impact Damage ◽  
Humanoid Robots ◽  
Control Algorithms ◽  
Body Segment ◽  
Dynamic Coupling ◽  
Planning And Control ◽  
Critical Issues ◽  
Absorbing Material ◽  
And Control ◽  
The Impact

Safety and robustness will become critical issues when humanoid robots start sharing human environments in the future. In physically interactive human environments, a catastrophic fall is the main threat to safety and smooth operation of humanoid robots, and thus it is critical to explore how to manage an unavoidable fall of humanoids. This paper deals with the problem of reducing the impact damage to a robot associated with a fall. A common approach is to employ damage-resistant design and apply impact-absorbing material to robot limbs, such as the backpack and knee, that are particularly prone to fall related impacts. In this paper, we select the backpack to be the most preferred body segment to experience an impact. We proceed to propose a control strategy that attempts to re-orient the robot during the fall such that it impacts the ground with its backpack. We show that the robot can fall on the backpack even when it starts falling sideways. This is achieved by utilizing dynamic coupling, i.e., by rotating the swing leg aiming to generate spin rotation of the trunk (backpack), and by rotating the trunk backward to drive the trunk to touch down with the backpack. The planning and control algorithms for fall are demonstrated in simulation.

scholarly journals Assessing the Impact of Direct Evaporative Control Algorithms in Mixed-mode Building

2020 ◽  
Author(s):  
Charalampos Angelopoulos ◽  
Malcolm J Cook ◽  
Yash Shukla ◽  
Efi Spentzou ◽  
Rajan Rawal ◽  
...  
Keyword(s):  
Mixed Mode ◽  
Control Algorithms ◽  
The Impact

scholarly journals A review on control systems hardware and software for robots of various scale and purpose. Part 1. Industrial robotics

2019 ◽  
Vol 7 (5) ◽  
pp. 30-46 ◽  
Author(s):  
A. M. Romanov
Keyword(s):  
Control System ◽  
Fault Tolerance ◽  
Control Systems ◽  
Intelligent Control ◽  
Industrial Robot ◽  
Cloud Service ◽  
Point Of View ◽  
Industrial Robots ◽  
Robotic Systems ◽  
Industrial Robotics

A review of robotic systems is presented. The paper analyzes applied hardware and software solutions and summarizes the most common block diagrams of control systems. The analysis of approaches to control systems scaling, the use of intelligent control, achieving fault tolerance, reducing the weight and size of control system elements belonging to various classes of robotic systems is carried out. The goal of the review is finding common approaches used in various areas of robotics to build on their basis a uniform methodology for designing scalable intelligent control systems for robots with a given level of fault tolerance on a unified component base. This part is dedicated to industrial robotics. The following conclusions are made: scaling in industrial robotics is achieved through the use of the modular control systems and unification of main components; multiple industrial robot interaction is organized using centralized global planning or the use of previously simulated control programs, eliminating possible collisions in working area; intellectual technologies in industrial robotics are used primarily at the strategic level of the control system which is usually non-real time, and in some cases even implemented as a remote cloud service; from the point of view of ensuring fault tolerance, the industrial robots developers are primarily focused on the early prediction of faults and the planned decommissioning of the robots, and are not on highly-avaliability in case of failures; industrial robotics does not impose serious requirements on the dimensions and weight of the control devices.

The FC Porto Museum project and the challenges of a new reality

2020 ◽  
Vol 12 (6) ◽  
pp. 767-770
Author(s):  
Luís Valente
Keyword(s):  
Local Community ◽  
Public And Private ◽  
Content Type ◽  
Eastern Area ◽  
The Public ◽  
Tourism Sector ◽  
Extensive Program ◽  
The Impact ◽  
Near Future ◽  
Official Sources

Purpose This paper aims to explain how FC Porto positioned its museum and stadium as touristic and cultural attractions of reference in Porto. The current international situation demands a reflection on how to behave in relation to the market in the near future. Design/methodology/approach This paper is based on information drawn from official sources and relevant FC Porto data. Findings FC Porto Museum has an extensive program of cultural events that is offered every month to the locals. Public and private partnerships have also been celebrated by welcoming all kinds of audiences from schools to universities and tour operators. Practical implications Now that everyone is living in unprecedented and challenging times, sharing experiences on how to evolve and create new opportunities to the public is even more essential. Originality/value FC Porto Museum and Dragão Stadium are among the most visited attractions in Porto. Although cultural attractions are often more popular, during the past six years the impact of the museum and stadium on the tourism sector in the eastern area of the city and the local community cannot be underestimated.

scholarly journals V2SOM: A Novel Safety Mechanism Dedicated to a Cobot’s Rotary Joints

Robotics ◽  
2019 ◽  
Vol 8 (1) ◽  
pp. 18 ◽  
Author(s):  
Younsse Ayoubi ◽  
Med Laribi ◽  
Said Zeghloul ◽  
Marc Arsicault
Keyword(s):  
Good Control ◽  
Variable Stiffness ◽  
Human Robot Interaction ◽  
Industrial Robots ◽  
Necessary Condition ◽  
Physical Interaction ◽  
Robot Interaction ◽  
Internal Damage ◽  
Low Stiffness ◽  
The Impact

Unlike “classical” industrial robots, collaborative robots, known as cobots, implement a compliant behavior. Cobots ensure a safe force control in a physical interaction scenario within unknown environments. In this paper, we propose to make serial robots intrinsically compliant to guarantee safe physical human–robot interaction (pHRI), via our novel designed device called V2SOM, which stands for Variable Stiffness Safety-Oriented Mechanism. As its name indicates, V2SOM aims at making physical human–robot interaction safe, thanks to its two basic functioning modes—high stiffness mode and low stiffness mode. The first mode is employed for normal operational routines. In contrast, the low stiffness mode is suitable for the safe absorption of any potential blunt shock with a human. The transition between the two modes is continuous to maintain a good control of the V2SOM-based cobot in the case of a fast collision. V2SOM presents a high inertia decoupling capacity which is a necessary condition for safe pHRI without compromising the robot’s dynamic performances. Two safety criteria of pHRI were considered for performance evaluations, namely, the impact force (ImpF) criterion and the head injury criterion (HIC) for, respectively, the external and internal damage evaluation during blunt shocks.

Sign in / Sign up

Export Citation Format

Share Document