Industrial Robot Control Research Articles

Adaptive Energy-Bounding Approach for Robustly Stable Interaction Control of Impedance-Controlled Industrial Robot With Uncertain Environments

Even though impedance control approaches are useful for robot interaction control, they can guarantee stability only for the assumed range of the environments. This paper presents a new adaptive energy-bounding approach (EBA) that can maintain a desired contact force at steady state while guaranteeing robust contact stability for impedance-controlled industrial robots that are contacting with very uncertain environments beyond the assumed range of the environments. The proposed adaptive EBA that is applied to impedance-controlled industrial robots interacting with incompletely specified real environments is an extension of the haptic EBA, which was previously developed for stable haptic interaction with virtual environments. Moreover, the adaptive EBA estimates online control parameters to improve performance while assuring stability for the system. Theoretical analyses on the performance and experimental results demonstrate the effectiveness of the proposed approach.

Robot voice control grammars development

Application of industrial robots can improve the production flexibility. However, in this case, there is a need to write control programs. Herewith, we should maximize the facilitation of this process, the introduction of voice control can be one of these ways. The basic principles of forming robot control grammars are presented. The feasibility of developing the proposed grammars is explained by the need to formalize the industrial robot control language, which is close to natural. The sequence of actions that allows implementing the voice control was developed. The key (pre-control) words and allowable sequences of voice command input were defined. The basic characteristics of the RM-01 robot, as well as the movement restrictions were considered. The basic methods and properties, implemented by the program are given. The XML-file, containing the library of robot control words, its structure and principles of creation, were considered. Thus, the developed library provides the possibility of its expansion for adapting to other models of industrial robots.

Motion control of industrial robots by considering serial two-link robot arm model with joint nonlinearities

This paper presents a model based motion control approach for industrial robots by considering a serial two-link robot arm model with joint nonlinearities. In order to achieve the desired performance using the model based control approaches, it is important to obtain relevant models of both kinematics and dynamics including nonlinear characteristics. Main nonlinear components that lead to trajectory tracking errors of typical multi-axis industrial robot are joint nonlinearities in each axis and dynamic coupling effects between different axes. In this paper, a parametric modeling approach is introduced to reproduce behaviors of a serial two-link robot arm with joint nonlinearities. Nonlinear stiffness, angular transmission errors, and friction in these two links are directly identified as joint nonlinearities. This approach is applied for the serial two-link arm of a typical multi-axis industrial robot, which has low frequency vibration modes and significantly affects to the trajectory performance. Effectiveness of the modeling is verified by comparative studies with numerical simulations and experiments. Finally, a 2-DOF control scheme with the identified two-link dynamic model and a feedback loop-shaping with a variable notch filter are applied to improve the performance of trajectory tracking and residual vibration suppression.

연마작업을 위한 로봇형 연마기의 힘제어 적용

In this research, we describe a force feedback control for industrial robots has been proposed as a system which is suitable to work utilizing pressure sensitive alternative to human. Conventionally, polished surface of the workpiece are recognized, chamfer ridge, machining processes such as deburring, and it is most difficult to automate because of its complexity, has been largely dependent on the human. To aim to build automatic vacuum system robotic force control was gripping the grinding tool, the present study we examined the adaptability to the polishing process to understand the characteristics of the control system feedback signal obtained from the force sensor mainly. Furthermore, as a field, which holds the key to the commercialization, I went ahead with the application to robotic sweeping machine. As a result, the final sweeping utilizing a robot machine to obtain a very good grinded surface was revealed.

Adaptive on-line Genetic Algorithm Based PD Iterative Control for PUMA560

In order to improve the accuracy of the repetitive motion trajectory tracking control for industrial robots of less rapid demanding, an online adaptive PD iterative learning control algorithm is proposed. In order to improve the accuracy, PD parameters are optimized online at each sampling time with the advantage of genetic algorithm for global optimization. In order to avoid overshoot, penalty function is used and overshoot is regard as one of the best indicators. Finally, this algorithm is tried in PUMA560. Simulation analysis shows that the proposed algorithm is better than unmodified in accuracy.

Vibration Suppression for Angular Transmission Errors in Harmonic Drive Gearings and Application to Industrial Robots

This paper presents a vibration suppression approach for precision positioning mechanisms including harmonic drive gearings (HDGs), using a variable notch filter to suppress mechanical vibrations due to angular transmission errors (ATEs) in HDGs. Mechanisms with HDGs excite resonant vibrations, especially in the condition that the frequency of synchronous components of ATE correspond to the critical mechanical resonant frequency. In the proposed approach, therefore, a variable notch filter with free parameters of frequency and damping is designed to suppress the resonant vibrations during transient response, considering the sensitivity characteristics of the feedback system. The proposed approach has been applied to motion control of an actual industrial 6-axis robot and verified by numerical simulations and experiments.

An open embedded industrial robot hardware and software architecture applied to position control and visual servoing application

This paper presents an open embedded hardware and software architecture for industrial robot control applied to visual servoing system. This architecture is a hardware and software co-design where embedded processors drive the FPGA for motor control. It is robot type independent, as long as the motors are equipped with incremental position encoders and driven by PWM signals. Low cost, low power consumption, high stability, flexibility and expandability are the key advantages. The architecture and related IP cores are developed through a component-based design model which interprets a mechatronic system by computation, communication, configuration and coordination components, together with composition of these components and blackboxes. The motor controller IP core is provided in the consistency of open hardware. Open software implies the use of OROCOS (Bruyninckx, 2001). The performance of visual servoing behaviour is evaluated by visual coupling of a Performer MK2 robot and a KUKA lightweight robot.

RDS(Robotic Drilling System) 구축을 위한 전용 End-Effector Prototype 개발에 관한 연구

Robotic Drilling Systems(RDSs) set the standard for the factory automation systems in aerospace manufacturing. With the benefits of cost effective drilling and predictive maintenance, RDSs can provide greater flexibility in the manufacturing process. The system can be easily adopted to manage very complex and time-consuming processes, such as automated fastening hole drilling processes of large aircraft sections, where it would be difficult accomplished by workers following teaching or conventional guided methods. However, in order to build an RDS based on a CAD model, the precise calibration of the Tool Center Point(TCP) must be performed in order to define the relationships between the fastening-hole target and the End Effector(EEF). Based on the kinematics principle, the robot manipulator requires a new method to correct the 3D errors between the CAD model of the reference coordinate system and the actual measurements. The system can be called as a successful system if following conditions can be met; a. seamless integration of the industrial robot controller and the IO Level communication, b. performing pre-defined drilling procedures automatically. This study focuses on implementing a new technology called iGPS into the fastening-hole-drilling process, which is a critical process in aircraft manufacturing. The proposed system exhibits better than 100-micron 3D accuracy under the predefined working space. Based on the proposed EEF fastening-hole machining process, the corresponding processes and programs are developed, and its feasibility is studied.

The Research on the Motion Control of Industrial Robots Based on LabVIEW

This paper puts forward a method to control the industrial robots based on the NI Corporations LabVIEW virtual instrument technology. By designing the communication protocol between the LabVIEW software program on PC and industrial robots, the LabVIEW program can take the control of industrial robots by using RS232 serial ports, including the operation instructions' transmission, the feedback of the robots' running, and the data exchange between the two. The result shows that can effectively realize the motion control of industrial robots based on LabVIEW.

The Application of Intelligent Industrial Robotic Control System Based on PLC in Mechanical Automation

In the field of mechanical automation, intelligent industrial robot technology is an important branch in the research field of robot; it is always the hot spots of the world robot research, and it being used to get the application in the industry today. Robot experiment platform of PLC and motor control technology, it based on the control method used by the robot control system improvements to make it more perfect run more precise, reasonable. In the same time, the man-machine interface state run monitoring, to ensure the normal operation of the system. Improved control method of the improvement of the work efficiency, reduce the work of the workers a duplication degree have a significant effect, and the system control at the scene, especially PLC control has excellent control function and good cost performance .

Dynamic velocity feed-forward compensation control with RBF-NN system identification for industrial robots

A dynamic velocity feed-forward compensation control (DVFCC) approach with RBF neural network (RBF-NN) dynamic model identification was presented for the adaptive trajectory tracking of industrial robots. The proposed control approach combined the advantages of traditional feedback closed-loop position control and computed torque control based on inverse dynamic model. The feed-forward compensator used a nominal robot dynamics as accurate dynamic model and on-line identification with RBF-NN as uncertain part to improve dynamic modeling accuracy. The proposed compensation was applied as velocity feed-forward by an inverse velocity controller that can convert torque signal into velocity in the standard industrial controller. Then, the need for a torque control interface was avoided in the real-time dynamic control of industrial robot. The simulations and experiments were carried out on a gas cutting manipulator. The results show that the proposed control approach can reduce steady-state error, suppress overshoot and enhance tracking accuracy and efficiency in joint space and Cartesian space, especially under highspeed condition.

Method of photogrammetric measurement automation using TRITOP system and industrial robot

This paper deals with a method of TRITOP photogrammetric system automation. Unlike the methods of optical scanning systems automation, this area has not been studied well yet. The method of photogrammetric measurement automation via the TRITOP system and an industrial robot is presented. The work is focused on the communication between the main parts of the measurement chain ⿿ camera, control computer, industrial robot and robot controller. The crucial part of the communication is based on the gPhoto2 utility, which enables a remote operation of the camera. Programs for the automation are written in Python programming language in the TRITOP software environment. Hardware communication is carried out via USB and Wi-Fi. To verify the measurement system and its repeatability, test measurements have been performed and compared to manual measurements of the same object.

床反力計測に基づく力学同定を用いた柔軟アームを有する産業用ロボットのIDCS制御

床反力計測に基づく力学同定を用いた柔軟アームを有する産業用ロボットのIDCS制御

Spatial Programming for Industrial Robots through Task Demonstration

Abstract We present an intuitive system for the programming of industrial robots using markerless gesture recognition and mobile augmented reality in terms of programming by demonstration. The approach covers gesture-based task definition and adaption by human demonstration, as well as task evaluation through augmented reality. A 3D motion tracking system and a handheld device establish the basis for the presented spatial programming system. In this publication, we present a prototype toward the programming of an assembly sequence consisting of several pick-and-place tasks. A scene reconstruction provides pose estimation of known objects with the help of the 2D camera of the handheld. Therefore, the programmer is able to define the program through natural bare-hand manipulation of these objects with the help of direct visual feedback in the augmented reality application. The program can be adapted by gestures and transmitted subsequently to an arbitrary industrial robot controller using a unified interface. Finally, we discuss an application of the presented spatial programming approach toward robot-based welding tasks.

Enhancement of Speech Recognitions for Control Automation Using an Intelligent Particle Swarm Optimization

For over two decades, speech control mechanisms have been widely applied in manufacturing systems such as factory automation, warehouse automation, and industrial robotic control for over two decades. To implement speech controls, a commercial speech recognizer is used as the interface between users and the automation system. However, users' commands are often contaminated by environmental noise which degrades the performance of speech recognition for controlling automation systems. This paper presents a multichannel signal enhancement methodology to improve the performance of commercial speech recognizers. The proposed methodology aims to optimize speech recognition accuracy of a commercial speech recognizer in a noisy environment based on a beamformer, which is developed by an intelligent particle swarm optimization. It overcomes the limitation of the existing signal enhancement approaches whereby the parameters inside commercial speech recognizers are required to be tuned, which is impossible in a real-world situation. Also, it overcomes the limitation of the existing optimization algorithm including gradient descent methods, genetic algorithms and classical particle swarm optimization that are unlikely to develop optimal beamformers for maximizing speech recognition accuracy. The performance of the proposed methodology was evaluated by developing beamformers for a commercial speech recognizer, which was implemented on warehouse automation. Results indicate a significant improvement regarding speech recognition accuracy.

Based on the Automatic Control System of Industrial Robots

The successful application of robotics is an important way to enhance the engineering machinery and equipment, scientific and technological content. The definition of industrial robots and Research, and simple control of industrial robots and the final flow chart is proposed to adapt to the development of machinery industry, according to the agile manufacturing strategy, and looking forward to its logical design of the development trend.

Robust Force Controller for Industrial Robots: Optimal Design and Real-Time Implementation on a KUKA Robot

In this brief, a new formulation is proposed for the design of a robust force controller for industrial robots with closed architecture controller. A recent model, which takes into account the complete kinematics of the system and the position response of the industrial robot controller, allows this formulation. The proposed design is based on a set of nonlinear matrix inequalities, and solved by the dual iteration algorithm. The robust controller is implemented on a KUKA robot. Good results are obtained with the proposed approach.

Using the Microcontroller and the PLC in a RPP Robot Control

This paper presents some aspects regarding the possibility of combining microcontroller and programmable logic controller (PLC) for robot control. The RPP robot is designed and manufactured within the Faculty of Engineering from “Lucian Blaga” University of Sibiu, as a patent: BRAŢ TELESCOPIC, Nr. 112418 B1, Int.CI.6 B 25 J 18/02, from 17.02.1997. Classical systems for programming and control of industrial robot are based on numerical control equipment, developed around a PC. Programmable Logic Controllers (PLC) haves proven to be viable alternatives to driving machine tools, industrial systems and Robots. Microcontrollers as computers offer advantage due to programmable inputs and outputs ports. The application of a microcontroller and PLC in control of a robot is presented in this paper.

Joint Level Collision Avoidance for Industrial Robots

A system concept for industrial collision avoidance is presented. The paper searches solutions for small and medium enterprises which have strictly limited resources for robot installations. Key factor is to use commercially available components and user-friendly algorithms. The experimental setup consists of a 7-axis industrial robot and an industrial robot controller. The obstacle detecting sensors are applied on the robotic arm. Designing guidelines are formed according to industrial considerations and preliminary experiments are presented.

Integrating an anti-collision system based on laser Time-Of-Flight sensor in an industrial robot controller

Safe coexistence of industrial robots and human operators in the same workspace is one of the long standing goals of robotics research. One way to enforce safety is to endow the robotic system with additional sensors that can to some extent monitor the environment surrounding the robot and allow fast reaction to unexpected obstacles. This paper discusses the design of one such anti-collision system based on a laser Time-Of-Flight distance sensor. Integration of the external controller in the hardware and software architecture of a commercial industrial robot controller is discussed. Experimental results show fast response of the system to various obstacles.