Postprocesamiento CAM-ROBOTICA orientado al prototipado y mecanizado en células robotizadas complejas

The main interest of this thesis consists of the study and implementation of postprocessors to adapt the toolpath generated by a Computer Aided Manufacturing (CAM) system to a complex robotic workcell of eight joints, devoted to the rapid prototyping of 3D CAD-defined products. It consists of a 6R industrial manipulator mounted on a linear track and synchronized with a rotary table. To accomplish this main objective, previous work is required. Each task carried out entails a methodology, objective and partial results that complement each other, namely: - It is described the architecture of the workcell in depth, at both displacement and joint-rate levels, for both direct and inverse resolutions. The conditioning of the Jacobian matrix is described as kinetostatic performance index to evaluate the vicinity to singular postures. These ones are analysed from a geometric point of view. - Prior to any machining, the additional external joints require a calibration done in situ, usually in an industrial environment. A novel Non-contact Planar Constraint Calibration method is developed to estimate the external joints configuration parameters by means of a laser displacement sensor. - A first control is originally done by means of a fuzzy inference engine at the displacement level, which is integrated within the postprocessor of the CAM software. - Several Redundancy Resolution Schemes (RRS) at the joint-rate level are compared for the configuration of the postprocessor, dealing not only with the additional joints (intrinsic redundancy) but also with the redundancy due to the symmetry on the milling tool (functional redundancy). - The use of these schemes is optimized by adjusting two performance criterion vectors related to both singularity avoidance and maintenance of a preferred reference posture, as secondary tasks to be done during the path tracking. Two innovative fuzzy inference engines actively adjust the weight of each joint in these tasks.Andrés De La Esperanza, FJ. (2011). Postprocesamiento CAM-ROBOTICA orientado al prototipado y mecanizado en células robotizadas complejas [Tesis doctoral no publicada]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/10627Palanci

Aspects of an open architecture robot controller and its integration with a stereo vision sensor.

The work presented in this thesis attempts to improve the performance of industrial robot systems in a flexible manufacturing environment by addressing a number of issues related to external sensory feedback and sensor integration, robot kinematic positioning accuracy, and robot dynamic control performance. To provide a powerful control algorithm environment and the support for external sensor integration, a transputer based open architecture robot controller is developed. It features high computational power, user accessibility at various robot control levels and external sensor integration capability. Additionally, an on-line trajectory adaptation scheme is devised and implemented in the open architecture robot controller, enabling a real-time trajectory alteration of robot motion to be achieved in response to external sensory feedback. An in depth discussion is presented on integrating a stereo vision sensor with the robot controller to perform external sensor guided robot operations. Key issues for such a vision based robot system are precise synchronisation between the vision system and the robot controller, and correct target position prediction to counteract the inherent time delay in image processing. These were successfully addressed in a demonstrator system based on a Puma robot. Efforts have also been made to improve the Puma robot kinematic and dynamic performance. A simple, effective, on-line algorithm is developed for solving the inverse kinematics problem of a calibrated industrial robot to improve robot positioning accuracy. On the dynamic control aspect, a robust adaptive robot tracking control algorithm is derived that has an improved performance compared to a conventional PID controller as well as exhibiting relatively modest computational complexity. Experiments have been carried out to validate the open architecture robot controller and demonstrate the performance of the inverse kinematics algorithm, the adaptive servo control algorithm, and the on-line trajectory generation. By integrating the open architecture robot controller with a stereo vision sensor system, robot visual guidance has been achieved with experimental results showing that the integrated system is capable of detecting, tracking and intercepting random objects moving in 3D trajectory at a velocity up to 40mm/s

Specification and installation of a robotic system to improve the production efficiency of a cutting station

Mestrado de dupla diplomação com a UTFPR - Universidade Tecnológica Federal do ParanáOne of the main technologies in Industry 4.0 are collaborative robots (cobot), which allow humans to work alongside them while respecting the necessary safety standards. The use of robots in industry is generally done to improve production, quality, reduce repetitive efforts and heavy manual labor. In order to save time and, consequently, money. With this, the Catraport company presented the problem of automating a cutting station consisting of two machines. In the development of the automated solution, simulations were used to analyze which would be the most viable option for the company. The company chose the hybrid solution formed by a robot and a worker. With the requirements defined, they purchased the robot, which they required to be a cobot. The model is the UR-10e, from Universal Robots, and also, as accessories, the adaptive gripper and the wrist camera, both from Robotiq. After the purchase, the hardware part of the robot was installed and the software for the accessories was configured. With this, the visual recognition of the part was calibrated to identify its position, the gripper was adjusted to better fit the piece and possible solutions to position the parts in the exit box. For the last step it was necessary to develop an individual programming case for each piece, because they have shapes that do not allow a simple fit between them. It was also used a resource of the camera to identify tags, which was used for the system to recognize the position and orientation of each pallet.Uma das principais tecnologias da Indústria 4.0 são robôs colaborativos (cobot), que permitem o trabalho ao lado de humanos respeitando as normas de segurança necessárias. O uso de robôs na indústria é geralmente feito para melhorar produção, qualidade, reduzir esforços repetitivos e trabalhos manuais pesados. De forma a economizar tempo e, consequentemente, dinheiro. Com isso, a empresa Catraport apresentou o problema de automatizar uma estação de corte composta por duas máquinas. No desenvolvimento da solução automatizada, foram utilizadas simulações para a análise de qual seria a opção mais viável para a empresa. A empresa optou pela solução híbrida formada por um robô e um trabalhador. Com os requisitos definidos, fez a aquisição do robô, que eles tinham como exigência ser um cobot. O modelo é o UR-10e, da Universal Robots, e também, como acessórios, a garra adaptativa e a câmera de pulso, ambos da Robotiq. Após a compra, a parte de hardware do robô foi instalada e os softwares para os acessórios configurados. Com isso, o reconhecimento visual da peça foi calibrado para identificar sua posição, a garra foi ajustada para encaixar melhor na peça e possíveis soluções para posicionar as partes na caixa de saída. Para a última etapa foi necessário desenvolver um caso de programação individual para cada peça, pois elas possuem formatos que não permitem um encaixe simples entre elas. Também foi utilizado um recurso da câmera de identificar tags, que foi utilizado para que o sistema reconhecesse a posição e orientação de cada pallet

Workshop on "Robotic assembly of 3D MEMS".

Proceedings of a workshop proposed in IEEE IROS'2007.The increase of MEMS' functionalities often requires the integration of various technologies used for mechanical, optical and electronic subsystems in order to achieve a unique system. These different technologies have usually process incompatibilities and the whole microsystem can not be obtained monolithically and then requires microassembly steps. Microassembly of MEMS based on micrometric components is one of the most promising approaches to achieve high-performance MEMS. Moreover, microassembly also permits to develop suitable MEMS packaging as well as 3D components although microfabrication technologies are usually able to create 2D and "2.5D" components. The study of microassembly methods is consequently a high stake for MEMS technologies growth. Two approaches are currently developped for microassembly: self-assembly and robotic microassembly. In the first one, the assembly is highly parallel but the efficiency and the flexibility still stay low. The robotic approach has the potential to reach precise and reliable assembly with high flexibility. The proposed workshop focuses on this second approach and will take a bearing of the corresponding microrobotic issues. Beyond the microfabrication technologies, performing MEMS microassembly requires, micromanipulation strategies, microworld dynamics and attachment technologies. The design and the fabrication of the microrobot end-effectors as well as the assembled micro-parts require the use of microfabrication technologies. Moreover new micromanipulation strategies are necessary to handle and position micro-parts with sufficiently high accuracy during assembly. The dynamic behaviour of micrometric objects has also to be studied and controlled. Finally, after positioning the micro-part, attachment technologies are necessary

Industrial Robotics

This book covers a wide range of topics relating to advanced industrial robotics, sensors and automation technologies. Although being highly technical and complex in nature, the papers presented in this book represent some of the latest cutting edge technologies and advancements in industrial robotics technology. This book covers topics such as networking, properties of manipulators, forward and inverse robot arm kinematics, motion path-planning, machine vision and many other practical topics too numerous to list here. The authors and editor of this book wish to inspire people, especially young ones, to get involved with robotic and mechatronic engineering technology and to develop new and exciting practical applications, perhaps using the ideas and concepts presented herein