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

Modeling of Inverse Kinematic Analysis of Open-Source Medical Assist Robot Arm by Python

Today, the epidemic diseases such as COVID-19 spreads very fast in the globalizing world and lethal effects on human health have had a noticeable effect on the health sector. For this situations, various disciplines have had different studies to minimize the effects of the epidemic. In such cases, it is a separate requirement that the use of the opportunities brought by technology. In this study, the kinematic analysis of the open-source robot arm was especially examined in terms of reducing the workload of individuals working in the healthcare sector. The open-source robot arm is articulated and has 5 degrees of freedom. The kinematic analysis is very important for determination of the working space of the robotic systems. The inverse kinematic analysis was done with Python programming language and the control module was developed to check the analysis. The control module shows the angle values depending on the joints of the robot arm. It is also shown the Px, Py, and Pz positions obtained depending on the position of the end effector in 3D space. On the other hand, Euler angle values are also specified, which are based on the position of the last position taken by the joints of the robot arm in the 3D space. In the study, the geometric approach method was used that is still popular in the inverse kinematic analysis. It is hoped that this study will inspire the development and use of professional and industrial kinds of the open-source robot arm

Robotic joint-motion optimization of functionally-redundant tasks for joint-limits and singularity avoidance

La méthodologie de décomposition du torseur de vitesse (TWA) et évitement des limites articulaires -- Évitement des limites articulaires et singularités -- auto-adaptation des poids en TWA -- Adaptation dynamique des pondération en TWA -- Background and basic terminology -- Problem formulation -- Research objective -- Literature review -- Level of kinematic analysis -- Differential kinematics and redundancy -- Local optimization algorithms -- Global optimization algorithms -- Redundancy-resolution in intelligent control -- Functional redundancy-resolution -- Twist decomposition approach and joint-limits avoidance -- Kinematic inversion of functionally-redundant manipulators -- Puma 500 -- Fanuc M16iB -- Fanuc 710c50 -- General task projectors -- Joint-limits and singularity avoidance in TWA -- Performance criteria -- Numerical examples -- Self-adaptation of weights in TWA -- Joint-limits and singularity avoidances -- Weights self-adaptation system -- Dynamic-adaptation of weights in TWA -- Weights dynamic-adaptation system

Calibration and Control of a Redundant Robotic Workcell for Milling Tasks

This article deals with the tuning of a complex robotic workcell of eight joints devoted to milling tasks. It consists of a KUKA (TM) manipulator mounted on a linear track and synchronised with a rotary table. Prior to any machining, the additional joints require an in situ calibration in an industrial environment. For this purpose, a novel planar calibration method is developed to estimate the external joint configuration parameters by means of a laser displacement sensor and avoiding direct contact with the pattern. Moreover, a redundancy resolution scheme on the joint rate level is integrated within a computer aided manufacturing system for the complete control of the workcell during the path tracking of a milling task. Finally, the whole system is tested in the prototyping of an orographic model.Andres De La Esperanza, FJ.; Gracia Calandin, LI.; Tornero Montserrat, J. (2011). Calibration and Control of a Redundant Robotic Workcell for Milling Tasks. International Journal of Computer Integrated Manufacturing. 24(6):561-573. doi:10.1080/0951192X.2011.566284S56157324

Design Tool for Kinematics of Multibody Systems

This research provides a methodology and a tool for selection of appropriate robotic system based on the singularities in the workspace of the machines, suitable for both, designers and users. The kinematic problem solutions are managed through design methodology and represented with function modelling language, IDEF0. This novel approach specifies step by step activities on how to model robotic systems with math and programming tools, like Maple 17 and Matlab 2010. Symbolical and numerical solutions of kinematics, Jacobian matrix, singularities and workspace are successfully obtained for three types of multibody systems; general CNC machine, Mitsubishi MELFA RV-3SDB robot and Yaskawa Motoman DA-20, dual arm collaborative robot. CNC-R Global Reconfigurable Kinematic Model is developed for analyses of different types of manipulators. The main purpose of this design tool for kinematics of multibody systems is to help in kinematics problem solving, by providing visual representation of the workspace with the singularity locus of the same. It represents a set of iterative methods for kinematic design of manipulators, and so at the end, visual presentation of the effective work region, including singular configurations. The methodology is appropriate for any n-DOF multibody system, even for dual arm collaborativ

On-the-Fly Workspace Visualization for Redundant Manipulators

This thesis explores the possibilities of on-line workspace rendering for redundant robotic manipulators via parallelized computation on the graphics card. Several visualization schemes for different workspace types are devised, implemented and evaluated. Possible applications are visual support for the operation of manipulators, fast workspace analyses in time-critical scenarios and interactive workspace exploration for design and comparison of robots and tools

Kinematics and Robot Design II (KaRD2019) and III (KaRD2020)

This volume collects papers published in two Special Issues “Kinematics and Robot Design II, KaRD2019” (https://www.mdpi.com/journal/robotics/special_issues/KRD2019) and “Kinematics and Robot Design III, KaRD2020” (https://www.mdpi.com/journal/robotics/special_issues/KaRD2020), which are the second and third issues of the KaRD Special Issue series hosted by the open access journal robotics.The KaRD series is an open environment where researchers present their works and discuss all topics focused on the many aspects that involve kinematics in the design of robotic/automatic systems. It aims at being an established reference for researchers in the field as other serial international conferences/publications are. Even though the KaRD series publishes one Special Issue per year, all the received papers are peer-reviewed as soon as they are submitted and, if accepted, they are immediately published in MDPI Robotics. Kinematics is so intimately related to the design of robotic/automatic systems that the admitted topics of the KaRD series practically cover all the subjects normally present in well-established international conferences on “mechanisms and robotics”.KaRD2019 together with KaRD2020 received 22 papers and, after the peer-review process, accepted only 17 papers. The accepted papers cover problems related to theoretical/computational kinematics, to biomedical engineering and to other design/applicative aspects

Reconfigurable Validation Model for Identifying Kinematic Singularities and Reach Conditions for Articulated Robots and Machine Tools

Automation has led to industrial robots facilitating a wide array of high speed, endurance, and precision operations undertaken in the manufacturing industry today. An acceptable level of functioning and control is therefore vital to the efficacy and successful implementation of such manipulators. This research presents a comprehensive analytical tool for downstream optimization of manipulator design, functionality, and performance. The proposed model is reconfigurable and allows for modelling and validation of different industrial robots. Unique 3D visual models for a manipulator workspace and kinematic singularities are developed to gain an understanding into the task space and reach conditions of the manipulator\u27s end-effector. The developed algorithm also presents a non-conventional and computationally inexpensive solution to the inverse kinematics problem through the use Artificial Neural Networks. Application of the proposed technique is further extended to aid in development of path planning models for a uniform, continuous, and singularity free motion