9,332 research outputs found
Feedrate planning for machining with industrial six-axis robots
The authors want to thank Stäubli for providing the necessary information of the controller, Dynalog for its contribution to the experimental validations and X. Helle for its material contributions.Nowadays, the adaptation of industrial robots to carry out high-speed machining operations is strongly required by the manufacturing industry. This new technology machining process demands the improvement of the overall performances of robots to achieve an accuracy level close to that realized by machine-tools. This paper presents a method of trajectory planning adapted for continuous machining by robot. The methodology used is based on a parametric interpolation of the geometry in the operational space. FIR filters properties are exploited to generate the tool feedrate with limited jerk. This planning method is validated experimentally on an industrial robot
Motion Planning of Uncertain Ordinary Differential Equation Systems
This work presents a novel motion planning framework, rooted in nonlinear programming theory, that treats uncertain fully and under-actuated dynamical systems described by ordinary differential equations. Uncertainty in multibody dynamical systems comes from various sources, such as: system parameters, initial conditions, sensor and actuator noise, and external forcing. Treatment of uncertainty in design is of paramount practical importance because all real-life systems are affected by it, and poor robustness and suboptimal performance result if it’s not accounted for in a given design. In this work uncertainties are modeled using Generalized Polynomial Chaos and are solved quantitatively using a least-square collocation method. The computational efficiency of this approach enables the inclusion of uncertainty statistics in the nonlinear programming optimization process. As such, the proposed framework allows the user to pose, and answer, new design questions related to uncertain dynamical systems.
Specifically, the new framework is explained in the context of forward, inverse, and hybrid dynamics formulations. The forward dynamics formulation, applicable to both fully and under-actuated systems, prescribes deterministic actuator inputs which yield uncertain state trajectories. The inverse dynamics formulation is the dual to the forward dynamic, and is only applicable to fully-actuated systems; deterministic state trajectories are prescribed and yield uncertain actuator inputs. The inverse dynamics formulation is more computationally efficient as it requires only algebraic evaluations and completely avoids numerical integration. Finally, the hybrid dynamics formulation is applicable to under-actuated systems where it leverages the benefits of inverse dynamics for actuated joints and forward dynamics for unactuated joints; it prescribes actuated state and unactuated input trajectories which yield uncertain unactuated states and actuated inputs.
The benefits of the ability to quantify uncertainty when planning the motion of multibody dynamic systems are illustrated through several case-studies. The resulting designs determine optimal motion plans—subject to deterministic and statistical constraints—for all possible systems within the probability space
Dynamic behavior analysis for a six axis industrial machining robot
The six axis robots are widely used in automotive industry for their good
repeatability (as defined in the ISO92983) (painting, welding, mastic
deposition, handling etc.). In the aerospace industry, robot starts to be used
for complex applications such as drilling, riveting, fiber placement, NDT, etc.
Given the positioning performance of serial robots, precision applications
require usually external measurement device with complexes calibration
procedure in order to reach the precision needed. New applications in the
machining field of composite material (aerospace, naval, or wind turbine for
example) intend to use off line programming of serial robot without the use of
calibration or external measurement device. For those applications, the
position, orientation and path trajectory precision of the tool center point of
the robot are needed to generate the machining operation. This article presents
the different conditions that currently limit the development of robots in
robotic machining applications. We analyze the dynamical behavior of a robot
KUKA KR240-2 (located at the University of Bordeaux 1) equipped with a HSM
Spindle (42000 rpm, 18kW). This analysis is done in three stages. The first
step is determining the self-excited frequencies of the robot structure for
three different configurations of work. The second phase aims to analyze the
dynamical vibration of the structure as the spindle is activated without
cutting. The third stage consists of vibration analysis during a milling
operation
A Rapidly Reconfigurable Robotics Workcell and Its Applictions for Tissue Engineering
This article describes the development of a component-based technology robot system that can be rapidly configured to perform a specific manufacturing task. The system is conceived with standard and inter-operable components including actuator modules, rigid link connectors and tools that can be assembled into robots with arbitrary geometry and degrees of freedom. The reconfigurable "plug-and-play" robot kinematic and dynamic modeling algorithms are developed. These algorithms are the basis for the control and simulation of reconfigurable robots. The concept of robot configuration optimization is introduced for the effective use of the rapidly reconfigurable robots. Control and communications of the workcell components are facilitated by a workcell-wide TCP/IP network and device level CAN-bus networks. An object-oriented simulation and visualization software for the reconfigurable robot is developed based on Windows NT. Prototypes of the robot systems configured to perform 3D contour following task and the positioning task are constructed and demonstrated. Applications of such systems for biomedical tissue scaffold fabrication are considered.Singapore-MIT Alliance (SMA
Natural Motion for Energy Saving in Robotic and Mechatronic Systems
Energy saving in robotic and mechatronic systems is becoming an evermore important topic in both industry and academia. One strategy to reduce the energy consumption, especially for cyclic tasks, is exploiting natural motion. We define natural motion as the system response caused by the conversion of potential elastic energy into kinetic energy. This motion can be both a forced response assisted by a motor or a free response. The application of the natural motion concepts allows for energy saving in tasks characterized by repetitive or cyclic motion. This review paper proposes a classification of several approaches to natural motion, starting from the compliant elements and the actuators needed for its implementation. Then several approaches to natural motion are discussed based on the trajectory followed by the system, providing useful information to the researchers dealing with natural motion
A survey of adaptive control technology in robotics
Previous work on the adaptive control of robotic systems is reviewed. Although the field is relatively new and does not yet represent a mature discipline, considerable attention has been given to the design of sophisticated robot controllers. Here, adaptive control methods are divided into model reference adaptive systems and self-tuning regulators with further definition of various approaches given in each class. The similarity and distinct features of the designed controllers are delineated and tabulated to enhance comparative review
Compliance error compensation in robotic-based milling
The paper deals with the problem of compliance errors compensation in
robotic-based milling. Contrary to previous works that assume that the
forces/torques generated by the manufacturing process are constant, the
interaction between the milling tool and the workpiece is modeled in details.
It takes into account the tool geometry, the number of teeth, the feed rate,
the spindle rotation speed and the properties of the material to be processed.
Due to high level of the disturbing forces/torques, the developed compensation
technique is based on the non-linear stiffness model that allows us to modify
the target trajectory taking into account nonlinearities and to avoid the
chattering effect. Illustrative example is presented that deals with
robotic-based milling of aluminum alloy
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