Robots in machining

Robotic machining centers offer diverse advantages: large operation reach with large reorientation capability, and a low cost, to name a few. Many challenges have slowed down the adoption or sometimes inhibited the use of robots for machining tasks. This paper deals with the current usage and status of robots in machining, as well as the necessary modelling and identification for enabling optimization, process planning and process control. Recent research addressing deburring, milling, incremental forming, polishing or thin wall machining is presented. We discuss various processes in which robots need to deal with significant process forces while fulfilling their machining task

Jerk controlled joint space trajectory planning methods using 5-3-5 spline trajectory for industrial robot manipulators

In robot manipulator trajectory planning, jerk controlled trajectories are desirable for their amenability in path tracking, vibration suppression and reducing of manipulator wear. Bounded and continuous jerk trajectories narrows the jerk profile within known limits, eliminating discontinuities and spontaneous rising of jerk, which are otherwise undesired. In this research, a new method for generating a bounded and continuous jerk trajectory in joint space is implemented and tested. Spline functions are a common method for interpolating a set of via points for generating robot manipulator trajectories. The method introduced in this research is a novel and robust spline interpolation algorithm, interpolating a 5thorder, 3rdorder and 5thorder piecewise polynomial (5-3-5 spline), which can generate point-to-point trajectories as well as trajectories with via points. Generated trajectory has continuously differentiable profiles for position, velocity and acceleration and has a start and end zero-bounded, continuous jerk profile. The algorithm allows the user to independently define the position, velocity, acceleration and jerk values at both start and end points. At via points, the continuity up to 5th time derivative is maintained, and the user can define via point position and velocity. Also it allows the user to define interpolation time intervals between every polynomial segment. Along with the bounded and continuous jerk profile, these adjustable parameters in the 5-3-5 spline algorithm results an effective and robust trajectory generating method. Trajectories generated using the 5-3-5 spline algorithm was simulated and tested successfully on DENSO VP6 robot arm. The experiments demonstrated and proved the robustness and applicability of the new trajectory generating method in both point-to-point and via point motion

Case Study of WSN as a replacement for SCADA

The increasing interconnectivity of SCADA (Supervisory Control and Data Acquisition) networks has exposed them to a wide range of network security problems. Also in that case WSN (Wireless Sensor Networks, which is a new computing paradigm that emerged from the fusion of the SCADA systems and Ad hoc networks technologies, have gained the advantage over SCADA due to its simplicity and the ad-hoc nature of the network. This paper provides an overview of all the issues that are involved in strengthening the interconnectivity of SCADA networks and how the WSN has gained the advantage as a solution for SCADA. The paper describes the general architecture of WSN and SCADA networks and the properties of some of the commonly used SCADA communication protocols. This paper presents an overview of challenges in the design and implementation of WSNs. It summarizes the potential challenges that influence the WSNs design. Also this paper proposes an example solution to interconnect such environments using low cost and customizable sensor nodes which each has the computational power built in