Thematische Bibliographien / ABB industrial robots

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Auswahl der wissenschaftlichen Literatur zum Thema „ABB industrial robots“

Autor: Grafiati

Veröffentlicht am 28. Juni 2021

Zuletzt aktualisiert am 17. Februar 2022

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Zeitschriftenartikel zum Thema "ABB industrial robots"

Moradi Dalvand, Mohsen, und Saeid Nahavandi. „Teleoperation of ABB industrial robots“. Industrial Robot: An International Journal 41, Nr. 3 (13.05.2014): 286–95. http://dx.doi.org/10.1108/ir-09-2013-400.

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Purpose – The purpose of this paper is to analyse teleoperation of an ABB industrial robot with an ABB IRC5 controller. A method to improve motion smoothness and decrease latency using the existing ABB IRC5 robot controller without access to any low-level interface is proposed. Design/methodology/approach – The proposed control algorithm includes a high-level proportional-integral-derivative controller (PID) controller used to dynamically generate reference velocities for different travel ranges of the tool centre point (TCP) of the robot. Communication with the ABB IRC5 controller was performed utilising the ABB PC software development kit. The multitasking feature of the IRC5 controller was used to enhance the communication frequency between the controller and the remote application. Trajectory tracking experiments of a pre-defined three-dimensional trajectory were carried out and the benefits of the proposed algorithm were demonstrated. The robot was intentionally installed on a wobbly table and its vibrations were recorded using a six-degrees-of-freedom force/torque sensor fitted to the tool mounting interface of the robot. The robot vibrations were used as a measure of the smoothness of the tracking movements. Findings – A communication rate of up to 250 Hz between the computer and the controller was established using C# .Net. Experimental results demonstrating the robot TCP, tracking errors and robot vibrations for different control approaches were provided and analysed. It was demonstrated that the proposed approach results in the smoothest motion with tracking errors of < 0.2 mm. Research limitations/implications – The proposed approach may be employed to produce smooth motion for a remotely operated ABB industrial robot with the existing ABB IRC5 controller. However, to achieve high-bandwidth path following, the inherent latency of the controller must be overcome, for example by utilising a low-level interface. It is particularly useful for applications including a large number of short manipulation segments, which is typical in teleoperation applications. Social implications – Using the proposed technique, off-the-shelf industrial robots can be used for research and industrial applications where remote control is required. Originality/value – Although low-level control interface for industrial robots seems to be the ideal long-term solution for teleoperation applications, the proposed remote control technique allows out-of-the-box ABB industrial robots with IRC5 controllers to achieve high efficiency and manipulation smoothness without requirements of any low-level programming interface.

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Pinzón Quintero, Camilo Alberto, Ángel Andrés Joya Quintero, Felipe González Roldán und Pedro Fabián Cárdenas Herrera. „Collaborative Pick and Place using industrial robots, simulation and deployment“. Visión electrónica 14, Nr. 1 (31.01.2020): 72–78. http://dx.doi.org/10.14483/22484728.16364.

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In recent times, a fraction of industrial robotics has been oriented to a collaborative approach between different devices to achieve a specific task. This paper describes the simulation and deployment of a metallic beam pick a place process using tow industrial robots. At first, the tool design is presented; it used an electromagnet attached to the robot end effector to lift the load correctly. The communication sequence between the robot's controllers using the digital I/O modules is discussed. The software Robot Studio allowed the process simulation, in which the performance was validated. All the tasks were tested in two ABB IRB 140 industrial robots.

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Hůla, P., R. Šindelář und A. Trinkl. „Verification of applicability of ABB robots for trans-planting seedlings in greenhouses“. Research in Agricultural Engineering 54, No. 3 (20.08.2008): 155–62. http://dx.doi.org/10.17221/715-rae.

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The article deals with the verification of applicability of different types of ABB industrial robots for trans-planting seedlings. Initial hypothesis was formulated at the beginning namely that the robots with full rotary series and parallel kinematical structure can be employed in the operation of trans-planting seedlings. Testing was performed on real types of robots IRB 1400, IRB 140T and IRB 140B, and using model application. The robot IRB 340 was tested in virtual simulation only. Based on the measurements, it was found out that all real robots tested are able to perform the operation of seedlings trans-planting involving 36 plants with the cycle duration below 2.7 min and at 100% success rate. Within the given range of the movement velocity no statistically significant differences in the cycle duration or in the number of wrongly trans-planted seedlings were found between different robot types. It can be therefore concluded that all the robots tested can be used for trans-planting seedlings.

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Holubek, Radovan, Daynier Rolando Delgado Sobrino, Peter Košťál und Roman Ružarovský. „Offline Programming of an ABB Robot Using Imported CAD Models in the RobotStudio Software Environment“. Applied Mechanics and Materials 693 (Dezember 2014): 62–67. http://dx.doi.org/10.4028/www.scientific.net/amm.693.62.

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Current trend in automation area is focused to the innovation in all fields of the technologies and technological devices. Probably industrial robots and manipulators belong to development too. Industrial robots and manipulators belong to progressive elements of automation. Modern concept uses the offline programming as a tools integration of the virtual CAD models into programming environment. Offline programming carries a lot of advantages for example possibility of the programming without real robot system, possibility of the collision state debugging. Implementation of CAD models in virtual environment of Robot studio achieves better workplace station of creating robotic system and also it generates rather trajectories of the robot path in this system.

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Sanchez, Antonio, Luis Gracia, Ricardo Morales und Carlos Perez-Vidal. „Representation of Robots in Matlab“. International Journal of Software Engineering and Knowledge Engineering 29, Nr. 01 (Januar 2019): 23–42. http://dx.doi.org/10.1142/s0218194019500025.

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This paper presents a new software tool, namely RoboClass, to include and manage realistic robots and elements of the environment in Matlab simulations. These elements are loaded from CAD models using an STL-file and can be as detailed as desired. All the steps involved in the process are explained in detail. Furthermore, two illustrative examples are considered to show the effectiveness and versatility of the proposed approach: the ABB-IRB120 industrial robot and the CSA research robot. The developed tool is especially useful both for robotics research and teaching.

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Chen, Tianyan, Jinsong Lin, Deyu Wu und Haibin Wu. „Research of Calibration Method for Industrial Robot Based on Error Model of Position“. Applied Sciences 11, Nr. 3 (31.01.2021): 1287. http://dx.doi.org/10.3390/app11031287.

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Based on the current situation of high precision and comparatively low APA (absolute positioning accuracy) in industrial robots, a calibration method to enhance the APA of industrial robots is proposed. In view of the "hidden" characteristics of the RBCS (robot base coordinate system) and the FCS (flange coordinate system) in the measurement process, a comparatively general measurement and calibration method of the RBCS and the FCS is proposed, and the source of the robot terminal position error is classified into three aspects: positioning error of industrial RBCS, kinematics parameter error of manipulator, and positioning error of industrial robot end FCS. The robot position error model is established, and the relation equation of the robot end position error and the industrial robot model parameter error is deduced. By solving the equation, the parameter error identification and the supplementary results are obtained, and the method of compensating the error by using the robot joint angle is realized. The Leica laser tracker is used to verify the calibration method on ABB IRB120 industrial robot. The experimental results show that the calibration method can effectively enhance the APA of the robot.

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Slamani, Mohamed, Albert Nubiola und Ilian A. Bonev. „EFFECT OF SERVO SYSTEMS ON THE CONTOURING ERRORS IN INDUSTRIAL ROBOTS“. Transactions of the Canadian Society for Mechanical Engineering 36, Nr. 1 (März 2012): 83–96. http://dx.doi.org/10.1139/tcsme-2012-0006.

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Two important aspects of the performance of a servo system, tracking errors and contour errors, significantly affect the accuracy of industrial robots under high-speed motion. Careful tuning of the control parameters in a servo system is essential, if the risk of severe structural vibration and a large contouring error is to be avoided. In this paper, we present an overview of a method to diagnose contouring errors caused by the servo control system of an ABB IRB 1600 industrial robot by measuring the robot’s motion accuracy in a Cartesian circular shape using a double ballbar (DBB) measurement instrument. Tests were carried out at different TCP (tool centre-point) speed and trajectory radii to investigate the main sources of errors that affect circular contouring accuracy. Results show that radius size errors and out-of-roundness are significant. A simple experimental model based on statistical tests was also developed to represent and predict the radius size error. The model was evaluated by comparing its prediction capability in several experiments. An excellent error prediction capability was observed.

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Szkodny, T. „Differential Kinematics Of Contemporary Industrial Robots“. International Journal of Applied Mechanics and Engineering 19, Nr. 3 (01.08.2014): 643–59. http://dx.doi.org/10.2478/ijame-2014-0045.

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Abstract The paper presents a simple method of avoiding singular configurations of contemporary industrial robot manipulators of such renowned companies as ABB, Fanuc, Mitsubishi, Adept, Kawasaki, COMAU and KUKA. To determine the singular configurations of these manipulators a global form of description of the end-effector kinematics was prepared, relative to the other links. On the basis of this description , the formula for the Jacobian was defined in the end-effector coordinates. Next, a closed form of the determinant of the Jacobian was derived. From the formula, singular configurations, where the determinant’s value equals zero, were determined. Additionally, geometric interpretations of these configurations were given and they were illustrated. For the exemplary manipulator, small corrections of joint variables preventing the reduction of the Jacobian order were suggested. An analysis of positional errors, caused by these corrections, was presented

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Elvira-Ortiz, David Alejandro, Rene de Jesus Romero-Troncoso, Arturo Yosimar Jaen-Cuellar, Luis Morales-Velazquez und Roque Alfredo Osornio-Rios. „Vibration Suppression for Improving the Estimation of Kinematic Parameters on Industrial Robots“. Shock and Vibration 2016 (2016): 1–15. http://dx.doi.org/10.1155/2016/6954012.

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Vibration is a phenomenon that is present on every industrial system such as CNC machines and industrial robots. Moreover, sensors used to estimate angular position of a joint in an industrial robot are severely affected by vibrations and lead to wrong estimations. This paper proposes a methodology for improving the estimation of kinematic parameters on industrial robots through a proper suppression of the vibration components present on signals acquired from two primary sensors: accelerometer and gyroscope. A Kalman filter is responsible for the filtering of spurious vibration. Additionally, a sensor fusion technique is used to merge information from both sensors and improve the results obtained using each sensor separately. The methodology is implemented in a proprietary hardware signal processor and tested in an ABB IRB 140 industrial robot, first by analyzing the motion profile of only one joint and then by estimating the path tracking of two welding tasks: one rectangular and another one circular. Results from this work prove that the sensor fusion technique accompanied by proper suppression of vibrations delivers better estimation than other proposed techniques.

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Vocetka, Michal, Jiří Suder und Daniel Huczala. „THE USE OF THE TWO-HANDED COLLABORATIVE ROBOT IN NON-COLLABORATIVE APPLICATION“. Acta Polytechnica 60, Nr. 2 (30.04.2020): 151–57. http://dx.doi.org/10.14311/ap.2020.60.0151.

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The article deals with possibilities of using of a two-handed collaborative robot in automated production. The introductory part of this paper is about robot manufacturers’ proposed ways of use of collaborative robots and a consideration of correctness of this stance. In this matter, an alternative point of view is proposed and tested, where a collaborative robot does not cooperate with a worker but replaces him/her completely. The main part of the study focuses on a specific installation of the YuMi collaborative robot into an already existing production line of a leading Czech supplier in the automotive industry. This real application is verified in simulations with an alternative solution consisting of two traditional industrial robots ABB IRB 120 instead. These data are evaluated and the advantages of deploying the collaborative robot and the industrial robots in the specific assembly application are compared. Economic return and productivity in high production cycle applications are considered. The article then describes the difficulties caused by the low load capacity of the YuMi collaborative robot and an alternative approach using the FEM methodology and topology optimization in the robot grip jaws design.

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Dissertationen zum Thema "ABB industrial robots"

Heras, Aguilar Sergio. „Comparison and visualization of robot program modifications : Applied on ABB industrial robots at Volvo Cars Corporation“. Thesis, Högskolan Väst, Avdelningen för produktionssystem (PS), 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:hv:diva-11510.

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Volvo Cars Corporation creates robot programs off-line for all new robot implementations for virtual commissioning. These virtually created robot programs are then downloaded to the real robot, after the installation has been carried out, to be tested before they are fully operational. These tests are spanned from robot installation until full production, adjusting the robot programme according to Volvo Cars specification and correcting errors that the robot program may have. Changes of the robot programs will be saved each time it is modified, generating a series of backups for each robot until the robot is correctly adjusted along all the steps of the process. To improve the offline programming there is a necessity for visualize the modifications made during the physical robot commissioning. The objective of this thesis is to identify, categorise, quantify and visualize modifications between each different backup of a robot. A software application has been developed using Microsoft Visual Studio using C#. The application is designed in windows for different types of data. It enables the user to compare two robot programs (two different backup programs from the tests) from one robot and see the result between them graphically. The graphs are designed interactively so that the user can filter the information to see the desired data from the robot programs comparison. Key performance indicators (KPIs) has been specified for RobTargets and Procedures according to Volvo Cars Corporation requests. These KPIs are implemented and visualised in a graphical representation.

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Baťka, Tomáš. „Virtuální zprovoznění robotizované výrobní buňky“. Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2021. http://www.nusl.cz/ntk/nusl-444300.

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The diploma thesis deals with the virtual commissioning of robotic workplace designed to engrave board materials and their subsequent packaging. The summary of the knowledge that contributes to the development of the virtual commissioning as well as description of each component of the given robotic cell, are described in the theoretical part. In the practical part are described procedures such as assembling of the simulation model in Process Simulate software, creating the PLC program in integrated development environment TIA Portal or creating visualization for HMI panel. In the end, the actual commissioning of the workplace was performed, followed by additional modification and validation of the robotic program.

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Granlund, Anna, und Christian Hallin. „Förändringar inom materialförsörjning till följd av globala inköp : En fallstudie på ABB Robotics, Västerås“. Thesis, Mälardalen University, Department of Innovation, Design and Product Development, 2007. http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-461.

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Dagens hårda konkurrenssituation har lett till att många svenska företag i jakten på att sänka sina kostnader söker nya leverantörer i lågkostnadsländer. Den globala handeln har ökat markant de senaste åren men utredningar gällande hur verksamheters materialförsörjning påverkas av långväga inköp har ej hunnit med i samma utsträckning.

ABB Robotics som i sin verksamhet i Västerås utvecklar och tillverkar industrirobotsystem är ett av de företag som satsar på global handel. Som ett led i detta står verksamheten under andra halvåret av 2007 inför stora förändringar då en del av företagets leverantörsbas skall bytas från europeiska till asiatiska tillverkare. Detta examensarbete syftar till att kartlägga hur ABB Robotics materialförsörjning kommer att påverkas av bytet av leverantörsbas. Det övergripande målet är att utreda och ta fram en modell för hur verksamheter ur ett materialförsörjningsperspektiv påverkas av global handel.

Två Microsoft Excel-baserade simuleringsverktyg har tagits fram under detta examensarbete för att möjliggöra kartläggning av leverantörsbytenas inverkan hos ABB Robotics. Det ena av dessa verktyg beräknar hur säkerhetslagernivån kommer att förändras till följd av bytet av leverantörs-bas. Resultatet visar bl.a. på en markant genomsnittlig ökning med ca 700 % jämfört med dagsläget under de förutsättningar ABB Robotics angivit. Modellen är dock konstruerad så att vissa parametrar som täckningstid, servicegrad etc. enkelt kan ställas om för att undersöka dess inverkan på säkerhetslagernivån.

Det andra verktyget simulerar inleveransmönstret under utfasningen av de nuvarande leverantörerna respektive upprampningen av den nya leverantörsbasen. Resultatet av verktyget ger en bra bild av hur de inkommande lagervolymerna kommer att variera under leverantörsbytena, när topparna kommer att inträffa samt hur stora de kan förväntas bli.

I examensarbetet har ABB Robotics arbetssätt och planer inför den stundande globala handeln utvärderats och analyserats. De parametrar inom materialförsörjningen som påverkas av de globala inköpen har kartlagts liksom dess förändringar. En lista på rekommendationer från författarna gällande hur ABB Robotics bör agera vid det stundande bytet av leverantörsbas har också tagits fram.

Författarna har även som resultat av detta examensarbete arbetat fram tre generella modeller för att påvisa hur verksamheter ur ett materialförsörjningsperspektiv påverkas av globala inköp. Två av modellerna har fokuserat på förändringar hos mätbara respektive icke mätbara parametrar och dess inbördes förhållanden medan den tredje modellen påvisar korrelationer mellan två varierande parametrar.

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Berntsson, Mathias, Krook Gustaf Vernersson und Karl-Johan Thunberg. „Automationsunderlag för stackningsmoment av kärnläggning“. Thesis, Uppsala universitet, Elektricitetslära, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-414143.

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Efterfrågan av energi ökar på grund av den ökande globaliseringen i världen. För att transmittera och distribuera elektrisk effekt används transformatorer. ABB Power Grids AB är världsledande inom produktion av transmissionskomponenter däribland högspänningstransformatorer. Transformatorer är tidskrävande och komplext att tillverka vilket har lett till att all produktion hos ABB Power Grids idag sker manuellt. En av transformatorns mer framstående komponenter är kärnan som bidrar med en effektivare reglering till mindre förluster. Kärnan konstrueras av tusentals tunna elektroplåtar som staplas omlott på varandra och vävs ihop till en sammanhängande struktur, detta enligt ett kärnläggningsmönster. Plåtarna i sig är otympliga att hantera då de är långa, tunna och vassa. Manuell stackning av elektroplåtar har visat sig ge upphov till en del skador då lyften är många och slitsamma, därtill har plåtarna legat till grund för otäcka skärskador. I och med detta har ett intresse för automation väckts i hopp om att reducera arbetsskador. Vid första anblick kan kärnläggningen anses vara perfekt för automation då arbetsmomentet är enkelt och repetitiva. Incitamentet för automation ökar ytterligare i hänseende till arbetsmiljön. Komplikationerna uppstår när arbetet bryts ner. Under ytan är det en utstuderad process där krav på produkt är höga med strikta toleranser. Därtill har arbetet beskrivits som något man behöver en viss känsla för då arbetet anpassas genom hela processen. Detta försvårar automation betydligt då dagens tillverkningsprocess är svår att fullt ut härma med robotar eller portaler. Därför behövs avgränsningar behöver göras för att hitta avvägning mellan slitsamt arbete och finess. Området för automation begränsas därför till stackningsprocessen. Genom att fokusera på stackningen flyttas de slitsamma och farliga lyften från manuell arbetskraft till automation samtidigt som kontroll, justering och slutmontage behålls manuellt. På så sätt kan produktionen av transformatorkärnor göras lämpad för automation då det allra mest tidskrävande momenten inte behöver utföras av människan. Detta är innebär emellertid inte att automation görs utan svårigheter. Kärnornas storlekar samt den precision som krävs vid läggning sätter höga krav på den automationslösning som ska implementeras. För att en automationslösning ska klara av att stacka alla de typer av kärnor som idag tillverkas på ABB Power Grids kommer stora strukturer behöva upprättas för att utföra arbeten med extrem precision. Detta sätter höga noggrannhetskrav på de automationsmodeller som upprättas. Vidare, produktionsområdet där automation idag avses är väl utstakat och anpassat efter manuellt arbete. Detta innebär att automationsmodeller som idag finns på marknaden behöver omarbetas för att passa in i dagens produktion hos ABB Power Grids. Slutligen måste frågan ställas om modifierade lösningar kan göras noggranna nog eller om större ingrepp på produktionsområden behövs göras. I förstudien presenteras olika automationsmodeller som har utvecklats för att integreras hos ABB Power Grids, dessa är Portalmodeller, Länkarmsmodeller och Inmatningsmodeller. Utformningsförslagen har sedan analyserats och jämförts för att ge ABB PG ett utgångsläge för vidareutveckling av automatisering av stackningsmomentet. Resultatet blev fem automationsmodeller, två använder sig av länkarmsrobotar och tre är portaler. Vidare så har två automatiserade inmatningsmodeller upprättats för att ytterligare reducera den manuella hanteringen av elektroplåtar. ABB Power Grids rekommenderas att inledningsvis gå vidare med Robotmodell 1.

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Žaludek, Jan. „Digitální zprovoznění robotizovaného systému pro laserové řezání“. Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2021. http://www.nusl.cz/ntk/nusl-443723.

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This diploma thesis deals with digital commissioning of a robotic production system for laser cutting. First part of this thesis sums up teoretical knowledge of virtual commissioning, fundamentals of laser and laser cutting and system analysis of such a workplace. In practical part of this thesis, the workplace was designed including the workpiece clamping. The design and the digital commissioning itself was mediated by the software RobotStudio. In the programming language RAPID a control program was made and tuned. The workoplace was then virtually commissioned. For easier handling a user interface on FlexPendant was made.

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Stenbom, Håkan. „Optimization of Remote ServiceSolution for large installations : Wireless LAN and WAN for ABB Robotics“. Thesis, Mälardalens högskola, Akademin för innovation, design och teknik, 2011. http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-12083.

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This report describes a thesis work carried out at ABB Robotics in Västerås. The objective of this thesis is to find technologies and equipments for wireless data transfer suitable for the present and future needs of ABB Robotics Remote Service for large installations in industrial environments. ABB Robotics has a Remote Service solution to securely gather information from robots, manage alarms and potentially execute remote commands by ABB Robotics. This solution consists of an intelligent Service Box plugged to the robot. This Service Box is also connected through GPRS or directly through Internet to create a secure VPN connection to a central Remote Service server. The Remote Service Box is well suited for small customers with 1-10 robots with plug and play installation, but show limitations at a larger scale of deployment due to equipment costs, network and installation complexity. A new Service Box is planned that will accommodate future added functionality to Remote Service. This Service Box will require new network solutions as the added functionality is depending on a higher bandwidth than the GPRS networks can deliver. I have surveyed most existing wireless networking technologies and analyzed them withrespect to function, cost and availability which provide a knowledge base that makes it possible to find suitable solutions. When the most suitable technologies are identified a survey was performed to find equipments that meet the requirements at the lowest cost. A new hierarchical network topology is proposed that will lead to cost savings by replacing multiple WAN connections in the present solution with a network switch and single WAN connection to Internet. As manufacturers of network equipments for industrial environments are relatively few, alternative solutions were also investigated in order to find the most cost effective solutions. The proposed network topology together with the data from the surveys lead to recommendations on using Wi-Fi in the wireless LAN and a 3G mobile network for the WAN connection to Internet, as well as recommendations on alternative network equipments that potentially can lead to substantial savings when the new network solutions are implemented.

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Castro, Fábio André Fonseca de. „Conceção e instalação de um controlador de um spindle para integração em célula robótica“. Dissertação, 2012. http://hdl.handle.net/10216/68435.

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Castro, Fábio André Fonseca de. „Conceção e instalação de um controlador de um spindle para integração em célula robótica“. Master's thesis, 2012. http://hdl.handle.net/10216/68435.

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Buchteile zum Thema "ABB industrial robots"

Huang, Yongcheng. „Application Off Line Programming of ABB Industrial Robot“. In 2021 International Conference on Applications and Techniques in Cyber Intelligence, 891–94. Cham: Springer International Publishing, 2021. http://dx.doi.org/10.1007/978-3-030-79197-1_133.

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Konferenzberichte zum Thema "ABB industrial robots"

Chen, Shuyang, Yuan-Chi Peng, John Wason, Jinda Cui, Glenn Saunders, Shridhar Nath und John T. Wen. „Software Framework for Robot-Assisted Large Structure Assembly“. In ASME 2018 13th International Manufacturing Science and Engineering Conference. American Society of Mechanical Engineers, 2018. http://dx.doi.org/10.1115/msec2018-6689.

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This paper presents the design and initial results of a project involving the robotic assembly of a large segmented structure. This project aims to develop an operator-guided semi-autonomous assembly process using industrial robots integrated with multiple sensors. The goal is to demonstrate the potential of robotic technology to reduce cycle time, enhance assembly quality, and improve worker ergonomics, as compared to the current manual or fixture-based approaches. The focus is primarily on the software framework which is composed of a collection of commercial and customized components for robot positioning, motion planning, low latency teleoperation, visualization and simulation. A foundation step of the implementation is safe teleoperation which allows the user to operate the robot without concern of collision or joint limits. The concept has been demonstrated in RobotStudio, the simulation environment for ABB robots, and a physical ABB robot. While some of the software is specific to the ABB industrial robot used in the project, the framework is readily adapted to other industrial robots that allow externally commanded motion.

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Tarkian, Mehdi, Bhanoday Vemula, Xiaolong Feng und Johan Ölvander. „Metamodel Based Design Automation: Applied on Multidisciplinary Design Optimization of Industrial Robots“. In ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2012. http://dx.doi.org/10.1115/detc2012-70867.

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Intricate and complex dependencies between multiple disciplines require iterative intensive optimization processes. To this end, multidisciplinary design optimization (MDO) has been established as a convincing concurrent technique to manage inherited complexities. This paper presents a high level CAD and CAE design automation methodology which enables fast, efficient concept generation for MDO. To increase the evaluation speed, global metamodels are introduced to replace computationally expensive CAD and CAE models. In addition, various techniques are applied to drastically decrease the number of samplings required to create the metamodels. In the final part of the paper, a multi-level optimization strategy is proposed to find the optimal concept. As proof of concept, a real world design problem, from ABB industrial robotics, is presented.

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Urbanic, R. J., und A. Gudla. „Functional Work Space Estimation of a Robot Using Forward Kinematics, D-H Parameters, and Shape Analyses“. In ASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis. American Society of Mechanical Engineers, 2012. http://dx.doi.org/10.1115/esda2012-83001.

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The functional work space for a given orientation is a subset of the work envelope and is not intuitive to define for 6 axis industrial robots. A 2D boundary curve is derived for each desired end effector orientation and tool vector. This is done via a geometric analysis and using the Denavit-Hartenberg notation for the forward kinematic representation. The feasible region for all orientations is determined by the use of Boolean intersections. Disjoint regions may occur. Assessing these elements establishes the boundary limits for subsequent evaluation and optimization tasks. An ABB IRB 140 robot is used to highlight the methodology.

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Kumar, Manish, und Devendra P. Garg. „Multiple Cooperating Robot Dynamics and Fuzzy Logic Control for Internal Force Minimization“. In ASME 2003 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2003. http://dx.doi.org/10.1115/detc2003/vib-48508.

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This paper presents formulation and application of a strategy for control of two six degree-of-freedom robots carrying a common object in a cooperative mode. The paper focuses on control of internal forces that are generated when two or more robots carry an object in coordination. A combined position-force control scheme based on fuzzy logic is proposed. The controller scheme developed has been implemented successfully on two six degree-of-freedom ABB industrial robots. The simulations and the experiments performed demonstrate that the proposed control strategy is able to considerably decrease the internal forces.

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Cavada, Javier, und Fernando Fadón. „Robotic Solutions Applied to Production and Measurement of Marine Propellers“. In ASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis. American Society of Mechanical Engineers, 2012. http://dx.doi.org/10.1115/esda2012-82384.

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Over the past decades, robots have emerged as a valuable technological solution for multiple highly complex industrial processes, and the manufacture of marine propellers has not been an exception. Majority of the propellers being produced worldwide are custom-designed products aiming to satisfy each ship’s propulsion requirements. Such geometrical diversity is a considerable challenge when traditionally manual manufacturing processes like hand-grinding and polishing need to be automated. In several market-leading propeller manufacturers within Europe and Asia, industrial robots are being applied for widely diverse operations such as milling polystyrene blocks to make moulding patterns, grinding out the excess material in the blade surfaces, or polishing the complete propellers’ surface before their final verification. Propeller blades are customized products, formed by curved and warped surfaces, requiring minimum 5 axes to be smoothly polished, and this can be easily achieved with a robot cell where the CAD/CAM data coming from the individual design are directly translated into robotic parameters. While this solution has demonstrated to be perfectly capable to comply with the marine propellers finishing tolerances, which are internationally defined by ISO 484 standard rules [6], robotic solutions for propeller measurement have not been successfully implemented within this specific industry due to reasons like lack of accuracy and repeatability. This paper analyses the root causes behind this problem, identifying the calibration process, the cell alignment method and the tool positioning as the principal factors resulting in this low measuring repeatability. Findings explained by the authors are the outcome of several practical measuring tests made on real marine propellers within ABB and Fanuc robot cells. This paper concludes offering solutions to reduce the inaccuracies caused by the mentioned factors, and recommending what type of marine propellers are more suitable to be measured with industrial robots, on the basis of ISO 484 requirements for each customized design. Moreover, suggestions for further research on this specific measuring application are provided in the concluding chapter.

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Balkan, Tuna, M. Kemal Özgören, M. A. Sahir Arikan und H. Murat Baykurt. „An Analytical Inverse Kinematics Solution Method for Robotic Manipulators“. In ASME 2000 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2000. http://dx.doi.org/10.1115/detc2000/mech-14135.

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Abstract In this study, an inverse kinematic solution approach applicable to six degree-of-freedom industrial robotic manipulators is introduced. The approach is based on a previously introduced kinematic classification of industrial robotic manipulators by Balkan et al. (1999), and depending on the kinematic structure, either an analytical or a semi-analytical inverse kinematic solution is obtained. The semi-analytical method is named as the parametrized joint variable (PJV) method. Compact forward kinematic equations obtained by utilizing the properties of exponential rotation matrices. In the inverse kinematic solutions of the industrial robots surveyed in the previous study, most of the simplified compact equations can be solved analytically and the remaining few of them can be solved semi-analytically through a numerical solution of a single univariate equation. In these solutions, the singularities and the multiple configurations of the manipulators can be determined easily. By the method employed in this study, the kinematic and inverse kinematic analysis of any manipulator or designed-to-be manipulator can be performed and using the solutions obtained, the inverse kinematics can also be computerized by means of short and fast algorithms. As an example for the demonstration of the applicability of the presented method to manipulators with closed-chains, ABB IRB2000 industrial robot is selected which has a four-bar mechanism for the actuation of the third link, and its compact forward kinematic equations are given as well as the inverse kinematic solution.

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Li, Yong, und Bin Xu. „Research on online calibration system based on ABB industrial robot“. In 2019 Chinese Automation Congress (CAC). IEEE, 2019. http://dx.doi.org/10.1109/cac48633.2019.8996817.

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Alvares, Alberto J., Guilherme Caribe de Carvalho, Luis F. d. A. Paulinyi und Sadek C. A. Alfaro. „Telerobotics: through-the-Internet teleoperation of the ABB IRB 2000 industrial robot“. In Photonics East '99, herausgegeben von Matthew R. Stein. SPIE, 1999. http://dx.doi.org/10.1117/12.369286.

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Chakole, Saurabh, und Neema Ukani. „Low-Cost Vision System for Pick and Place application using camera and ABB Industrial Robot“. In 2020 11th International Conference on Computing, Communication and Networking Technologies (ICCCNT). IEEE, 2020. http://dx.doi.org/10.1109/icccnt49239.2020.9225522.

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Sahinkaya, Alican, Larry Hawkins und Jerzy T. Sawicki. „Computational Cost Reduction of MIMO Controllers for Active Magnetic Bearing Systems“. In ASME Turbo Expo 2020: Turbomachinery Technical Conference and Exposition. American Society of Mechanical Engineers, 2020. http://dx.doi.org/10.1115/gt2020-15241.

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Abstract Generalized MIMO controllers such as H∞ and μ have not been widely adopted in the magnetic bearing industry, partially due to high computational cost relative to simpler SISO schemes. Computational cost is important to industrial magnetic bearing vendors as their controller hardware is based on embedded processors that have limited bandwidth. Studies to mitigate the problem of high order controllers show the limit of the existing methods in order reduction while still maintaining satisfying robust performance. A novel method is proposed to reduce the computational cost of robust controllers by identifying the bounds in their dynamic response, such that an implementation of a controller within those bounds results in the robust performance. The bounds are used to develop two computational cost reduction schemes for controller implementation, i.e., 1) identifying a dual-rate implementation of a single-rate controller which uniformly reduces the computational cost via interlacing technique, and 2) redesign of a controller by identifying its negligible dynamics based on the identified bounds in the controllers’ dynamic response. The results of both approaches are demonstrated on two active magnetic bearing (AMB) systems, a model of a 300 kW turbine generator with permanent magnet biased AMBs and an experimental high-speed AMB machining spindle. μ-synthesis controllers are designed for both systems and the proposed method and schemes are applied accordingly. The comparison of standard implementation of the synthesized controllers and the proposed new implementations is presented. The results demonstrate considerable reduction in the computational cost in terms of required number of multiply-accumulate (MAC) operations.

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