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Author : Darpan Patel
Publisher :
ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (124 download)
Download or read book Improving the Absolute Accuracy of Industrial Robots written by Darpan Patel and published by . This book was released on 2019 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Sepehr Gharaaty
Publisher :
ISBN 13 :
Total Pages : 138 pages
Book Rating : 4.:/5 (111 download)
Download or read book Accuracy Enhancement of Industrial Robots by Dynamic Pose Correction written by Sepehr Gharaaty and published by . This book was released on 2016 with total page 138 pages. Available in PDF, EPUB and Kindle. Book excerpt: The industrial robots are widely employed in various industries. Normally, the industrial robots are highly repeatable. However, their accuracy is relatively poor. If the robot’s end-effector is required to move to a pre-calculated pose (as in off-line programming), its position error may reach a couple of millimeters. To meet the growing demand for high absolute accuracy in robotic applications such as deburring, polishing, drilling, and fastening, a lot of research work has been carried out. Robot calibration is normally used to enhance the accuracy by using external pose measurement sensors such as laser tracker. However, the calibration procedure is long and the cost is high. Also, the accuracy enhancement is limited and the best reported accuracy is around ±0.1mm. In addition, the changing operating environment and the wear and tear of the robot affect the accuracy. This research aims at developing a novel and cost-effective dynamic pose correction (DPC) strategy to address the above-mentioned issues on the accuracy enhancement. This strategy uses the vision system, i.e. C-Track from Creaform Inc. to measure the pose and integrates with the robotic controller, also known as visual servoing. To realize this strategy, three main research activities have been conducted. First, the pose of the robot is obtained from the binocular sensor. The triangulation method for estimating the pose of an object is elaborated and the C-Track as a binocular sensor is introduced. In order to remove the noise from the C-Track’s measurements, the analysis on the measured data is carried out. A root mean square (RMS) method is used to achieve reliable pose estimation. Next, the DPC strategy is designed and simulated for an industrial robot, Fanuc M20-iA. This strategy can correct the position and orientation of the robot end-effector by using position-based visual servoing. A proportional-integral-derivative (PID) controller is proposed to achieve the dynamic pose correction. The algorithm does not need the kinematic and dynamic model of the robot. The controller is fully tested in Matlab/Simulink with robotic toolbox where Fanuc M20-iA is simulated. The simulation results validated the effectiveness of the proposed DPC. The final research work is dedicated to the experimental testing of the proposed DPC on Fanuc M20-iA. The pose estimated from the C-Track serves as the feedback and the output of the DPC is given to the robot controller through Fanuc dynamic path modification (DPM) function. As a result, the robot is guided to the desired pose in real time. The experimental results demonstrate that the robot can achieve the position accuracy ±0.05mm and orientation accuracy ±0.05 degree.
Author : Wenhe Liao
Publisher : Springer Nature
ISBN 13 : 9811961689
Total Pages : 247 pages
Book Rating : 4.8/5 (119 download)
Download or read book Error Compensation for Industrial Robots written by Wenhe Liao and published by Springer Nature. This book was released on 2022-11-29 with total page 247 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book highlights the basic theories and key technologies of error compensation for industrial robots. The chapters are arranged in the order of actual applications: establishing the robot kinematic models, conducting error analysis, conducting kinematic and non-kinematic calibrations, and planning optimal sampling points. To help readers effectively apply the technologies, the book elaborates the experiments and applications in robotic drilling and milling, which further verifies the effectiveness of the technologies. This book presents the authors’ research achievements in the past decade in improving robot accuracy. It is straightforwardly applicable for technical personnel in the aviation field, and provides valuable reference for researchers and engineers in various robotic applications.
Author : Roger Bernard
Publisher : Springer Science & Business Media
ISBN 13 : 9780412491405
Total Pages : 330 pages
Book Rating : 4.4/5 (914 download)
Download or read book Robot Calibration written by Roger Bernard and published by Springer Science & Business Media. This book was released on 1993-10-31 with total page 330 pages. Available in PDF, EPUB and Kindle. Book excerpt: Calibration is playing an increasingly important role in industrial robotics. Higher accuracy demands are being placed on flexible assembly and manufacturing systems which in turn require robot manufacturers to produce higher quality precision robots.
Author : Benjamin W. Mooring
Publisher : Wiley-Interscience
ISBN 13 :
Total Pages : 360 pages
Book Rating : 4.3/5 (91 download)
Download or read book Fundamentals of Manipulator Calibration written by Benjamin W. Mooring and published by Wiley-Interscience. This book was released on 1991-03-19 with total page 360 pages. Available in PDF, EPUB and Kindle. Book excerpt: Describes the details of the calibration process step-by-step, covering systems modeling, measurement, identification, correction and performance evaluation. Calibration techniques are presented with an explanation of how they interact with each other as they are modified. Shows the reader how to determine if, in fact, a robot problem is a calibration problem and then how to analyze it.
Author : Andreas Müller
Publisher : Springer Nature
ISBN 13 : 3031048709
Total Pages : 622 pages
Book Rating : 4.0/5 (31 download)
Download or read book Advances in Service and Industrial Robotics written by Andreas Müller and published by Springer Nature. This book was released on 2022-04-22 with total page 622 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents the proceedings of the 31st International Conference on Robotics in Alpe-Adria-Danube Region (RAAD), held in Klagenfurt, Austria, June 8-10, 2022. It gathers contributions by researchers from several countries on all major areas of robotic research, development and innovation, as well as new applications and current trends. The topics covered include: novel designs and applications of robotic systems, intelligent cooperating and service robots, advanced robot control, human-robot interfaces, robot vision systems, mobile robots, humanoid and walking robots, bio-inspired and swarm robotic systems, aerial, underwater and spatial robots, robots for ambient assisted living, medical robots and bionic prostheses, cognitive robots, cloud robotics, ethical and social issues in robotics, etc. Given its scope, the book offers a source of information and inspiration for researchers seeking to improve their work and gather new ideas for future developments. Chapter “The Use of Robots in Aquatic Biomonitoring with Special Focus on Biohybrid Entities” is available open access under a Creative Commons Attribution 4.0 International License via link.springer.com.
Author :
Publisher : I-Tech
ISBN 13 : 3866112866
Total Pages : 700 pages
Book Rating : 4.8/5 (661 download)
Download or read book Industrial Robotics written by and published by I-Tech. This book was released on 2004 with total page 700 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Hangi Zhuang
Publisher : CRC Press
ISBN 13 : 1351462733
Total Pages : 376 pages
Book Rating : 4.3/5 (514 download)
Download or read book Camera-Aided Robot Calibration written by Hangi Zhuang and published by CRC Press. This book was released on 2018-04-24 with total page 376 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robot calibration is the process of enhancing the accuracy of a robot by modifying its control software. This book provides a comprehensive treatment of the theory and implementation of robot calibration using computer vision technology. It is the only book to cover the entire process of vision-based robot calibration, including kinematic modeling, camera calibration, pose measurement, error parameter identification, and compensation. The book starts with an overview of available techniques for robot calibration, with an emphasis on vision-based techniques. It then describes various robot-camera systems. Since cameras are used as major measuring devices, camera calibration techniques are reviewed. Camera-Aided Robot Calibration studies the properties of kinematic modeling techniques that are suitable for robot calibration. It summarizes the well-known Denavit-Hartenberg (D-H) modeling convention and indicates the drawbacks of the D-H model for robot calibration. The book develops the Complete and Parametrically Continuous (CPC) model and the modified CPC model, that overcome the D-H model singularities. The error models based on these robot kinematic modeling conventions are presented. No other book available addresses the important, practical issue of hand/eye calibration. This book summarizes current research developments and demonstrates the pros and cons of various approaches in this area. The book discusses in detail the final stage of robot calibration - accuracy compensation - using the identified kinematic error parameters. It offers accuracy compensation algorithms, including the intuitive task-point redefinition and inverse-Jacobian algorithms and more advanced algorithms based on optimal control theory, which are particularly attractive for highly redundant manipulators. Camera-Aided Robot Calibration defines performance indices that are designed for off-line, optimal selection of measurement configurations. It then describes three approaches: closed-form, gradient-based, and statistical optimization. The included case study presents experimental results that were obtained by calibrating common industrial robots. Different stages of operation are detailed, illustrating the applicability of the suggested techniques for robot calibration. Appendices provide readers with preliminary materials for easier comprehension of the subject matter. Camera-Aided Robot Calibration is a must-have reference for researchers and practicing engineers-the only one with all the information!
Author : Tsing-Wong Hsu
Publisher :
ISBN 13 :
Total Pages : 216 pages
Book Rating : 4.:/5 (186 download)
Download or read book Robot Accuracy Improvement Through Kinematic Parameter Identification written by Tsing-Wong Hsu and published by . This book was released on 1987 with total page 216 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : V. Daniel Hunt
Publisher : Industrial Press Inc.
ISBN 13 : 9780831111489
Total Pages : 454 pages
Book Rating : 4.1/5 (114 download)
Download or read book Industrial Robotics Handbook written by V. Daniel Hunt and published by Industrial Press Inc.. This book was released on 1983 with total page 454 pages. Available in PDF, EPUB and Kindle. Book excerpt: Presents information obtained from a variety of knowledgeable sources. Provides an extensive list of various robotics systems, and the potential of "smart robots" grouped into types of models. Includes important technical material on tolerances, load carrying capacities, price, and names and addresses of companies and individuals to contact for further information.
Author : Petar Maric
Publisher :
ISBN 13 : 9789535104803
Total Pages : pages
Book Rating : 4.1/5 (48 download)
Download or read book Improving Accuracy and Flexibility of Industrial Robots Using Computer Vision written by Petar Maric and published by . This book was released on 2012 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Shimon Y. Nof
Publisher : John Wiley & Sons
ISBN 13 : 9780471177838
Total Pages : 1388 pages
Book Rating : 4.1/5 (778 download)
Download or read book Handbook of Industrial Robotics written by Shimon Y. Nof and published by John Wiley & Sons. This book was released on 1999-03-02 with total page 1388 pages. Available in PDF, EPUB and Kindle. Book excerpt: Industrieroboter gehoren heute zum Alltag. In den letzten zehn Jahren verlagerte sich der Schwerpunkt der Neuentwicklungen weg von den Robotern selbst, hin zu alternativen Formen der kunstlichen Intelligenz, mit denen die Gerate ausgestattet werden. Dem Rechnung tragend, beschaftigt sich die zweite Auflage dieses Handbuchs vor allem mit Anwendungen und Strategien zur Problemlosung in der Industrie. Angesprochen werden Themen wie Graphiksimulatoren, objektorientierte Software, Kommunikationssysteme und Mikro- und Nanoroboter. (04/99)
Author : Philipp Last
Publisher :
ISBN 13 : 9789533070902
Total Pages : pages
Book Rating : 4.0/5 (79 download)
Download or read book Singularity-Based Calibration - A Novel Approach for Absolute-Accuracy Enhancement of Parallel Robots written by Philipp Last and published by . This book was released on 2010 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: For the first time a robot calibration approach has been presented that does exclusively rely on the information delivered by the robot-system itself. Hence, as neither additional sensors nor special constraint devices are required in order to apply parameter identification methods, the proposed technique is very economical and easy to use. It is thus especially convenient to be used in small and medium sized companies which do neither own special robot calibration equipment nor have professional skilled robot calibration experts. The basic idea of the new calibration scheme has been explained from a theoretical point of view by means of a simple example structure and subsequently validated through experiments by means of a more complex spatial parallel structure. The obtained results emphasize the promising potential of the approach.
Author : Souji Inagaki
Publisher :
ISBN 13 :
Total Pages : 12 pages
Book Rating : 4.:/5 (9 download)
Download or read book A Discussion on Positioning Accuracy on Industrial Robots written by Souji Inagaki and published by . This book was released on 1979 with total page 12 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Joseph F. Engelberger
Publisher : Springer Science & Business Media
ISBN 13 : 1468471201
Total Pages : 383 pages
Book Rating : 4.4/5 (684 download)
Download or read book Robotics in Practice written by Joseph F. Engelberger and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 383 pages. Available in PDF, EPUB and Kindle. Book excerpt: THE REAL THING by Isaac Asimov Back in 1939, when I was still a teenager, I began to write (and publish) a series of stories about robots which, for the first time in science fiction, were pictured as having been deliberately engineered to do their job safely. They were not intended to be creaky Gothic menaces, nor outlets for mawkish sentiment. They were simply well-designed machines. Beginning in 1942, I crystallized this notion in what I called 'The Three Laws of Robotics' and, in 1950, nine of my robot stories were collected into a book, I, Robot. I did not at that time seriously believe that I would live to see robots in action and robotics becoming a booming industry .... Yet here we are, better yet, I am alive to see it. But then, why shouldn't they be with us? Robots fulfil an important role in industry. They do simple and repetitive jobs more steadily, more reliably, and more uncomplainingly than a human being could - or should. Does a robot displace a human being? Certainly, but he does so at a job that, simply because a robot can do it, is beneath the dignity of a human being; a job that is no more than mindless drudgery. Better and more human jobs can be found for human beings - and should.
Author : Cameron Hughes
Publisher : Que Publishing
ISBN 13 : 0134176693
Total Pages : 735 pages
Book Rating : 4.1/5 (341 download)
Download or read book Robot Programming written by Cameron Hughes and published by Que Publishing. This book was released on 2016-05-02 with total page 735 pages. Available in PDF, EPUB and Kindle. Book excerpt: Start programming robots NOW! Learn hands-on, through easy examples, visuals, and code This is a unique introduction to programming robots to execute tasks autonomously. Drawing on years of experience in artificial intelligence and robot programming, Cameron and Tracey Hughes introduce the reader to basic concepts of programming robots to execute tasks without the use of remote controls. Robot Programming: A Guide to Controlling Autonomous Robots takes the reader on an adventure through the eyes of Midamba, a lad who has been stranded on a desert island and must find a way to program robots to help him escape. In this guide, you are presented with practical approaches and techniques to program robot sensors, motors, and translate your ideas into tasks a robot can execute autonomously. These techniques can be used on today’s leading robot microcontrollers (ARM9 and ARM7) and robot platforms (including the wildly popular low-cost Arduino platforms, LEGO® Mindstorms EV3, NXT, and Wowee RS Media Robot) for your hardware/Maker/DIY projects. Along the way the reader will learn how to: Program robot sensors and motors Program a robot arm to perform a task Describe the robot’s tasks and environments in a way that a robot can process using robot S.T.O.R.I.E.S. Develop a R.S.V.P. (Robot Scenario Visual Planning) used for designing the robot’s tasks in an environment Program a robot to deal with the “unexpected” using robot S.P.A.C.E.S. Program robots safely using S.A.R.A.A. (Safe Autonomous Robot Application Architecture) Approach Program robots using Arduino C/C++ and Java languages Use robot programming techniques with LEGO® Mindstorms EV3, Arduino, and other ARM7 and ARM9-based robots.
Author : W. Khalil
Publisher : Butterworth-Heinemann
ISBN 13 : 0080536611
Total Pages : 503 pages
Book Rating : 4.0/5 (85 download)
Download or read book Modeling, Identification and Control of Robots written by W. Khalil and published by Butterworth-Heinemann. This book was released on 2004-07-01 with total page 503 pages. Available in PDF, EPUB and Kindle. Book excerpt: Written by two of Europe's leading robotics experts, this book provides the tools for a unified approach to the modelling of robotic manipulators, whatever their mechanical structure. No other publication covers the three fundamental issues of robotics: modelling, identification and control. It covers the development of various mathematical models required for the control and simulation of robots.·World class authority·Unique range of coverage not available in any other book·Provides a complete course on robotic control at an undergraduate and graduate level
