Optimum Design and Control of Industrial Robots in Manufacturing Systems

1991 ◽  
pp. 221-261
Author(s):  
Katsundo HITOMI ◽  
Masataka YOSHIMURA ◽  
Kazumasa OHASHI
Keyword(s):  
Optimum Design ◽  
Manufacturing Systems ◽  
Industrial Robots ◽  
And Control

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 Sensorless environment stiffness and interaction force estimation for impedance control tuning in robotized interaction tasks

2021 ◽  
Author(s):  
Loris Roveda ◽  
Dario Piga
Keyword(s):  
Impedance Control ◽  
Interaction Force ◽  
Industrial Robots ◽  
Force Estimation ◽  
Interaction Control ◽  
Stiffness Properties ◽  
Implementation Effort ◽  
Coupling Dynamics ◽  
And Control ◽  
Assembly Tasks

AbstractIndustrial robots are increasingly used to perform tasks requiring an interaction with the surrounding environment (e.g., assembly tasks). Such environments are usually (partially) unknown to the robot, requiring the implemented controllers to suitably react to the established interaction. Standard controllers require force/torque measurements to close the loop. However, most of the industrial manipulators do not have embedded force/torque sensor(s) and such integration results in additional costs and implementation effort. To extend the use of compliant controllers to sensorless interaction control, a model-based methodology is presented in this paper. Relying on sensorless Cartesian impedance control, two Extended Kalman Filters (EKF) are proposed: an EKF for interaction force estimation and an EKF for environment stiffness estimation. Exploiting such estimations, a control architecture is proposed to implement a sensorless force loop (exploiting the provided estimated force) with adaptive Cartesian impedance control and coupling dynamics compensation (exploiting the provided estimated environment stiffness). The described approach has been validated in both simulations and experiments. A Franka EMIKA panda robot has been used. A probing task involving different materials (i.e., with different - unknown - stiffness properties) has been considered to show the capabilities of the developed EKFs (able to converge with limited errors) and control tuning (preserving stability). Additionally, a polishing-like task and an assembly task have been implemented to show the achieved performance of the proposed methodology.

scholarly journals Advanced teleoperation and control system for industrial robots based on augmented virtuality and haptic feedback

2021 ◽  
Vol 59 ◽  
pp. 283-298 ◽  
Author(s):  
Claudia González ◽  
J. Ernesto Solanes ◽  
Adolfo Muñoz ◽  
Luis Gracia ◽  
Vicent Girbés-Juan ◽  
...  
Keyword(s):  
Control System ◽  
Haptic Feedback ◽  
Industrial Robots ◽  
Augmented Virtuality ◽  
And Control

Optimization of the Robots Fourier Spectrum by Using the Assisted Research, Neural Network, Smart Damper and LabVIEW Instrumentation

2012 ◽  
Vol 245 ◽  
pp. 24-32 ◽  
Author(s):  
Adrian Olaru ◽  
Serban Olaru ◽  
Aurel Oprean
Keyword(s):  
Neural Network ◽  
Transfer Function ◽  
Spectral Density ◽  
Vibration Analysis ◽  
Manufacturing Systems ◽  
Fourier Spectrum ◽  
Industrial Robots ◽  
Vibration Behavior ◽  
Power Spectral ◽  
The World

The most important things in the dynamic research of industrial robots are the vibration behavior, the transfer function and the vibration power spectral density between some of the robot joints and components. In the world this research is made without the assisted research. In each of the study cases in this paper was used the proper virtual Fourier analyzer and was presented one new method of the assisted vibration analysis. With this research it is possible the optimal choosing the base modulus type to avoid the frequencies from the robot spectrum. In the manufacturing systems, the most important facts are the vibration behavior of the robot, the compatibility with some other components of the system. All the VI where achieved in the LabVIEW soft 8.2 version, from National Instruments, USA. This method and the created virtual LabVIEW instrumentation are generally and they are possible to apply in many other dynamic behavior research.

Robotics Application in Remote Data Acquisition and Control for Solar Ponds

2012 ◽  
Vol 253-255 ◽  
pp. 705-715 ◽  
Author(s):  
Mohamed Elbanhawi ◽  
Milan Simic
Keyword(s):  
Data Acquisition ◽  
Real Time ◽  
Energy Production ◽  
Green Energy ◽  
Industrial Robots ◽  
Sampling Station ◽  
Monitoring And Control ◽  
Solar Ponds ◽  
And Control ◽  
Remote Data

This paper presents one application of industrial robots in the automation of renewable energy production. The robot supports remote performance monitoring and maintenance of salinity gradient solar ponds. The details of the design, setup and the use of the robot sampling station and the remote Data Acquisition (DAQ) system are given here. The use of a robot arm, to position equipment and sensors, provides accurate and reliable real time data needed for autonomous monitoring and control of this type of green energy production. Robot upgrade of solar ponds can be easily integrated with existing systems. Data logged by the proposed system can be remotely accessed, plotted and analysed. Thus the simultaneous and remote monitoring of a large scale network of ponds can be easily implemented. This provides a fully automated solution to the monitoring and control of green energy production operations, which can be used to provide heat and electricity to buildings. Remote real time monitoring will facilitate the setup and operations of several solar ponds around cities.

Herstellerneutrale Programmierung von Robotern*/Manufacturer-independent programming of robots - A software architecture concept for controlling and programming heterogeneous robotic systems

2017 ◽  
Vol 107 (09) ◽  
pp. 594-599
Author(s):  
A. Magaña ◽  
G. Prof. Reinhart
Keyword(s):  
Software Architecture ◽  
Industrial Robots ◽  
Robotic Systems ◽  
Key Technology ◽  
Robot Systems ◽  
And Control

Industrieroboter sind zu einer Schlüsseltechnologie in der Produktion geworden. Mit dem steigenden Einsatz von diversen Robotersystemen wächst das Bedürfnis, deren Kompatibilität zu steigern. Heutzutage gibt es keine Technologie in der Industrie, die eine standardisierte Programmierung und Steuerung von verschiedenen Robotersystemen gewährleisten kann. Dieser Fachbeitrag präsentiert ein einheitliches Konzept, welches die Anwendung von herstellerneutralen Roboterapplikationen ermöglicht.   Industrial robots have become a key technology in production. The increasing use of various robotic systems, raises the need to enhance their compatibilit.y Nowadays, there is no technology in the industry to guarantee a standardized programming and control of different robot systems. This article presents a concept enabling the use of manufacturer-independent robot applications.

A Blockchain-Enabled Approach for Online Stream Sensor Data Protection in Cyber-Physical Manufacturing Systems

2021 ◽  
Author(s):  
Zhangyue Shi ◽  
Chenang Liu ◽  
Chen Kan ◽  
Wenmeng Tian ◽  
Yang Chen
Keyword(s):  
Information Technologies ◽  
Manufacturing Systems ◽  
Rapid Development ◽  
Data Access ◽  
Sensor Data ◽  
False Alarms ◽  
Monitoring And Control ◽  
Stream Data ◽  
Physical Security ◽  
And Control

Abstract With the rapid development of the Internet of Things and information technologies, more and more manufacturing systems become cyber-enabled, which significantly improves the flexibility and productivity of manufacturing. Furthermore, a large variety of online sensors are also commonly incorporated in the manufacturing systems for online quality monitoring and control. However, the cyber-enabled environment may pose the collected online stream sensor data under high risks of cyber-physical attacks as well. Specifically, cyber-physical attacks could occur during the manufacturing process to maliciously tamper the sensor data, which could result in false alarms or failures of anomaly detection. In addition, the cyber-physical attacks may also illegally access the collected data without authorization and cause leakage of key information. Therefore, it becomes critical to develop an effective approach to protect online stream data from these attacks so that the cyber-physical security of the manufacturing systems could be assured. To achieve this goal, an integrative blockchain-enabled method, is proposed by leveraging both asymmetry encryption and camouflage techniques. A real-world case study that protects cyber-physical security of collected stream data in additive manufacturing is provided to demonstrate the effectiveness of the proposed method. The results demonstrate that malicious tampering could be detected in a relatively short time and the risk of unauthorized data access is significantly reduced as well.

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