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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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Gao, Bingtuan, Yong Liu, Ning Xi und Yantao Shen. „Developing an Efficient Calibration System for Joint Offset of Industrial Robots“. Journal of Applied Mathematics 2014 (2014): 1–9. http://dx.doi.org/10.1155/2014/769343.
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Joint offset calibration is one of the most important methods to improve the positioning accuracy for industrial robots. This paper presents an efficient method to calibrate industrial robot joint offset. The proposed method mainly relies on a laser pointer mounted on the robot end-effector and a position sensitive device (PSD) located in the work space arbitrarily. A vision based control was employed to aid the laser beam shooting at the center of PSD surface from several initial robot postures. For each shoot, the laser beam was a line in space which can be determined by the robot joint angles and their offsets which were recorded when the laser beam was brought to the center of the PSD surface. Therefore, there are several lines in space parameterized by robot joint offsets only and all these lines were constrained by the same point, that is, the center of the PSD surface. Consequently, an optimization model was formulated and the Levenberg-Marquardt (LM) algorithm was employed to identify the joint offsets. The developed calibration system was implemented on an ABB industrial robot IRB1600 successfully. And the joint offsets of this robot can be calibrated within 6 minutes.
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Ciszak, Olaf, Jakub Juszkiewicz und Marcin Suszyński. „Programming of Industrial Robots Using the Recognition of Geometric Signs in Flexible Welding Process“. Symmetry 12, Nr. 9 (28.08.2020): 1429. http://dx.doi.org/10.3390/sym12091429.
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The purpose of the article was to build a low-cost system for identifying shapes in order to program industrial robots (on the base of the six-axis “ABB IRB 140” robot) for a welding process in 2D. The whole system consisted of several elements developed in individual stages. The first step was to identify the existing robot control systems, which analysed images from an attached low-cost digital camera. Then, a computer program, which handles communication with the digital camera capturing and processing, was written. In addition, the program’s task was to detect geometric shapes (contours) drawn by humans and to approximate them. This study also presents research on a binarization and contour recognition method for this application. Based on this, the robot is able to weld the same contours on a 2D plane.
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Pollák, Martin, Monika Telišková, Marek Kočiško und Petr Baron. „Application of industrial robot in 5-axis milling process“. MATEC Web of Conferences 299 (2019): 04004. http://dx.doi.org/10.1051/matecconf/201929904004.
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Present in machining creates constantly new requirements to increase economic efficiency, productivity and product quality. With this advancement, industry is no longer focusing only on commonly used machining technologies, but is paying increasing attention to the implementation of robots in the manufacturing process by machining. The paper describes the design of equipment for the implementation of 5-axis milling with the help of a robot arm ABB IRB 140. It describes the design of the milling head and deals with the creation of NC machining program in software Autodesk Fusion 360. The generated NC program is then used in RoboDK to create a robotic arm control program. At the end of the paper are described laboratory tests of machining using the designed prototype milling head.
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Zhu, Carlos Ye, J. Norberto Pires und Amin Azar. „A novel multi-brand robotic software interface for industrial additive manufacturing cells“. Industrial Robot: the international journal of robotics research and application 47, Nr. 4 (13.04.2020): 581–92. http://dx.doi.org/10.1108/ir-11-2019-0237.
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Purpose This study aims to report the development of a provisional robotic cell for additive manufacturing (AM) of metallic parts. To this end, the paper discusses cross-disciplinary concepts related to the development of the robotic cell and the associated command and control system such as the Computer-Aided Design (CAD) interface, the slicing software and the path planning for the robot manipulator toward printing the selected workpiece. This study also reports the development of a virtual production cell that simulates the AM toolpath generated for the desired workpiece, the adaptation of the simulation environments to enable AM and the development of a user application to setup, command and control the AM processes. If a digital twin setup is efficiently built, with a good correlation between the simulation environment and the real systems, developers may explore this functionality to significantly reduce the development cycle, which can be very long in AM applications where metallurgic properties, part distortion and other properties need to be monitored and controlled. Design/methodology/approach To generate the robot manipulator path, several simulation programs were considered, resulting in different solutions to program and control the robot of choice [in this study, Kuka and Asea Brown Boveri (ABB) robots were considered]. By integrating the solutions from Slic3r, Inventor, Kuka.Sim, Kuka.Officelite, RobotStudio and Visual Studio software packages, this study aims to develop a functional simulation system capable of producing a given workpiece. For this purpose, a graphical user interface (GUI) was designed to provide the user with a higher level of control over the entire process toward simplifying the programming and implementation events. Findings The presented solutions are compatible with the simulation environments of specific robot manufacturers, namely, ABB and Kuka, meaning that the authors aim to align the developments with most of the currently realized AM processing cells. In the long-term, the authors aim to build an AM system that implements a produce-from-CAD strategy i.e. that can be commanded directly from the CAD package used to design the part the authors are interested in. Research limitations/implications This study attempts to shed light on the industrial AM, a field that is being constantly evolved. Arguably, one of the most important aspects of an AM system is path planning for the AM operation, which must be independent of the robotic system used. This study depicts a generic implementation that can be used with several robot control systems. The paper demonstrates the principle with ABB and Kuka robots, exploiting in detail simulation environments that can be used to create digital twins of the real AM systems. This is very important in actual industrial setups, as a good correlation between the digital twins (simulation environment and real system) will enable developers to explore the AM system in not only a more efficient manner, greatly reducing the development cycle but also as a way to fully develop new solutions without stopping the real setup. In this research, a systematic review of robot systems through simulation environments was presented, aiming to emulate the logic that is, used in the production cell development, disregarding the system brand. The adopted digital twin strategy enables the authors to fully simulate, both operationally and functionality, the real AM system. For this purpose, different solutions were explored using robots from two different manufacturers and related simulation environments, illustrating a generic solution that is not bound to a certain brand. Practical implications Using specific programming tools, fully functional virtual production cells were conceived that can receive the instructions for the movements of the robot, using a transmission control protocol/internet protocol. Conversion of the CAD information into the robot path instructions for the robot was the main research question in this study. With the different simulation systems, a program that translates the CAD data into an acceptable format brings the robot closer to the automatic path planning based on CAD data. Both ABB and Kuka systems can access the CAD data, converting it to the correct robot instructions that are executed. Eventually, a functional and intuitive GUI application capable of commanding the simulation for the execution of the AM was implemented. The user can set the desired object and run a completely automatic AM process through the designated GUI. Comparing ABB simulation with the Kuka system, an important distinction can be found, namely, in the exportation of the programs. As the Kuka program runs with add-ons, the solution will not be exported while maintaining its functionality, whereas the ABB program can be integrated with a real controller because it is completely integrated with modules of the virtual controller. Originality/value To conclude, with the solutions exploited, this study reports a step forward into the development of a fully functional generic AM cell. The final objective is to implement an AM system that is, independent of any robot manufacturer brand and uses a produce-from-CAD strategy (c.f. digital manufacturing). In other words, the authors presented a system that is fully automatic, can be explored from a CAD package and, consequently, can be used by any CAD designer, without specific knowledge of robotics, materials and AM systems.
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Xu, X., Y. Hu, JM Zhai, LZ Li und PS Guo. „A novel non-collision trajectory planning algorithm based on velocity potential field for robotic manipulator“. International Journal of Advanced Robotic Systems 15, Nr. 4 (01.07.2018): 172988141878707. http://dx.doi.org/10.1177/1729881418787075.
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This article presents a non-collision trajectory planning algorithm in three-dimensional space based on velocity potential field for robotic manipulators, which can be applied to collision avoidance among serial industrial robots and obstacles, and path optimization in multi-robot collaborative operation. The algorithm is achieved by planning joint velocities of manipulators based on attractive, repulsive, and tangential velocity of velocity potential field. To avoid oscillating at goal point, a saturated function is suggested to the attractive velocity potential field that slows down to the goal progressively. In repulsive velocity potential field, a spring damping system is designed to eliminate the chattering phenomenon near obstacles. Moreover, a fuzzy logic approach is used to optimize the spring damping coefficients for different velocities of manipulators. Different from the usual tangential velocity perpendicular to the repulsive velocity vector for avoiding the local minima problem, an innovative tangential velocity potential field is introduced that is considering the relative position and moving direction of obstacles for minimum avoidance path in three-dimensional space. In addition, a path priority strategy of collision avoidance is taken into account for better performance and higher efficiency when multi-robots cooperation is scheduled. The improvements for local minima and oscillation are verified by simulations in MATLAB. The adaptabilities of the algorithm in different velocities and priority strategies are demonstrated by simulations of two ABB robots in Robot Studio. The method is further implemented in an experimental platform with a SCARA and an ABB robot cooperation around a stationary obstacle and a moving object, and the result shows real time and effectiveness of the algorithms.
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Wang, Chong, Dongxue Liu, Qun Sun und Tong Wang. „Analysis of Open Architecture 6R Robot Forward and Inverse Kinematics Adaptive to Structural Variations“. Mathematical Problems in Engineering 2021 (15.03.2021): 1–11. http://dx.doi.org/10.1155/2021/4516109.
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This paper presents a kinematic analysis for an open architecture 6R robot controller, which is designed to control robots made by domestic manufactures with structural variations. Usually, robot kinematic studies are often introduced for specific robot types, and therefore, difficult to apply the kinematic model from one to another robot. This study incorporates most of the robot structural variations in one model so that it is convenient to switch robot types by modifying model parameters. By combining an adequate set of parameters, the kinematic models, especially the inverse kinematics, are derived. The kinematic models are proved to be suitable for many classic industrial robot types, such as Puma560, ABB IRB120/1600, KAWASAKI RS003N/RS010N, FANUC M6iB/M10iA, and therefore be applicable to those with similar structures. The analysis and derivation of the forward and inverse kinematic models are presented, and the results are proven to be accurate.
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Connolly, Christine. „ABB high‐speed picking robots establish themselves in food packaging“. Industrial Robot: An International Journal 34, Nr. 4 (26.06.2007): 281–84. http://dx.doi.org/10.1108/01439910710749591.
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Krishnan, Megha G., Abhilash T. Vijayan und Ashok Sankar. „Performance enhancement of two-camera robotic system using adaptive gain approach“. Industrial Robot: the international journal of robotics research and application 47, Nr. 1 (04.11.2019): 45–56. http://dx.doi.org/10.1108/ir-08-2019-0174.
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Purpose This paper aims to improve the performance of a two-camera robotic feedback system designed for automatic pick and place application by modifying its velocity profile during switching of control. Design/methodology/approach Cooperation of global and local vision sensors ensures visibility of the target for a two-camera robotic system. The master camera, monitoring the workspace, guides the robot such that image-based visual servoing (IBVS) by the eye-in-hand camera transcends its inherent shortcomings. A hybrid control law steers the robot until the system switches to IBVS in a region proven for its asymptotic stability and convergence through a qualitative overview of the scheme. Complementary gain factors can ensure a smooth transition in velocity during switching considering the versatility and range of the workspace. Findings The proposed strategy is verified through simulation studies and implemented on a 6-DOF industrial robot ABB IRB 1200 to validate the practicality of adaptive gain approach while switching in a hybrid visual feedback system. This approach can be extended to any control problem with uneven switching surfaces or coarse/fine controllers which are subjected to discrete time events. Practical implications In complex workspace where robots operate in parallel with other robots/humans and share workspaces, the supervisory control scheme ensures convergence. This study proves that hybrid control laws are more effective than conventional approaches in unstructured environments and visibility constraints can be overcome by the integration of multiple vision sensors. Originality/value The supervisory control is designed to combine the visual feedback data from eye-in-hand and eye-to-hand sensors. A gain adaptive approach smoothens the velocity characteristics of the end-effector while switching the control from master camera to the end-effector camera.
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Mortimer, John. „ABB robots form part of islands of automation to build body shells at Jaguar Cars“. Industrial Robot: An International Journal 33, Nr. 5 (September 2006): 349–58. http://dx.doi.org/10.1108/01439910610685016.
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Toichoa Eyam, Aitor, Wael M. Mohammed und Jose L. Martinez Lastra. „Emotion-Driven Analysis and Control of Human-Robot Interactions in Collaborative Applications“. Sensors 21, Nr. 14 (06.07.2021): 4626. http://dx.doi.org/10.3390/s21144626.
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The utilization of robotic systems has been increasing in the last decade. This increase has been derived by the evolvement in the computational capabilities, communication systems, and the information systems of the manufacturing systems which is reflected in the concept of Industry 4.0. Furthermore, the robotics systems are continuously required to address new challenges in the industrial and manufacturing domain, like keeping humans in the loop, among other challenges. Briefly, the keeping humans in the loop concept focuses on closing the gap between humans and machines by introducing a safe and trustworthy environment for the human workers to work side by side with robots and machines. It aims at increasing the engagement of the human as the automation level increases rather than replacing the human, which can be nearly impossible in some applications. Consequently, the collaborative robots (Cobots) have been created to allow physical interaction with the human worker. However, these cobots still lack of recognizing the human emotional state. In this regard, this paper presents an approach for adapting cobot parameters to the emotional state of the human worker. The approach utilizes the Electroencephalography (EEG) technology for digitizing and understanding the human emotional state. Afterwards, the parameters of the cobot are instantly adjusted to keep the human emotional state in a desirable range which increases the confidence and the trust between the human and the cobot. In addition, the paper includes a review on technologies and methods for emotional sensing and recognition. Finally, this approach is tested on an ABB YuMi cobot with commercially available EEG headset.
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Gaudreault, Martin, Ahmed Joubair und Ilian Bonev. „Self-Calibration of an Industrial Robot Using a Novel Affordable 3D Measuring Device“. Sensors 18, Nr. 10 (10.10.2018): 3380. http://dx.doi.org/10.3390/s18103380.
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This work shows the feasibility of calibrating an industrial robot arm through an automated procedure using a new, low-cost, wireless measuring device mounted on the robot’s flange. The device consists of three digital indicators that are fixed orthogonally to each other on an aluminum support. Each indicator has a measuring accuracy of 3 µm. The measuring instrument uses a kinematic coupling platform which allows for the definition of an accurate and repeatable tool center point (TCP). The idea behind the calibration method is for the robot to bring automatically this TCP to three precisely-known positions (the centers of three precision balls fixed with respect to the robot’s base) and with different orientations of the robot’s end-effector. The self-calibration method was tested on a small six-axis industrial robot, the ABB IRB 120 (Vasteras, Sweden). The robot was modeled by including all its geometrical parameters and the compliance of its joints. The parameters of the model were identified using linear regression with the least-square method. Finally, the performance of the calibration was validated with a laser tracker. This validation showed that the mean and the maximum absolute position errors were reduced from 2.628 mm and 6.282 mm to 0.208 mm and 0.482 mm, respectively.
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Chen, Shuyang, und John T. Wen. „Industrial Robot Trajectory Tracking Control Using Multi-Layer Neural Networks Trained by Iterative Learning Control“. Robotics 10, Nr. 1 (21.03.2021): 50. http://dx.doi.org/10.3390/robotics10010050.
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Fast and precise robot motion is needed in many industrial applications. Most industrial robot motion controllers allow externally commanded motion profiles, but the trajectory tracking performance is affected by the robot dynamics and joint servo controllers, to which users have no direct access and about which they have little information. The performance is further compromised by time delays in transmitting the external command as a setpoint to the inner control loop. This paper presents an approach for combining neural networks and iterative learning controls to improve the trajectory tracking performance for a multi-axis articulated industrial robot. For a given desired trajectory, the external command is iteratively refined using a high-fidelity dynamical simulator to compensate for the robot inner-loop dynamics. These desired trajectories and the corresponding refined input trajectories are then used to train multi-layer neural networks to emulate the dynamical inverse of the nonlinear inner-loop dynamics. We show that with a sufficiently rich training set, the trained neural networks generalize well to trajectories beyond the training set as tested in the simulator. In applying the trained neural networks to a physical robot, the tracking performance still improves but not as much as in the simulator. We show that transfer learning effectively bridges the gap between simulation and the physical robot. Finally, we test the trained neural networks on other robot models in simulation and demonstrate the possibility of a general purpose network. Development and evaluation of this methodology are based on the ABB IRB6640-180 industrial robot and ABB RobotStudio software packages.
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Ivan, Andrei Mario, Florin Adrian Nicolescu, Georgia Cezara Avram und Adrian Theodor Mantea. „Off-Line Programming and Functioning Simulation of Robotic Flexible Manufacturing Cell for Part's Turning“. Applied Mechanics and Materials 760 (Mai 2015): 213–18. http://dx.doi.org/10.4028/www.scientific.net/amm.760.213.
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This paper presents the works performed by the authors in the field of robotic flexible manufacturing cell offline programming and simulation. The study includes a manufacturing cell structure which includes a part transport system, a CNC lathe / turning centre and an articulated arm type industrial robot. The robot performs the task of loading / unloading the CNC lathe / manufacturing centre and manipulating the parts inside the cell, while the machining operations are performed by the CNC manufacturing centre. After briefly presenting the layout of the cell, the paper focuses on describing the methods used for offline programming and simulation of the tasks performed by the industrial robot. The software package used is ABB RobotStudio. The results of the research work are a process simulation and validation for CNC lathe / machining centre loading / unloading operation and part manipulation performed by the industrial robot and assisted task programming for this application using ABB RobotStudio software. The assisted offline programming and simulation general methods used, as well as the procedures for each stage of the applications are described, in order to illustrate the specific operation for each cell and offline programming aspects.
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Tasevski, Jovica, Milutin Nikolic und Dragisa Miskovic. „Integration of an industrial robot with the systems for image and voice recognition“. Serbian Journal of Electrical Engineering 10, Nr. 1 (2013): 219–30. http://dx.doi.org/10.2298/sjee1301219t.
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The paper reports a solution for the integration of the industrial robot ABB IRB140 with the system for automatic speech recognition (ASR) and the system for computer vision. The robot has the task to manipulate the objects placed randomly on a pad lying on a table, and the computer vision system has to recognize their characteristics (shape, dimension, color, position, and orientation). The ASR system has a task to recognize human speech and use it as a command to the robot, so the robot can manipulate the objects.
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Paes, Koen, Wim Dewulf, Karel Vander Elst, Karel Kellens und Peter Slaets. „Energy Efficient Trajectories for an Industrial ABB Robot“. Procedia CIRP 15 (2014): 105–10. http://dx.doi.org/10.1016/j.procir.2014.06.043.
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Kartik et al.,, Kartik et al ,. „Determination of Latency of An Abb Industrial Arm Robot“. International Journal of Robotics Research and Development 11, Nr. 2 (2021): 39–44. http://dx.doi.org/10.24247/ijrrddec20213.
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Vu, Hung Minh, Trung Quang Trinh und Thang Quoc Vo. „Research on kinematic structure of a redundant serial industrial robot arm“. Science and Technology Development Journal 19, Nr. 3 (30.09.2016): 24–33. http://dx.doi.org/10.32508/stdj.v19i3.561.
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This paper proposes a new kinematic structure of a redundant serial robot arm and presents forward and inverse kinematic analysis. This is a new structure developed based on the robot IRB 2400 of ABB. The new structure consists of six revolute joints and two prismatic joints. The proposed robot arm has only seven degrees of freedom because the structure has a constraint between two revolute joints. Two prismatic joints help to expand workspaces of manipulator from small to very large. The paper describes in details about forward and inverse kinematics. Forward kinematics is derived based on DH Convention while inverse kinematics is calculated based on an objective function to minimize motions of a revolute joint and two prismatic joints. The simulation results on Matlab software indicated that the joint positions and velocities of a redundant serial robot arm matched well the trajectories in Cartesian Space.
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Vocetka, Michal, Róbert Huňady, Martin Hagara, Zdenko Bobovský, Tomáš Kot und Václav Krys. „Influence of the Approach Direction on the Repeatability of an Industrial Robot“. Applied Sciences 10, Nr. 23 (05.12.2020): 8714. http://dx.doi.org/10.3390/app10238714.
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The article aims to prove the hypothesis, that an approach direction influences repeatability at target point of a trajectory. Unlike most researches that deal with absolute accuracy, this paper is focused on determining the achievable repeatability and the influence of the direction of approach on it. To prove the hypothesis, several measurements are performed under different conditions, on industrial robot ABB IRB1200. To verify and confirm the result obtained from the resolvers located on the individual axes of the robot, the measurements are replicated using high-speed digital image correlation cameras. Using an external measuring device, the real repeatability of the robot endpoint is determined. The measurement proved the correctness of the hypothesis, i.e., the dependence of the approach direction on repeatability was proved. Furthermore, real deviations were measured and the extent of this influence on the robot repeatability was determined.
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Slamani, Mohamed, Albert Nubiola und Ilian A. Bonev. „Modeling and assessment of the backlash error of an industrial robot“. Robotica 30, Nr. 7 (16.01.2012): 1167–75. http://dx.doi.org/10.1017/s0263574711001287.
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SUMMARYThis paper proposes an experimental approach for evaluating the backlash error of an ABB IRB 1600 industrial serial robot under various conditions using a laser interferometer measurement instrument. The effects of the backlash error are assessed by experiments conducted on horizontal and vertical paths. A polynomial model was used to represent the relationship between the backlash error and the robot configuration. A strategy based on statistical tests was developed to choose the degree of polynomial representing the effect of the tool center point (TCP) speed and payload. Results show that the backlash error strongly affects the repeatability of the industrial robot. Statistical analyses prove that the backlash is highly dependent on both robot configuration and TCP speed, whereas it remains nearly unaffected by changes in the payload. It was discovered that the backlash error as measured at the TCP may exceeds 100 μm, and that the positive backlash error increases and the negative backlash error decreases when there is increase in TCP speed.
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Gou, Zhi Jian, Hai Ying Yu, Yong Kang Niu und Yan Chao Xie. „The Research of 6-DOF Robot Reachable Workspace“. Applied Mechanics and Materials 120 (Oktober 2011): 47–50. http://dx.doi.org/10.4028/www.scientific.net/amm.120.47.
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With the continuous development of industrial robot application, it becomes very important for the solution of reachable space in the designing and applicating process. But the traditional theory calculation method is complex. When solving the reachable space of new kind of robot, we only draw lessons from the theory and need to change more. So a simple and convenient method is needed in theory field. This paper proposes a method that combine Matlab with SimDesigner to solve 6-DOF Robot reachable space, and takes ABB-1400 as an example to explain the solution of 6-DOF Robot reachable space. It could attain the full reachable space by add sine motion function reasonably to every joint, and obtain the solution of robot reachable space speedly.
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Ferraguti, Federica, Renzo Villa, Chiara Talignani Landi, Andrea Maria Zanchettin, Paolo Rocco und Cristian Secchi. „A Unified Architecture for Physical and Ergonomic Human–Robot Collaboration“. Robotica 38, Nr. 4 (19.06.2019): 669–83. http://dx.doi.org/10.1017/s026357471900095x.
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SUMMARYIndustrial applications that involve working on and moving a heavy load or that constrain the operator to work in uncomfortable positions can take advantage of the assistance of a robotic assistant. In this paper, we propose an architecture for an ergonomic human–robot co-manipulation of objects of various shapes and weight. The object is carried by the robot and, thanks to an ergonomic planner, is positioned in the most comfortable way for the user. Furthermore, thanks to an admittance control with payload compensation, the user can easily adjust the position of the object for working on different parts of it. The proposed architecture is experimentally validated in a robotic cell including an ABB industrial robot.
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Shailendra Singh Chauhan und Avadhesh Kumar Khare. „Kinematic Analysis of the ABB IRB 1520 Industrial Robot Using RoboAnalyzer Software“. Evergreen 7, Nr. 4 (Dezember 2020): 510–18. http://dx.doi.org/10.5109/4150470.
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Lipina, Jan, Petr Greguš, Jaroslav Tomáš, Václav Krys und Ekaterina Khludova. „Implementation of a Vacuum Effector for The ABB IRB 140 Industrial Robot“. Transactions of the VŠB - Technical University of Ostrava, Mechanical Series 58, Nr. 2 (30.12.2012): 25–32. http://dx.doi.org/10.22223/tr.2012-2/1918.
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Shailendra Singh Chauhan und Avadhesh Kumar Khare. „Kinematic Analysis of the ABB IRB 1520 Industrial Robot Using RoboAnalyzer Software“. Evergreen 7, Nr. 4 (Dezember 2020): 510–18. http://dx.doi.org/10.5109/4150470.
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Parameshwaran, R., A. Tony Thomas und V. Madhu Vishal. „Vision Based Self Adaptive Algorithm for 6 Axis ABB Industrial Welding Robot“. IOP Conference Series: Materials Science and Engineering 1123, Nr. 1 (01.04.2021): 012038. http://dx.doi.org/10.1088/1757-899x/1123/1/012038.
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Damaševičius, Robertas, Rytis Maskeliūnas, Gintautas Narvydas, Rūta Narbutaitė, Dawid Połap und Marcin Woźniak. „Intelligent automation of dental material analysis using robotic arm with Jerk optimized trajectory“. Journal of Ambient Intelligence and Humanized Computing 11, Nr. 12 (22.10.2020): 6223–34. http://dx.doi.org/10.1007/s12652-020-02605-8.
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AbstractMany types of biomaterial analysis require numerous repetition of the same operations. We suggest applying the principles of Total Laboratory Automation (TLA) for analysis of dental tissues in in-vitro conditions. We propose an innovative robotic platform with ABB high precision industrial robotic arm. We programmed the robot to achieve 3000 cycles of submerging for analysis of the stability and thermal wear of dental adhesive materials. We address the problem of robot trajectory planning to achieve smooth and precise trajectory while minimizing jerk. We generate different variants of trajectory using natural cubic splines and adopt the NSGA II multiobjective evolutionary algorithm to find a Pareto-optimal set of robot arm trajectories. The results demonstrate the applicability of the developed robotic platform for in-vitro experiments with dental materials. The platform is suitable for small or medium size dental laboratories.
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Almaged, Mohammed. „Forward and Inverse Kinematic Analysis and Validation of the ABB IRB 140 Industrial Robot“. International Journal of Electronics, Mechanical and Mechatronics Engineering 7, Nr. 2 (01.06.2017): 1383–401. http://dx.doi.org/10.17932/iau.ijemme.21460604.2017.7/2.1383-1401.
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Nicolescu, A. F., C. Cristoiu, C. Dumitrascu und R. Parpala. „Recording procedure of thermal field distribution and temperature evolution on ABB IRB 140 industrial robot“. IOP Conference Series: Materials Science and Engineering 444 (29.11.2018): 052023. http://dx.doi.org/10.1088/1757-899x/444/5/052023.
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Wang, Guifeng, Huiyue Dong, Yingjie Guo und Yinglin Ke. „Finite element simulation and experimental analysis of robotic boring based on an approach of equivalent stiffness“. Proceedings of the Institution of Mechanical Engineers, Part B: Journal of Engineering Manufacture 232, Nr. 11 (31.01.2017): 2008–18. http://dx.doi.org/10.1177/0954405416683430.
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Robotic boring is an effective way to implement finish machining of intersection holes. However, to a certain extent, its application is limited due to the low rigidity of the robot, whose stiffness brings on high vibration levels. In this study, a new approach based on an equivalent stiffness is proposed to gain a fundamental understanding for the cutting mechanism and vibration performance of a robotic boring system. In the approach, the robotic boring system in one direction is regarded as a mass–spring–damping unit according to the structure characteristics of the robot. Thus, the whole robotic boring system is equivalent to a mass–spring–damping group in three-dimensional space. The stiffness and natural frequency of the robot system were measured by stiffness identification and a modal test on an ABB IRB 6600-175/2.55 robot. An equivalent three-dimensional finite element model based on this approach was established to simulate the robotic boring process, and a verification experiment was conducted to determine the accuracy of the finite element simulation. The results show that the simulated cutting force components and the amplitude in the feed direction are in good agreement with the experiment under different cutting conditions, and this proposed approach is feasible.
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Novak-Marcincin, Jozef, Miroslav Janak und Dominik Takac. „Computer Design of Robot ABB IRB 140 Transport System from Manufacturing Point of View“. Manufacturing Technology 14, Nr. 1 (01.03.2014): 79–84. http://dx.doi.org/10.21062/ujep/x.2014/a/1213-2489/mt/14/1/79.
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Wang, Guolei, Xiaotong Hua, Jing Xu, Libin Song und Ken Chen. „A deep learning based automatic surface segmentation algorithm for painting large-size aircraft with 6-DOF robot“. Assembly Automation 40, Nr. 2 (19.12.2019): 199–210. http://dx.doi.org/10.1108/aa-03-2019-0037.
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Purpose This paper aims to achieve automatically surface segmentation for painting different kinds of aircraft efficiently considering the demands of painting robot. Design/methodology/approach This project creatively proposed one method that accepts point cloud, outputs several blocks, each of which can be handled by ABB IRB 5500 in one station. Parallel PointNet (PPN) is proposed in this paper for better handling six dimensional aircraft data including every point normal. Through semantic segmentation of PPN, each surface has its own identity information indicating which part this surface belongs to. Then clustering considering constraints is applied to complete surface segmentation with identity information. To guarantee segmentation paintable and improve painting efficiency, different dexterous workspaces of IRB 5500 corresponding to different postures have been analyzed carefully. Findings The experiments confirm the effectiveness of the proposed surface segmentation method for painting different types of aircraft by IRB 5500. For semantic segmentation on aircraft data with point normal, PPN has higher precision than PointNet. In addition, the whole algorithm can efficiently segment one complex aircraft into qualified blocks, each of which has its own identity information, can be painted by IRB 5500 in one station and has fewer edges with other blocks. Research limitations/implications As the provided experiments indicate, the proposed method can segment one aircraft into qualified blocks automatically, which highly improves the efficiency in aircraft painting compared with traditional approaches. Moreover, the proposed method is able to provide identity information of each block, which is necessary for application of different paint parameters and different paint materials. In addition, final segmentation results by the proposed method behaves better than k-means cluster on variance of normal vector distance. Originality/value Inspired by semantic segmentation of 3 D point cloud, some improvements based on PointNet have been proposed for better handling segmentation of 6 D point cloud. By introducing normal vectors, semantic segmentation could be accomplished precisely for close points with opposite normal, such as wing upper and lower surfaces. Combining deep learning skills with traditional methods, the proposed method is proved to behave much better for surface segmentation task in aircraft painting.
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KITLV, Redactie. „Book Reviews“. New West Indian Guide / Nieuwe West-Indische Gids 78, Nr. 1-2 (01.01.2004): 123–91. http://dx.doi.org/10.1163/13822373-90002521.
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-Chuck Meide, Kathleen Deagan ,Columbus's outpost among the Taínos: Spain and America at La Isabela, 1493-1498. New Haven CT: Yale University Press, 2002. x + 294 pp., José María Cruxent (eds)-Lee D. Baker, George M. Fredrickson, Racism: A short history. Princeton NJ: Princeton University Press, 2002. x + 207 pp.-Evelyn Powell Jennings, Sherry Johnson, The social transformation of eighteenth-century Cuba. Gainesville: University Press of Florida, 2001. x + 267 pp.-Michael Zeuske, J.S. Thrasher, The island of Cuba: A political essay by Alexander von Humboldt. Translated from Spanish with notes and a preliminary essay by J.S. Thrasher. Princeton NJ: Markus Wiener; Kingston: Ian Randle, 2001. vii + 280 pp.-Matt D. Childs, Virginia M. Bouvier, Whose America? The war of 1898 and the battles to define the nation. Westport CT: Praeger, 2001. xi + 241 pp.-Carmelo Mesa-Lago, Antonio Santamaría García, Sin azúcar no hay país: La industria azucarera y la economía cubana (1919-1939). Seville: Consejo Superior de Investigaciones Científicas, Universidad de Sevilla y Diputación de Sevilla, 2001. 624 pp.-Charles Rutheiser, Joseph L. Scarpaci ,Havana: Two faces of the Antillean Metropolis. Chapel Hill: University of North Carolina Press, 2002. x + 437 pp., Roberto Segre, Mario Coyula (eds)-Thomas Neuner, Ottmar Ette ,Kuba Heute: Politik, Wirtschaft, Kultur. Frankfurt am Main, Germany: Vervuert, 2001. 863 pp., Martin Franzbach (eds)-Mark B. Padilla, Emilio Bejel, Gay Cuban nation. Chicago: University of Chicago Press, 2001. xxiv + 257 pp.-Mark B. Padilla, Kamala Kempadoo, Sun, sex, and gold: Tourism and sex work in the Caribbean. New York: Rowman & Littlefield, 1999. viii + 356 pp.-Jane Desmond, Susanna Sloat, Caribbean dance from Abakuá to Zouk: How movement shapes identity. Gainesville: University Press of Florida, 2002. xx + 408 pp.-Karen Fog Olwig, Nina Glick Schiller ,Georges woke up laughing: Long-distance nationalism and the search for home. Durham NC: Duke University Press, 2001. x + 324 pp., Georges Eugene Fouron (eds)-Karen Fog Olwig, Nancy Foner, From Ellis Island to JFK: New York's two great waves of immigration. Chelsea MI: Russell Sage Foundation, 2000. xvi + 334 pp.-Aviva Chomsky, Lara Putnam, The company they kept: Migrants and the politics of gender in Caribbean Costa Rica, 1870-1960. Chapel Hill: University of North Carolina Press, 2002. xi + 303 pp.-Rebecca B. Bateman, Rosalyn Howard, Black Seminoles in the Bahamas. Gainesville: University Press of Florida, 2002. xvii + 150 pp.-Virginia Kerns, Carel Roessingh, The Belizean Garífuna: Organization of identity in an ethnic community in Central America. Amsterdam: Rozenberg. 2001. 264 pp.-Nicole Roberts, Susanna Regazzoni, Cuba: una literatura sin fronteras / Cuba: A literature beyond boundaries. Madrid: Iberoamericana/Frankfurt am Main, Germany: Vervuert, 2001. 148 pp.-Nicole Roberts, Lisa Sánchez González, Boricua literature: A literary history of the Puerto Rican Diaspora. New York: New York University Press, 2001. viii + 216 pp.-Kathleen Gyssels, Ange-Séverin Malanda, Passages II: Histoire et pouvoir dans la littérature antillo-guyanaise. Paris: Editions du Ciref, 2002. 245 pp.-Sue N. Greene, Simone A. James Alexander, Mother imagery in the novels of Afro-Caribbean women. Columbia MO: University of Missouri Press, 2001. x + 215 pp.-Gert Oostindie, Aarón Gamaliel Ramos ,Islands at the crossroads: Politics in the non-independent Caribbean., Angel Israel Rivera (eds)-Katherine E. Browne, David A.B. Murray, Opacity: Gender, sexuality, race, and the 'problem' of identity in Martinique. New York: Peter Lang, 2002. xi + 188 pp.-James Houk, Kean Gibson, Comfa religion and Creole language in a Caribbean community. Albany: State University of New York Press, 2001. xvii + 243 pp.-Kelvin Singh, Frank J. Korom, Hosay Trinidad: Muharram performances in an Indo-Caribbean Diaspora.Philadelphia: University of Pennsylvania Press, 2003. viii + 305 pages.-Lise Winer, Kim Johnson, Renegades: The history of the renegades steel orchestra of Trinidad and Tobago. With photos by Jeffrey Chock. Oxford UK: Macmillan Caribbean Publishers, 2002. 170 pp.-Jerome Teelucksingh, Glenford Deroy Howe, Race, war and nationalism: A social history of West Indians in the first world war. Kingston: Ian Randle/Oxford UK: James Currey, 2002. vi + 270 pp.-Geneviève Escure, Glenn Gilbert, Pidgin and Creole linguistics in the twenty-first century. New York: Peter Lang Publishing, 2002. 379 pp.-George L. Huttar, Eithne B. Carlin ,Atlas of the languages of Suriname. Leiden, The Netherlands: KITLV Press/Kingston: Ian Randle, 2002. vii + 345 pp., Jacques Arends (eds)
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„ABB introduces advanced Conveyor Tracking for Industrial Robots“. Industrial Robot: An International Journal 29, Nr. 1 (Februar 2002). http://dx.doi.org/10.1108/ir.2002.04929aad.006.
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„ABB introduces advanced conveyor tracking for industrial robots“. Industrial Robot: An International Journal 29, Nr. 5 (Oktober 2002). http://dx.doi.org/10.1108/ir.2002.04929ead.008.
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„Land Rover nominates ABB to supply industrial robots“. Industrial Robot: An International Journal 29, Nr. 6 (Dezember 2002). http://dx.doi.org/10.1108/ir.2002.04929fab.006.
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„NEW WORLD FOR ABB ROBOTS“. Industrial Robot: An International Journal 18, Nr. 2 (Februar 1991): 27–28. http://dx.doi.org/10.1108/eb004557.
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APOSTOLESCU, Nicolae, Tom SAVU, Dragos Daniel Ion GUTA und Achim IONITA. „Industrial Robotics for Spacecraft Rendezvous and Docking Simulation“. INCAS BULLETIN, 08.12.2019, 27–36. http://dx.doi.org/10.13111/2066-8201.2019.11.4.3.
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It is to be expected that space robotics systems will develop more and more in the future spatial applications. One of the most challenging and risky missions for spacecraft is to perform autonomously Rendezvous and Docking (RvD) in space. This paper describes a hardware-in-the-loop RvD simulation facility which uses two ABB industrial robots to simulate the 6-DOF dynamic manoeuvring of the rendezvous process. Firstly, we also simulate the real robots and we deduce the kinematic and dynamic equations of space robotic system, then the trajectory is planned. The target motion is reduced only to the movement of the end-effector, but the chaser’s motion is based on the plan which solves the inverse kinematic equations, considering the movement limitations of the joints. Finally, a 3D simulation system was developed to evaluate the proposed method using Matlab/ Simulink environment. Simulation results verified the corresponding method and algorithms.
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„Simulation and Experimental Research on Robot Drilling“. International Journal of Recent Technology and Engineering 8, Nr. 2S3 (10.08.2019): 558–61. http://dx.doi.org/10.35940/ijrte.b1102.0782s319.
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This paper describes the experimental and analytical performance of robot drilling on alloy materials. In heavy structures manual drilling consumes time and quality of holes drilled is unstable. The industrial robot with agile motion is possible to machine a component. Industrial robots with high precision and six axis Degree of freedom are considered for better robot manufacturing processes. This work is to significantly improve performance of robot drilling over conventional drilling. The industrial manipulator used is ABB - IRB1410 with work volume of 2.6 meters and controlled by IRC5 Controller. Drilling machine utilized is specified with maximum speed of 3000 RPM. The speed of the drilling machine can be varied by voltage regulator and maintain different speeds at a difference of 100 RPM. The parameters like surface roughness, time consumed, circular entry and exit, roundness is considered. Relay is utilized to turn on/off the drill at the required places. The industrial manipulator robot and vertical CNC machine drillings are compared by random values of Design of Experiments. The process parameters like drill bit size, speed of drill and feed rate are considered. Conventional material removal techniques like CNC have been proven to be able to tackle nearly any machining challenge but major drawback of using conventional CNC machine is restricted work volume
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Seriani, S., P. Gallina und A. Gasparetto. „A Performance Index for Planar Repetitive Workspace Robots“. Journal of Mechanisms and Robotics 6, Nr. 3 (03.04.2014). http://dx.doi.org/10.1115/1.4026826.
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When large surfaces need to be covered by a robotic system, the most common solution is to design or employ a robot with a comparably large workspace (WS), with high costs and high power requirements. In this paper, we propose a new methodology consisting in an efficient partitioning of the surface, in order to use robotic systems with a workspace of arbitrarily smaller size. These robots are called repetitive workspace robots (RWR). To support this method, we formally define a general index IRWR in order to evaluate the covering efficiency of the workspace. Three algorithms to compute the index are presented, the uniform expansion covering algorithm (UECA), the corrected inertial ellipsoid covering algorithm (CIECA), and the genetic covering algorithm (GCA). The GCA, which delivers a solution in the proximity of the global-best one, is used as a baseline for a comparison between the UECA and the CIECA. Eventually, we present the results of a performance analysis of the three algorithms in terms of computing time. The results show that the CIECA is the best algorithm for the evaluation of the IRWR, almost reaching the global-best solutions of the GCA. Finally, we illustrate a practical application with a comparison between two commercial industrial paint robots: the ABB™ IRB 550 and the CMA® Robotics GR 6100.
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Krishnan, Megha G., Abhilash T. Vijayan und Ashok S. „Interfacing an industrial robot and MATLAB for predictive visual servoing“. Industrial Robot: the international journal of robotics research and application ahead-of-print, ahead-of-print (27.07.2020). http://dx.doi.org/10.1108/ir-05-2020-0100.
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Purpose Real-time implementation of sophisticated algorithms on robotic systems demands a rewarding interface between hardware and software components. Individual robot manufacturers have dedicated controllers and languages. However, robot operation would require either the knowledge of additional software or expensive add-on installations for effective communication between the robot controller and the computation software. This paper aims to present a novel method of interfacing the commercial robot controllers with most widely used simulation platform, e.g. MATLAB in real-time with a demonstration of visual predictive controller. Design/methodology/approach A remote personal computer (PC), running MATLAB, is connected with the IRC5 controller of an ABB robotic arm through the File Transfer Protocol (FTP). FTP server on the IRC5 responds to a request from an FTP client (MATLAB) on a remote computer. MATLAB provides the basic platform for programming and control algorithm development. The controlled output is transferred to the robot controller through Ethernet port as files and, thereby, the proposed scheme ensures connection and control of the robot using the control algorithms developed by the researchers without the additional cost of buying add-on packages or mastering vendor-specific programming languages. Findings New control strategies and contrivances can be developed with numerous conditions and constraints in simulation platforms. When the results are to be implemented in real-time systems, the proposed method helps to establish a simple, fast and cost-effective communication with commercial robot controllers for validating the real-time performance of the developed control algorithm. Practical implications The proposed method is used for real-time implementation of visual servo control with predictive controller, for accurate pick-and-place application with different initial conditions. The same strategy has been proven effective in supervisory control using two cameras and artificial neural network-based visual control of robotic manipulators. Originality/value This paper elaborates a real-time example using visual servoing for researchers working with industrial robots, enabling them to understand and explore the possibilities of robot communication.