Relevant bibliographies by topics / Kuka KR16

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  1. Journal articles
  2. Dissertations / Theses
  3. Conference papers

Academic literature on the topic 'Kuka KR16'

Author: Grafiati
Published: 28 June 2021
Last updated: 1 February 2022

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Journal articles on the topic "Kuka KR16"

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Davila, Ignacio, Ismael Lopez-Juarez, Gerardo Maximiliano Mendez, Roman Osorio-Comparan, Gaston Lefranc, and Claudio Cubillos. "A Singleton Type-1 Fuzzy Logic Controller for On-Line Error Compensation During Robotic Welding." International Journal of Computers Communications & Control 12, no. 2 (February 28, 2017): 201. http://dx.doi.org/10.15837/ijccc.2017.2.2877.

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During robot welding operations in the manufacturing industry there is a need to modify on-line the welding path due to a mismatch in the position of the components to be welded. These positioning errors are due to multiple factors such as ageing of the components in the conveyor system, clamp fixtures, disturbances, etc. Therefore, robot reprogramming is needed which requires a stop in the production line and consequently an increment in production costs. This article is an extension of [1]a and presents an alternative solution to this problem that involves the use of structured lighting using a low-cost laser beam, a CMOS camera and a Gaussian singleton fuzzy logic controller. To validate the proposed control system, a robotic cell was designed using an industrial KUKA KR16 robot for welding metallic plates. The method was evaluated experimentally under lateral and vertical positioning errors.
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Lahr, Gustavo José Giardini, Glauco Augusto de Paula Caurin, and Carlos Alberto Fortulan. "The Use of Robot with Force Control in Machining of Green Ceramics." Materials Science Forum 805 (September 2014): 615–20. http://dx.doi.org/10.4028/www.scientific.net/msf.805.615.

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This papers studies the use of robots in the green machining of ceramics, specifically, the machining of high alumina porcelain insulators. The green state has very low strength and high brittleness where the forces applied during machining can generate and/or develop defects in the part that will reduce their properties after sintering. This work aims to study the machining by robot models of electrical insulators in 1:10 scale. Blanks were compacted in high alumina porcelain by isostatic pressing and green machined with a manual grinder attached to a Kuka KR16 robot. Models of insulators in gypsum were successfully machined and used for setup and configuration of the process. They were machined with cutting depth 0.87 mm and feed of 20 mm/s, this is the minimum programmable velocity for this robot model, and these parameters for the machining of the green porcelain generated excessive cracks at the tips of the fins. Changing the cutting depth to values of 0.25 mm, an established value in CNC machining, allowed to conclude that insufficient stiffness of the robot together with its high forward speed and excessive vibration of the grinding limits its use for thin thicknesses, although with potential for improvement.
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Crenganis, Mihai, and Akos Csiszar. "A Dynamic Model for KUKA KR6 in SPIF Processes." Materials Science Forum 957 (June 2019): 156–66. http://dx.doi.org/10.4028/www.scientific.net/msf.957.156.

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The paper presents the development of a dynamic model for the KUKA KR6 robot during single point incremental forming (SPIF) of metal sheets. The dynamic model of the KUKA KR6 robot is created in MATLAB®-SimMechanics. This dynamic model is necessary to verify that the mechanical structure of this low payload industrial robot of 36 Kg capacity can withstand some specific forces in incremental forming of some low plasticity alloys like Ti6Al4V. In the Centre of Studies and Research for Plastic Deformations of "Lucian Blaga" University of Sibiu, different attempts on single point incremental forming of thin metal sheets have been carried out and some of the studies are based on SPIF using the KUKA KR6-2 industrial robot. Nevertheless, the previous experimental attempts using the KUKA KR 6-2 robot in SPIF processes were realised only on 0.4 mm thick DC04 steel sheets. This material has very good deformability properties and the forces during the process are relatively small. After the dynamic model validation some specific circular trajectories are imposed and the forces that can appear during SPIF process for Ti6Al4V alloy sheets are taken into consideration. After forces analysis, it was concluded that the KUKA KR6 robot can be used in single point incremental forming processes for metal parts requiring greater forming forces.
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Lukač, Duško, and Miljana Milić. "Simulation of a Pick-and-Place Cube Robot by Means of the Simulation Software Kuka Sim Pro." Electronics ETF 21, no. 2 (August 8, 2018): 95. http://dx.doi.org/10.7251/els1721095l.

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In this work the creation of the program code for industrial robot and the simulation of a robot cell by means of the simulation software KUKA Sim Pro in version 2.2.2, is presented. Simulated and programmed is, in reality existing KUKA-robot cell with industrial robot of the type KR6 R900 sixx (Agilus) with signal connected conveyor belt. The software KUKA Sim Pro is a program for design of 3D-layouts of a plant components including KUKA-robots. On this occasion, any layouts and concept designs can be simulated and be analysed. The used components were taken from the integrated library or were partly newly created. The industrial robot KUKA KR6 R900 sixx counts to the quickest robots of the world. In this work, the simulation of the robot cell and periphery is elaborated, as well as with it, connected practical circumstances and issues with the programming of the abovementioned robot.
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Steed, Clint Alex. "A simulation-based approach to develop a holonic robotic cell." Industrial Robot: the international journal of robotics research and application 46, no. 1 (January 21, 2019): 128–34. http://dx.doi.org/10.1108/ir-07-2018-0149.

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Purpose This paper aims to present an approach for the simulation of a heterogeneous robotic cell. The simulation enables the cell’s developers to conveniently compare the performance of alternative cell configurations. The approach combines the use of multiple available simulation tools, with a custom holonic cell controller. This overcomes the limitation of currently available robot simulation packages by allowing integration of multiple simulation tools including multiple vendor simulation packages. Design/methodology/approach A feeding cell was developed as a case study representing a typical robotic application. The case study would compare two configurations of the cell, namely, eye-in-hand vision and fixed-camera vision. The authors developed the physical cell in parallel with the simulated cell to validate its performance. Then they used simulation to scale the models (by adding subsystems) and shortlist suitable cell configurations based on initial capital investment and throughput rate per unit cost. The feeding cell consisted of a six-degree of freedom industrial robot (KUKA KR16), two smart cameras (Cognex ism-1100 and DVT Legend 500), an industrial PC (Beckhoff) and custom reconfigurable singulation units. Findings The approach presented here allows the combination of dissimilar simulation models constructed for the above mentioned case study. Experiments showed the model developed in this approach could reasonably predict various eye-in-hand and fixed-camera systems’ performance. Combining the holonic controller with the simulation allows developers to easily compare the performance of a variety of configurations. The use of a common communication platform allowed the communication between multiple simulation packages, allowing multi-vendor simulation, thereby overcoming current limitation in simulation software. Research limitations/implications The case study developed here is considered a typical feeding and assembly application. This is however very different from other robotic applications which should be explored in separate case studies. Simulation packages with the same communication interface as the physical resource can be integrated. If the communication interface is not available, other means of simulation can be used. The case study findings are limited to the specific products being used and their simulation packages. However, these are indicative of typical industry technologies available. Only real-time simulations were considered. Practical implications This simulation-based approach allows designers to quickly quantify the performance of alternative system configurations (eye-in-hand or fixed camera in this case) and scale, thereby enabling them to better optimize robotic cell designs. In addition, the holonic control system’s modular control interface allows for the development of the higher-level controller without hardware and easy replacement of the lower level components with other hardware or simulation models. Originality/value The combination of a holonic control system with a simulation to replace hardware is shown to be a useful tool. The inherent modularity of holonic control systems allows that multiple simulation components be connected, thereby overcoming the limitation of vendor-specific simulation packages.
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Nevmerzhitskiy, Maksim N., Boris S. Notkin, Andrey V. Vara, and Konstantin V. Zmeu. "Friction Model of Industrial Robot Joint with Temperature Correction by Example of KUKA KR10." Journal of Robotics 2019 (January 6, 2019): 1–11. http://dx.doi.org/10.1155/2019/6931563.

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The quality of industrial robots essentially depends on the properties of their kinematic couples. This research has involved conducting an experimental study of the friction torque in a joint of the KUKA KR10 industrial robot and building its model. It has been established that the largest impact on friction in the joint is caused by its axial load and velocity, as well as the temperature of the mechanism, which is generally not homogeneous. It is not possible to measure temperature fields in the joints of a serial industrial robot directly. This study has set forth a method to estimate friction torque taking into account the temperature factor indirectly. For this, we have used the motor temperature available for measuring in combination with special periodical motions, performed by the robot, during which we estimated the actual friction torque in the joint and calculated a temperature correction based on our findings.
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Corona-Castuera, J., and I. Lopez-Juarez. "Behaviour-based approach for skill acquisition during assembly operations, starting from scratch." Robotica 24, no. 6 (May 11, 2006): 657–71. http://dx.doi.org/10.1017/s0263574706002839.

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Industrial robots in poorly structured environments have to interact compliantly with this environment for successful operations. In this paper, we present a behaviour-based approach to learn peg-in-hole operations from scratch. The robot learns autonomously the initial mapping between contact states to motion commands employing fuzzy rules and creating an Acquired-Primitive Knowledge Base (ACQ-PKB), which is later used and refined on-line by a Fuzzy ARTMAP neural network-based controller. The effectiveness of the approach is tested comparing the compliant motion behaviour using the ACQ-PKB and a priori Given-Primitive Knowledge Base (GVN-PKB). Results using a KUKA KR15 industrial robot validate the approach.
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Chera, Ionut, Octavian Bologa, Sever Gabriel Racz, and Radu Eugen Breaz. "Robot-Forming - An Incremental Forming Process Using an Industrial Robot by Means of DELMIA Software Package." Applied Mechanics and Materials 371 (August 2013): 416–20. http://dx.doi.org/10.4028/www.scientific.net/amm.371.416.

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The purpose of this research is to present an alternative method for manufacturing sheet metal parts using an asymmetric incremental forming process by means of an industrial robot. This method is based on designing, simulating and generating the toolpath for the tool attached to the robot using DELMIA software package. The proposed approach allows users to check for system collisions, robot joins limitations and singularity problems. After a comprehensive simulation of the movements of the robot is performed, the program code can be generated by means of a specific DELMIA function. The program can be used afterwards to control the robot during the experimental work. In order to demonstrate the capabilities of robot-forming, a truncated pyramid sheet metal part was manufactured using a custom made stand and with the help of a KUKA KR6 anthropomorphic robot.
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Semjon, Jan, and Martin Kočan. "PROPOSAL OF ROBOTIZED CELL WITH ROBOT KUKA KR 6 FOR EDUCATIONAL PURPOSES." TECHNICAL SCIENCES AND TECHNOLOGIES, no. 4(18) (2019): 49–54. http://dx.doi.org/10.25140/2411-5363-2019-4(18)-49-54.

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Urgency of the research. The issue of using robotic workplaces for training students of technical fields is highly topical. It makes it possible to increase the labour market participation of students not only for the needs of the present, but also for the future. The design and implementation of an educational robotized workplace make it possible to prepare students according to their needs and current knowledge. Target setting. The aim of the solution is to design an educational workplace for handling, equipped with a Kuka KR6 robot and pneumatic effector. The three-finger effector from SMC allows you to hold and carry objects with a maximum clamping force of 130 N. At the same time, the workplace allows you to place handling objects in a total of 32 positions. Actual scientific researches and issues analysis. The deployment of angular industrial robots has also penetrated into other areas of industry where their use was only sporadic. This creates the need for additional personnel able to program the robot and set the technology for a specific issue of the robotized workplace. Uninvestigated parts of general matters defining. Improvement of students' knowledge or retraining of employees creates preconditions for their better application in technical practice. The ability to realize customized programs on industrial robots currently deployed in industry prepares students to perform their work without the need for further training, saving costs and time for employers. The research objective. The aim of the research was to design an educational robotized workplace in order to prepare students according to the specific needs of employers. The workplace allows the use of other pneumatic grippers, while it is possible to connect a total of 16 inputs and outputs for the use of other peripheral devices. The robot can also be used to create a program in an ROS environment, which in turn creates the need to use a Kinect device to detect not oriented components. The statement of basic materials. The use of the robot, whose control system KR C4 is one of the most modern, allows students to prepare for the needs of practice in the nearest future. After completing the training, the student is able to program on-line Kuka robots for industrial use. Conclusions. The article focuses on the design and creation of a training robotized workplace for creating programs using a pneumatic gripper. The design and use of the chessboard makes it possible to create a large number of possible combinations for training purposes. This creates a good precondition for adapting training to the specific needs of trained groups. The use of horizontal and inclined plane will teach students how to use the co-ordinate system of the tool or external base when programming. For this reason, programming the movement of the robot along the correct trajectory is more complex and improves the spatial perception of the students in the robot workspace.
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Icli, Caglar, Oleksandr Stepanenko, and Ilian Bonev. "New Method and Portable Measurement Device for the Calibration of Industrial Robots." Sensors 20, no. 20 (October 20, 2020): 5919. http://dx.doi.org/10.3390/s20205919.

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This paper presents an automated calibration method for industrial robots, based on the use of (1) a novel, low-cost, wireless, 3D measuring device mounted on the robot end-effector and (2) a portable 3D ball artifact fixed with respect to the robot base. The new device, called TriCal, is essentially a fixture holding three digital indicators (plunger style), the axes of which are orthogonal and intersect at one point, considered to be the robot tool center point (TCP). The artifact contains four 1-inch datum balls, each mounted on a stem, with precisely known relative positions measured on a Coordinate Measuring Machine (CMM). The measurement procedure with the TriCal is fully automated and consists of the robot moving its end-effector in such as a way as to perfectly align its TCP with the center of each of the four datum balls, with multiple end-effector orientations. The calibration method and hardware were tested on a six-axis industrial robot (KUKA KR6 R700 sixx). The calibration model included all kinematic and joint stiffness parameters, which were identified using the least-squares method. The efficiency of the new calibration system was validated by measuring the accuracy of the robot after calibration in 500 nearly random end-effector poses using a laser tracker. The same validation was performed after the robot was calibrated using measurements from the laser tracker only. Results show that both measurement methods lead to similar accuracy improvements, with the TriCal yielding maximum position errors of 0.624 mm and mean position errors of 0.326 mm.
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Dissertations / Theses on the topic "Kuka KR16"

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Ržonca, Michal. "On-line korekce dráhy robotu na základě dat ze snímače vzdálenosti." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2021. http://www.nusl.cz/ntk/nusl-443251.

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The main aim of this master’s thesis is to provide online path correction of 6 – axis robot leaded by an external distance measuring sensor interface. First part is describing the actual state and required options of some robot manufacturers. Next part justifies selection and is describing the real robotic cell. Third part is focused on programming of path correction of Kuka KR16 based on generated signal and also based on signal from distance sensor interface. There is also described the communication between PLC and robot and how to display data from robot to HMI. Last part is focused on data analysis and is describing some problems discovered by application of path correction.
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Kolluri, Sowjanya. "Automation of depowdering step in binder-jet additive manufacturing : Commissioning of KUKA robot." Thesis, Högskolan i Gävle, Avdelningen för elektronik, matematik och naturvetenskap, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:hig:diva-25318.

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The aim of this thesis is to automate the depowdering step in binder-jet additive manufacturing using KUKA kr6 robot. The major tasks involved in this thesis work are commissioning of the KUKA kr6 robot, plan the actions required for automation process of binder jet considering the scaling factor of green bodies. For this purpose KUKA robot with a standard KUKA compact controller (KRC4) and KUKA system software 8.3 (KSS) has been used. In Peter Corke Matlab toolbox (Matlab toolbox), KUKA kr6 robot model has been simulated to understand forward kinematics problem which shows the study the motion of end effector of robot in space for picking process. These transformations between the Joint coordinate systems and Cartesian coordinate systems give the forward and inverse kinematics. Firstly, a KUKA kr6 robot has been programmed in a KUKA Robot Language (KRL) using an algebraic approach with geometric operator to automate the picking process of green bodies. These are fragile bodies thereby many number of tests have been conducted to improve the program. Also additional effort has been placed to test the customized gripper used for the layered pick and place of the components, customized vacuum cleaner for the vacuum cleaning in between the layers and to consider the scaling factor during the sintering step of the binder jet. Finally, KUKA kr6 robot model has been simulated in Matlab toolbox. The picking point in the space has been simulated to study the forward kinematics and to understand how the robot reaches a position and orientation in space. Cartesian trajectory has been simulated. Also, the Jacobian matrix, its rank and determinant are studied to understand the singularities in KUKA kr6 robot, basing on which the thesis work can be continued and enhanced further.
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Kocourek, Pavel. "Koncepce a realisace pokusného standu kooperujících robotů." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2009. http://www.nusl.cz/ntk/nusl-228850.

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This thesis focuses on one certain process of cooperation of two cooperating robots operating an automatic measuring station. In this process, articles are handled by two industrial robots KUKA KR6/2. The objective of this thesis was to develop, construct and put into operation a measuring station and the associated workstation. For this purpose the appropriate programs controlling the robots and the measuring stations have been developed. The reader will be acquainted with the design of the workstation and its putting into operation. In addition, the thesis describes in detail the control of the robots and their program part. At the conclusion of the paper, opportunities of optimization of the power period are addressed in brief.
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Conference papers on the topic "Kuka KR16"

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Srinivas G, Lakshmi, and Arshad Javed. "Topology Optimization of KUKA KR16 Industrial Robot Using Equivalent Static Load Method." In 2021 IEEE International IOT, Electronics and Mechatronics Conference (IEMTRONICS). IEEE, 2021. http://dx.doi.org/10.1109/iemtronics52119.2021.9422633.

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Ribbens, B., J. Peeters, B. Bogaerts, G. Steenackers, S. Sels, R. Penne, and G. Van Barel. "4D Active and passive thermography measurement system using a KUKA KR16 robot and time-of-flight imaging." In 2016 Quantitative InfraRed Thermography. QIRT Council, 2016. http://dx.doi.org/10.21611/qirt.2016.106.

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Nevmerzhitskiy, M. N., A. V. Vara, K. V. Zmeu, and B. S. Notkin. "Technique for Friction Model Identification in an Industrial Robot Joint Using KUKA KR10." In 2018 International Multi-Conference on Industrial Engineering and Modern Technologies (FarEastCon). IEEE, 2018. http://dx.doi.org/10.1109/fareastcon.2018.8602800.

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MEHREZ, Ramzi, Eya AFFES, Ibrahim KADRI, Yassine Bouslimani, Mohsen Ghribi, and Azeddine Kaddouri. "Location and Vision Techniques to Control a KUKA KR6 R900 Sixx Robot Arm." In 2020 1st International Conference on Communications, Control Systems and Signal Processing (CCSSP). IEEE, 2020. http://dx.doi.org/10.1109/ccssp49278.2020.9151573.

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Elshatarat, H. L., R. Biesenbach, M. Bani Younus, and T. A. Tutunji. "MATLAB Toolbox implementation and interface for motion control of KUKA KR6- R900-SIXX robotic manipulator." In 2015 16th International Conference on Research and Education in Mechatronics (REM). IEEE, 2015. http://dx.doi.org/10.1109/rem.2015.7380367.

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Escudero, José A., Juan A. Ramírez-Macías, Julio C. Correa, and David Rozo. "Experimental Study of Push Coring Forces During Sediment Extraction Using a Robot Manipulator." In ASME 2017 36th International Conference on Ocean, Offshore and Arctic Engineering. American Society of Mechanical Engineers, 2017. http://dx.doi.org/10.1115/omae2017-61933.

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This work addresses the experimental study of the forces exerted during the extraction of sediment samples using push corers. The study aims to measure push and pull forces under different deployment conditions for corer speed and coring depth using sand, sandy silt and silt as sediment. To guarantee a repeatable automated process, a KUKA KR6 robot manipulator was used to extract the sample. The forces were measured using a bidirectional S-type load cell. The required data is extracted from the robot’s internal variables log and from the load cell’s data acquisition system. The raw data is processed to develop simplified models for the forces using linear regression which are further analyzed and tested. Finally, the results obtained are discussed in the context of core sampling and practical conclusions are drawn from the experiments.
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Yepes, Juan C., Juan J. Yepes, Jose R. Martinez, and Vera Z. Perez. "Implementation of an Android based teleoperation application for controlling a KUKA-KR6 robot by using sensor fusion." In 2013 Pan American Health Care Exchanges (PAHCE). IEEE, 2013. http://dx.doi.org/10.1109/pahce.2013.6568286.

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