Robot Manipulators and Control Systems 2.1 Introduction

2022

Due to nonlinearity and multiple solutions, it is quite complicated to analyze the inverse kinematics of a 6-DOF industrial robot. There is no distinctive solution for an inverse kinematic; hence a number of predictive approaches are adopted to solve the problem. The conventional method like Jacobin transformation is used to get the closed form solution of joint angles. The ANN and fuzzy logic are applied to a number of models to solve the inverse kinematic problem. The higher degree of polynomial solution does not solve by these methods. To overcome the conventional technique problem, any more optimization approaches are applied. The ANN and fuzzy logic shows more convergence to words the acceptable solution. Here 6-DOF industrial robot is designed and the joint angles are simulated with the robo analyzer method.

Uludağ University Journal of The Faculty of Engineering, 2018

Due to the increasing cost of energy besides the environmental concerns, energy consumption is one of the hot topic in today's world. In this context, companies are searching for the ways to reduce their energy consumptions and their Carbon footprint. For a manufacturing company, one method to accomplish these is to increase their process efficiency. In this research, a production cell which contains a robot manipulator used for material handling purposes is tried to be modeled in computer environment, using dynamic programming over the computer model, system parameters increasing production capacity in addition to reducing the energy consumption and improvements depending on these are presented.

IOP Conference Series: Materials Science and Engineering

In this paper, we present the process of kinematic modeling and simulation, in ADAMS MBS of MSC software, of an articulated robot with six revolute joints, through direct and inverse kinematics. First, by using the STEP function, we define a spatial trajectory of the end effector, and, through inverse kinematics, we determine the motion laws of the six revolute joints. Then, we apply the inverse process on another virtual model of the same robot, by imposing the motion laws to the joints, to obtain the desired trajectory of the end effector, through direct kinematics. This work is a small part of our research regarding modeling and optimization of the industrial robots' motion.

Similarly for the rotations around the other axes. Control of industrial robots -Review of robot kinematics -P. Rocco [5] J a J a J J J a J a J J     2 1 3 J  J    J 2 solutions Control of industrial robots -Review of robot kinematics -P. Rocco [26]

Simulation Practice and Theory, 2002

A practical application of the modelling and validation of an open-chain industrial manipulator is presented in this paper. Both mechanical and electrical equations of motion were used to provide a complete model description. A model was obtained to enable an optimal pathplanning controller to be designed. The paper describes how the equations of motion were derived and how the key parameters were obtained. The manipulator was simulated with TELEGRIP software. A validation procedure is illustrated and its' limitations exposed. The overall motion was found to give an agreement with the model predictions to within 86% for the smallest link and better than 96% for the major joints. Ó

Acta Mechatronica, 2021

The technical level of industrial robots and manipulators is rapidly increasing, thus supporting the expansion of their application space. The requirements of the industry are various special manipulations with objects, guiding the end effector of the robot along the prescribed trajectory at a given speed while maintaining the angular position and orientation of the object. The paper presents a survey of a robot with a kinematic scheme formed by an open kinematic chain with revolute joints.

Robotics and Computer-integrated Manufacturing, 1988

Kinematic analysis represents an important tool for the functional design of robot applications. It facilitates the determination of layout arrangements for the production cell, the selection of suitable machines and equipment, the design of task specifications and robot paths and the performance of all the tasks required by new robot manipulators. This paper describes an advanced approach for the mathematical modelling and simulation of robot kinematics and examines the following problems. • How to set up kinematic equations for robot manipulators. • How to solve the inverse kinematics for robot manipulators. • How to develop a simulator for robot manipulators based on kinematical models, and to incorporate it in a CAD system.

A robot manipulator is a movable chain of links interconnected by joints. One end is fixed to the ground, and a hand or end effector that can move freely in space is attached at the other end. This book begins with an introduction to the subject of robot manipulators. Next, it describes about a forward and reverse analysis for serial robot arms. Most of the text focuses on closed form solution techniques applied to a broad range of manipulator geometries, from typical industrial robot designs. A unique feature is its detailed analysis of 3R mechanisms. Case studies show how the techniques described in the book are used in real engineering applications. The book will be useful to both graduate students and engineers working in the field of robotics. Kibret Alemayehu (Yeshurun), PhD Scholar, MSc: Studying Doctorate in Business Administration.

this book deal about the aplication of industrial robots their tools and the types of industrial robots like their DOF (degrees of freedom), the type of actuators of their aplications. this book deal whit the configurations of the robots in an industrial chain of manufacturing their layouts and more

Springer Handbook of Robotics, 2008

Most robots today can trace their origin to early industrial robot designs. Much of the technology that makes robots more human-friendly and adaptable for different applications has emerged from manufacturers of industrial robots. Industrial robots are by far the largest commercial application of robotics technology today. All the important foundations for robot control were initially developed with industrial applications in mind. These applications deserve special attention in order to understand the origin of robotics science and to appreciate many unsolved problems that still prevent the wider use of robots in manufacturing. In this chapter we present a brief history and descriptions of typical industrial robotics applications. We show how robots with different mechanisms fit different applications. Even though robots are well established in large-scale manufacturing, particularly in automobile and related component assembly, there are still many challenging problems to solve. The range of feasible applications could significantly increase if robots were easier to install, to integrate with other manufacturing processes, 42.

intechopen.com

Since their appearance in the early 1960's, industrial robots have gained wide popularity as essential components in the construction of automated systems. Reduction of manufacturing costs, increase of productivity, improvement of product quality standards, and the possibility of eliminating harmful or repetitive tasks for human operators represent the main factors that have determined the spread of the robotics technology in the manufacturing industry. Industrial robots are suitable for applications where high precision, repeatability and tracking accuracy are required. These facts give a great importance to the analysis of the actual control schemes of industrial robots . It is common to specify the robotic tasks in terms of the pose (position and orientation) of the robot's end-effector. In this sense, the operational space, introduced by O. , considers the description of the end-effector's pose by means of a position vector, given in Cartesian coordinates, and an orientation vector, specified in terms of Euler angles. On the other hand, the motion of the robot is produced by control signals applied directly to the joint actuators; further, the robot configuration is usually measured through sensors located in the joints. These facts lead to consider two general control schemes: • The joint-space control requires the use of inverse kinematics to convert the pose desired task to joint coordinates, and then a typical position controller using the joint feedback signals is employed. • The operational-space control uses direct kinematics to transform the measured positions and velocities to operational coordinates, so that the control errors are directly computed in this space. The analysis of joint-space controllers is simpler than that of operational-space controllers. However, the difficulty of computing the inverse kinematics, especially for robots with many degrees of freedom, is a disadvantage for the implementation of joint-space controllers in real-time applications.

MATEC Web of Conferences

In one of the many definitions of the industrial robots in ISO 8373:2012 [1] is said that an industrial robot is an "actuated mechanism programmable in two or more axes with a degree of autonomy, moving within its environment, to perform intended tasks". There are different types and models of industrial robots, which can be classified, as M. W. Spong, S. Hutchinson and M. Vidyasagar [2] say, according to different criteria, such as the power source or the way in which their joints are actuated, their mechanical or kinematic structure, the payload capacity, the volume of their workspace, their method of control or their intended application area. Current and future challenges to effectively respond to the global competitiveness and the consumer behaviour, and using the advantages of the new technologies, aim, as M. Hägele, K. Nilsson, N. Pires and R. Bischoff say [3], to design the industrial robots after new principles, so they can be used in many fields and industries, to be more performance and less expensive, to interact intuitively with workers. H. Chen, B. Zhang and G. Zhang [4] note that such intelligent industrial robotics systems are attracting more and more attention of the specialists because of the growing need for adaptation to the complex and flexible industrial processes. C. Mineo, S. G. Pierce, P. I. Nicholson and I. Cooper [5] prove that automatic programming of control systems based on robots does increase flexibility by minimizing the effort and time needed for implementation. R. Bloss [6] shows that a class of robots that successfully meet such challenges is the category of the collaborative robots, which can be used in many applications where traditional robots fail, providing rapid major improvements in productivity, safety, ease of programming, portability and costs over time. R. Bogue [7] and B. Carlisle [8] take into account the use of the collaborative robots in applications such as the manufacture and assembly of the electronic products or those from the automotive; they can be used by the small and medium-sized companies or by the companies seeking agile production methods. Z. Lu, C. Xu, Q. Pan, D. Xiao, F. Meng and J. Hao [9] analyse the use of the collaborative robots for non-destructive testing of curved surfaces.

PROCEEDINGS OF THE 2ND INTERNATIONAL CONFERENCE ON BIOSCIENCE, BIOTECHNOLOGY, AND BIOMETRICS 2019

The aim of the paper is to present a regulation and control model of the two link manipulator end effector position. Attention is paid to kinematic and dynamic analysis of the manipulator. Then the simulation model with a control algorithm of its end effector position is proposed. MSC Adams Control Toolkit is used for computer simulation. Finally the results of the simulation are presented in graphical form. An example of a robot model that will be the objective of the solution in the paper consists of two members. The industrial robot can be considered as an open chain mechanism consisting of rigid links and joints. The movable arms are mounted on a solid base ensuring its stability in operation. A working tool, in our case a basket, is fixedly connected to the movable upper arm. Our aim is to describe the movement of the basket of the end member. The control of the position of the end member was performed by the MSC Adams program, which offers the possibility to build a control system and also the possibility of using regulator. In this case a proportional regulator with Kp gain is used. The stability of the basket is eliminated by the control circuit by applying a balancing torque that allows the basket to stabilize during movement. For the control system a feedback control circuit is provided. The regulator controls the equalization torque to keep the basket in a horizontal position during arm rotation. The aim was also to obtain results from the manipulation of the robot's end effector and to prove the ability and functionality of the designed balancing torque controller. The course of the current and desired angle while moving by trajectory is displayed graphically.

World Journal of Advanced Research and Reviews, 2024

The study of industrial robots is particularly interesting in view of the many advantages that these robots offer in the production line. This paper aims to study manipulator arms in order to better understand the performance of manipulator arms. The recurring issue for the manipulator arms remains the analysis of their operating path patterns in a well-defined working space. We propose a methodology based, on the one hand, on the definition of the functional specifications of manipulator arms necessary for design and on the other hand, on the geometric modelling and control of these manipulator arms in Matlab/Simulink. The model thus constructed is capable of reproducing different trajectory configurations depending on the joint variables in a well-defined working space. The results of our model are consistent with those provided by the mathematical model using the Denavit-Hartenberg convention. According to two scenarios, the analysis of the trajectories of the manipulator arms’s end effector is carried out and especially on the SCARA, cartesian and spherical robots. This analysis generally reveals elliptic trajectories or lines described by the end effector of robots in relation to the plane linked to their base.

IEEE ISR 2013, 2013

Conception, planning, realization and installation of industrial robot systems requires the integration of many components that are not designed to work together. In this course many design decisions need to be taken and a significant part of the cost of a robot system is caused by design and integration activities. This holds true particularly for complex or new robot systems as often found in applied research. The main challenges in design and integration of the different components and the state of the art in component integration are presented in this paper. The practice shows that even today where elaborate simulation tools are available practical experiments at early stages of system realization are required. Furthermore, even an economically feasible robot cell might not be economically feasible as a whole if it does not harmonize well with up-and downstream processes.