Contactless medium scale industrial robot collaboration

The growing cost of High-Value/Mix and Low Volume (HMLV) industries like Aerospace is heavily based on industrial robots and manual operations done by operators [1]. Robots are excellent in repeatability by HMLV industries need changes with every single product. On the other hand human workforce is good at variability and intelligence but cost a lot as production rate is not comparable to robots and machines. There are flexible systems which have been specifically introduced for this type of industry FLEXA is one of them. But still there is need of collaboration between human and robot to get the flexible and cost effective solution [2]. A comprehensive survey has been conducted specifically on the issue of Human Robot collaboration [3] which laid out many advantages of this approach includes flexibility, cost-effectiveness and use of robot as intelligent assistant. There are several attempts have been made for Human Robot Collaboration for HMLV industry and Chen et al. attempt is one of them

Theory of the Arbitration Process

A sensor fusion method for state estimation of a flexible industrial robot is developed. By measuring the acceleration at the end-effector, the accuracy of the arm angular position, as well as the estimated position of the end-effector are improved. The problem is formulated in a Bayesian estimation framework and two solutions are proposed; the extended Kalman filter and the particle filter. In a simulation study on a realistic flexible industrial robot, the angular position performance is shown to be close to the fundamental Cramér-Rao lower bound. The technique is also verified in experiments on an ABB robot, where the dynamic performance of the position for the end-effector is significantly improved.Vinnova Excellence Center LINK-SICSSF project Collaborative Localizatio

A Novel Approach for Simplification of Industrial Robot Dynamic Model Using Interval Method

This paper proposes a new approach to simplify the dynamic model of industrial robot by means of interval method. Due to strong nonlinearities, some components of robot dynamic model such as the inertia matrix and the vector of centrifugal, Coriolis and gravitational torques, are very complicated for real-time control of industrial robots. Thus, a simplification algorithm is presented in this study in order to reduce the computation time and memory occupation. More importantly, this simplification is suitable for arbitrary trajectories in whole robot workspace. Furthermore, the method devotes to finding negligible inertia parameters, which is useful for robot model identification. A simulation has been carried out on a test trajectory using a 6-DOF industrial robot model, and the results have shown good performance and effectiveness of this method.ANR COROUSS

Future Penetration of Advanced Industrial Robots in the Japanese Manufacturing Industry: An Econometric Forecasting Model

A new econometric model to forecast industrial robot penetration is proposed. This model consists of the following three components: (1) Application of a "learning curve" for industrial robot prices; (2) Application of an extended production function taking account of industrial robot population effects; (3) Introduction of a demand function for "augmented equivalent labor force", in order to integrate the above two components. The validation of the proposed model was made for the penetration of advanced industrial robots in the Japanese manufacturing industry. The forecasts of I.R. penetration by this model were compared with the simple logistic curve model and also with the forecasts by JIRA (Japan Industrial Robot Association)

Industrial Robot Skills

When robots are working in dynamic environments, close to humans lacking extensive knowledge of robotics, there is a strong need to simplify the user interaction and make the system execute as autonomously as possible. For industrial robots working side-by-side with humans in manufacturing industry, AI systems are necessary to lower the demand on programming time and expertise. One central concept in knowledge modeling for robots is action representation. In this paper, we describe our representation of robot skills. The skills have resource requirements, logical and procedural information from which executable code can be generated

Modelling and identification of a six axes industrial robot

This paper deals with the modelling and identification of a six axes industrial St ¨aubli RX90 robot. A non-linear finite element method is used to generate the dynamic equations of motion in a form suitable for both simulation and identification. The latter requires that the equations of motion are linear in the inertia parameters. Joint friction is described by a friction model that describes the friction behaviour in the full velocity range necessary for identification. Experimental parameter identification by means of linear least squares techniques showed to be very suited for identification of the unknown parameters, provided that the problem is properly scaled and that the influence of disturbances is sufficiently analysed and managed. An analysis of the least squares problem by means of a singular value decomposition is preferred as it not only solves the problem of rank deficiency, but it also can correctly deal with measurement noise and unmodelled dynamics

Development of a flexible test-bed for robotics, telemanipulation and servicing research

The development of a flexible operation test-bed, based around a commercially available ASEA industrial robot is described. The test-bed was designed to investigate fundamental human factors issues concerned with the unique problems of robotic manipulation in the hostile environment of Space

Efficiency Improvement of Measurement Pose Selection Techniques in Robot Calibration

The paper deals with the design of experiments for manipulator geometric and elastostatic calibration based on the test-pose approach. The main attention is paid to the efficiency improvement of numerical techniques employed in the selection of optimal measurement poses for calibration experiments. The advantages of the developed technique are illustrated by simulation examples that deal with the geometric calibration of the industrial robot of serial architecture

Optimization of measurement configurations for geometrical calibration of industrial robot

The paper is devoted to the geometrical calibration of industrial robots employed in precise manufacturing. To identify geometric parameters, an advanced calibration technique is proposed that is based on the non-linear experiment design theory, which is adopted for this particular application. In contrast to previous works, the calibration experiment quality is evaluated using a concept of the user-defined test-pose. In the frame of this concept, the related optimization problem is formulated and numerical routines are developed, which allow user to generate optimal set of manipulator configurations for a given number of calibration experiments. The efficiency of the developed technique is illustrated by several examples.Comment: arXiv admin note: text overlap with arXiv:1211.610

Research on the Certifi cate accommodation scheme of “Industrial Robot Vision and Sensing Technology” under the “1+X” certifi cate system

In the exploration of “1+X” certificate system under the professional course of industrial robot technology certificate accommodation scheme, analyze the connotation of “1+X” certifi cate system, Aiming at the problems existing in the school, such as the mismatch between the professional courses of industrial robot technology and the vocational skill level certificate of “Industrial Robot Application Programming”, the low integration between the course content and the vocational skill level standard, and the lagging construction of professional teaching resource base, taking the course of “Industrial Robot Vision and Sensing Technology” as an example, According to the teaching practice, a professional course system matching the vocational skill level standard should be constructed, a diversifi ed and integrated teaching resource library should be created to realize the integration of courses and certifi cates, and the “1+X” certifi cate system should be integrated into the whole process of talent training