Showing papers in "Industrial Robot-an International Journal in 2000"
TL;DR: This text covers all the material needed to understand the principles behind the AI approach to robotics and to program an artificially intelligent robot for applications involving sensing, navigation, planning, and uncertainty.
Abstract: From the Publisher:
This text covers all the material needed to understand the principles behind the AI approach to robotics and to program an artificially intelligent robot for applications involving sensing, navigation, planning, and uncertainty. Robin Murphy is extremely effective at combining theoretical and practical rigor with a light narrative touch. In the overview, for example, she touches upon anthropomorphic robots from classic films and science fiction stories before delving into the nuts and bolts of organizing intelligence in robots.
Following the overview, Murphy contrasts AI and engineering approaches and discusses what she calls the three paradigms of AI robotics: hierarchical, reactive, and hybrid deliberative/reactive. Later chapters explore multiagent scenarios, navigation and path-planning for mobile robots, and the basics of computer vision and range sensing. Each chapter includes objectives, review questions, and exercises. Many chapters contain one or more case studies showing how the concepts were implemented on real robots. Murphy, who is well known for her classroom teaching, conveys the intellectual adventure of mastering complex theoretical and technical material.
1,019 citations
TL;DR: In this article, the authors tried to read modelling and control of robot manipulators as one of the reading material to finish quickly, and they found that reading book can be a great choice when having no friends and activities.
Abstract: Feel lonely? What about reading books? Book is one of the greatest friends to accompany while in your lonely time. When you have no friends and activities somewhere and sometimes, reading book can be a great choice. This is not only for spending the time, it will increase the knowledge. Of course the b=benefits to take will relate to what kind of book that you are reading. And now, we will concern you to try reading modelling and control of robot manipulators as one of the reading material to finish quickly.
517 citations
TL;DR: The design and operation of the BarrettHand BH8‐250 is detailed, an intelligent, highly flexible eight‐axis gripper that reconfigures itself in real time to conform securely to a wide variety of part shapes without tool‐change interruptions.
Abstract: This paper details the design and operation of the BarrettHand BH8‐250, an intelligent, highly flexible eight‐axis gripper that reconfigures itself in real time to conform securely to a wide variety of part shapes without tool‐change interruptions. The grasper brings enormous value to factory automation because it: reduces the required number and size of robotic workcells (which average US$90,000 each – not including the high cost of footprint) while boosting factory thoughput; consolidates the hodgepodge proliferation of customized gripper‐jaw shapes onto a common programmable platform; and enables incremental process improvement and accommodates frequent new‐product introductions, capabilities deployed instantly via software across international networks of factories.
357 citations
TL;DR: A navigation algorithm that simultaneously locates the robots and updates landmarks in a manufacturing environment and the Kalman filter algorithm is adopted to integrate odometry data with scanner data to achieve the required robustness and accuracy is proposed.
Abstract: Landmark‐based navigation of autonomous mobile robots or vehicles has been widely adopted in industry. Such a navigation strategy relies on identification and subsequent recognition of distinctive environment features or objects that are either known a priori or extracted dynamically. This process has inherent difficulties in practice due to sensor noise and environment uncertainty. This paper is to propose a navigation algorithm that simultaneously locates the robots and updates landmarks in a manufacturing environment. A key issue being addressed is how to improve the localization accuracy for mobile robots in a continuous operation, in which the Kalman filter algorithm is adopted to integrate odometry data with scanner data to achieve the required robustness and accuracy. The Kohonen neural networks have been used to recognize landmarks using scanner data in order to initialize and recalibrate the robot position by means of triangulation when necessary.
68 citations
TL;DR: In this paper, a trial has been conducted on three modern serial linkage robots to assess and compare robot accuracy and the results and conclusions from this trial show that compared to older robots the accuracy can be remarkably good though it is dependent on a calibration process which is far from robust.
Abstract: The main drawback to programming robots offline lies in the poor accuracy of the robot. Robots are mainly programmed using the traditional teach and repeat method of programming which requires only good repeatability. As a result robots are manufactured with this in mind. Little is done to improve or even quote figures for the accuracy, which is generally regarded as being poor. A trial has been conducted on three modern serial linkage robots to assess and compare robot accuracy. Using a laser interferometry measurement system each robot has been measured in a similar area of its working envelope. The results and conclusions from this trial show that compared to older robots the accuracy can be remarkably good though it is dependent on a calibration process which is far from robust.
51 citations
46 citations
TL;DR: The purpose of this demonstration is to verify the openness of the networked robot and to certify the proposed de facto standard protocol and robot model.
Abstract: The Japan Robot Association (JARA) has been conducting standardization activities (ORiN: Open Robot Interface for the Network) in which the main subject is the network interface in the robot controller. In the 1999 international robot exhibition, our activities and results were opened and demonstrated to the public. In this demonstration, industrial robots from 13 Japanese domestic robot manufacturers, that had different specifications and structures, were connected to each other with a communication network. Using ORiN API, applications for production system management and 3‐D robot motion monitoring were demonstrated. The purpose of this demonstration is to verify the openness of the networked robot and to certify the proposed de facto standard protocol and robot model. The background of those activities, the outline of the design guidelines, the demonstration for verification, a schedule and plan towards the de facto and/or ISO standard are all mentioned.
30 citations
30 citations
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TL;DR: There are two commercially accepted methods of force control used in automated surface finishing today: through-the-arm and around-thearm force control as discussed by the authors, which applies force using the position of all the robot axes in unison.
Abstract: There are two commercially accepted methods of force control used in automated surface finishing today. The first method, “through‐the‐arm” force control, applies force using the position of all the robot axes in unison. The second method, “around‐the‐arm” force control, uses the robot for positioning motion only, and applies a controlled force through an auxiliary‐compliant end‐of‐arm tool. Discusses the theory, applicability and features of each of these two technologies.
29 citations
TL;DR: In this article, the authors present an outline of this robot system and present a field test of 17 Phase II units started at the end of 1999 following testing and operation training, with the operator assisting via remote control from a cabin on the ground.
Abstract: Since 1984, Kyushu Electric Power Company (KYUDEN) has made all‐out efforts to introduce outage‐free maintenance techniques. Robotic techniques are promoted as part of these efforts. Although the final objective is to develop a fully‐automatic hot‐line work robot, there are three steps in the technological development. The first step was the development of the bucket operation type manipulator Phase I, which was completed in 1989. Phase II, the second step in KYUDEN’s robot development, is one of semi‐automatic operation, with the operator assisting via remote control from a cabin on the ground. Tasks are conducted automatically, with the operator providing judgement and commands for each unit‐task. Development of Phase II was completed in December 1997. A field test of 17 Phase II units started at the end of 1999 following testing and operation training. This paper will present an outline of this robot system.
27 citations
TL;DR: It is concluded that GPS is likely to become the universal positioning standard for outdoor applications, with future augmentations and developments enhancing the reliability, integrity and accuracy of the system.
Abstract: Presents an overview of how satellite‐based positioning techniques could be used to develop novel navigational methods for use on mobile robotic platforms. Details are given of the major terrestrial techniques, both internal and external to the robot, which have been traditionally used to meet positioning requirements. A descriptive summary of the global positioning system of navigation satellites (GPS) is followed by an introduction to Galileo, the European project on the development of a comparable system. A small number of examples, either near to market or in use now, are used to illustrate the use of robotic systems that use GPS as a source of 3D absolute position information, but also velocity, attitude and time. Concludes that GPS is likely to become the universal positioning standard for outdoor applications, with future augmentations and developments enhancing the reliability, integrity and accuracy of the system. Nevertheless, in most cases it will still be necessary to use GPS in combination with alternative positioning sensors.
TL;DR: This paper will study two aspects of manipulator design: the construction of a dextrous hand with multi degree of control prehension, and the actuation systems to drive this hand that will make use of complaint drives to produce a “soft” but highly flexible mechanism to handle delicate products and materials.
Abstract: Manipulators in one form or another have been in existence for many hundreds of years with the design usually motivated by the task to be undertaken Most often in robots this has led to a simple two fingered claw mechanism which has been adequate for many tasks but when the problem domain includes a varied range of delicate or easily damaged objects, one approach is to emulate those attributes of the human hand which make it such a versatile end‐effector This paper will study two aspects of manipulator design: the construction of a dextrous hand with multi degree of control prehension, and the actuation systems to drive this hand that will make use of complaint drives to produce a “soft” but highly flexible mechanism to handle delicate products and materials
TL;DR: In this article, the benefits of using robots for advanced composite lay-up procedures are discussed. But the use of robots now makes viable many fabrication operations that were previously too expensive, and highlights the improved quality afforded by consistent and rapid, automated layup procedures.
Abstract: Describes the benefits of using robots for advanced composite lay‐up procedures. Particular emphasis is on aerospace structures. Argues that the use of robots now makes viable many fabrication operations that were previously too expensive, and highlights the improved quality afforded by consistent and rapid, automated lay‐up procedures.
TL;DR: The 16th International Symposium on Automation and Robotics in Construction as mentioned in this paper was held in Madrid, Spain, in September 1999, where robotic projects relating to construction activities were discussed.
Abstract: Reviews the 16th International Symposium on Automation and Robotics in Construction held in Madrid, Spain, in September 1999; outlines robotic projects relating to construction activities.
TL;DR: A robot control system dedicated for grinding and deburring robots based on an active force feedback system using three axes force sensor attached to the robot’s end effector that offers new functionality in rapid programming of the robot by applying automatic programming and force supervision.
Abstract: Presents a robot control system dedicated for grinding and deburring robots. The control system is based on an active force feedback system using three axes force sensor attached to the robot’s end effector. This system offers new functionality in rapid programming of the robot by applying automatic programming and force supervision. The system is implemented and tested experimentally on a MultiCraft 560 robot with parallel kinematics. The experimental results show a significant reduction in the programming and set up time compared to conventional robot control systems.
TL;DR: An object‐oriented and distributed software architecture that can be used for FMC programming and monitoring is introduced and application examples of an industrial FMC and an R&D/education setup are presented.
Abstract: This paper addresses some aspects related to Flexible Manufacturing Cell (FMC) programming, and is based on two previously published papers and focuses more on application details. Recognising that one of the major problems of today’s Flexible Manufacturing Cells is the diversity of languages and hardware architectures present in the same FMC, we introduce an object‐oriented and distributed software architecture that can be used for FMC programming and monitoring. Application examples of an industrial FMC and an R&D/education setup are presented, in which we used an industrial robot and a force/torque/acceleration sensor. In the process some implementation details are presented and discussed.
TL;DR: In this paper, the current state in the application of laser for cutting and welding is reviewed, and the benefits of the new generation of Nd:YAG power lasers are listed, including the ability to transmit the laser beam via fibre optic cables.
Abstract: The current state in the application of lasers for cutting and welding is reviewed. Most cutting operations are performed on specifically developed laser machine tools such as the Trumpf Lasercell and its application in the development of trim shapes and low volume panel production at a sub‐contract toolmaker is described. Robots are mainly used with lasers for welding, particularly of vehicle body components where laser welds are found to be advantageous in reducing material weight and improving body strength. One example is the production of differing thickness panels and a robotic installation for producing car door inners is described. The benefits of the new generation of Nd:YAG power lasers are listed, including the ability to transmit the laser beam via fibre optic cables. This is particularly advantageous when robots are used to manipulate the “torch” and a new robot cell from Trumpf is described. Finally, the role of gases in laser processing is discussed.
TL;DR: In this article, the use of piezoelectric actuators for impactive robot grippers is discussed, and the potential for applications outside the field of optical equipment is immense.
Abstract: Piezoelectric actuators are well established for use in expensive optical equipment. Within the last decade, relatively inexpensive piezoelectric actuators have become established technology in pneumatic switching and the first piezoelectrically driven impactive robot grippers are just starting to emerge. Although this article concentrates largely on the use of piezoelectric actuators for use in robot gripping systems, the potential for applications outside this field is immense.
TL;DR: It is demonstrated that present technologies are sufficient to produce a household robot for the elderly or disabled, that is able to undertake a wide range of domestic chores and supply 24 hour care and companionship.
Abstract: Demonstrates that present technologies are sufficient to produce a household robot for the elderly or disabled, that is able to undertake a wide range of domestic chores and supply 24 hour care and companionship.
TL;DR: In this paper, the authors describe a novel drive mechanism for a robotic tractor for traversing pipelines, including sewers, in a poor condition, using two cylindrical brushes of a diameter larger than the pipe bore.
Abstract: This paper describes a novel drive mechanism for a robotic tractor for traversing pipelines, including sewers, in a poor condition. Traction is obtained by the reciprocating motion of two cylindrical brushes of a diameter larger than the pipe bore. The brushes move forwards down the pipe but grip the pipe wall to resist backward translation. A simple analytical model of the gripping mechanism is described. Three tractors here have been designed, manufactured and used on 20 field trials. The sewers inspected were initially considered to be uninspectable using conventional tractors. The novel tractors were easily able to deal with the majority of the sewers and the paper describes the three most difficult cases, illustrating the considerable capability of the tractors to deal with extremely poor sewer conditions.
TL;DR: In this article, an outline is given of a vision guidance project, completed and the product brought to market by the National Centre for Engineering in Agriculture, Queensland, and of carrier-phase GPS methods at an advanced stage of experimentation.
Abstract: An outline is given of a vision guidance project, completed and the product brought to market by the National Centre for Engineering in Agriculture, Queensland, and of carrier‐phase GPS methods at an advanced stage of experimentation. These establish an infrastructure for a small autonomous “robot farmhand”.
TL;DR: In this paper, the authors provide insights into optimizing performance by considering all available options to improve cell throughput, such as robot placement, peripherals and optimization of the work envelope.
Abstract: A robot’s standard cycle time tends to be a primary criterion in estimating work cell through‐put. Many other factors, like robot placement, peripherals and optimization of the work envelope often are overlooked in the analysis. This paper provides insights into optimizing performance by considering all available options to improve cell
TL;DR: In this paper, the authors presented the manipulation methods of a low powered direct-drive robot-arm for heavy object manipulation using a suspension device, and presented the algorithm of the hybrid position/force tracking scheme with respect to the dynamic behavior of suspended tools in the horizontal plane.
Abstract: Presents the manipulation methods of a low powered direct‐drive robot‐arm for heavy object manipulation using a suspension device. Considers manipulation of a suspended tool in the horizontal plane. Presents the algorithm of the hybrid position/force tracking scheme with respect to the dynamic behavior of suspended tools in the horizontal plane. To manipulate the suspended robot‐arm vertically, the hybrid position/force dynamic model has been developed by considering the gravity compensation of the spring balancer. In order to show the possible industrial applications chamfering operations have been carried out. Simulations and experiments demonstrate the feasibility of the proposed systems.
TL;DR: In this article, a computer assisted robotic fettling technique using visual feedback was proposed for casting profile determination. But the focus was on the establishment of a technique and investigating its performance for the determination of the casting profile.
Abstract: Fettling is the process of removing excess material from castings This excess material is often formed at the die’s parting lines during the casting process as molten material is injected into the die at high pressure By using a robot as a positioning tool for the fettling operation, the process can be carried out safely and with consistent results This paper proposes a computer‐assisted robotic fettling technique using visual feedback In particular, emphasis is placed on the establishment of a technique and investigating its performance for the determination of the casting profile Also examines the process parameters associated with high‐speed fettling operations Further, the experimental set‐up employed and the results obtained are also presented
TL;DR: The result of the experience is that by using available industrial manipulators, rather than prototypes, and without re‐designing the controller hardware, it is possible to realize a cooperative manipulator system.
Abstract: Describes the experience of setting up a cooperative arm system based on individual open‐architecture controllers. Two six‐degree‐of‐freedom industrial manipulators, one of which is mounted on a moving track, are installed to realize a cooperative experimental set‐up. The main issues related to the cooperative manipulation are overviewed and its potential applications in industry are discussed. A brief description of the system’s components is given. The most relevant problems encountered in setting up the cooperative system based on individual control architectures are detailed. The result of the experience is that by using available industrial manipulators, rather than prototypes, and without re‐designing the controller hardware, it is possible to realize a cooperative manipulator system.
TL;DR: The High Accuracy Position System (HPS) as mentioned in this paper is a software and hardware system for precision assembly of through-hole components on printed circuit boards, which is used to compensate for any imperfections in the physical mechanism.
Abstract: Placement accuracy in automated production equipment has been a problem since the first automated machine assembled a product on a manufacturing line at the beginning of the industrial revolution, and the demand for machine accuracy has steadily increased since. Adept Technology, Inc. has developed an accuracy enabling software and hardware system called the High Accuracy Position System (HPS). Adept introduced the first generation of HPS in 1984, for precision assembly of through‐hole components on printed circuit boards. The HPS system provides a method whereby a robot accuracy map, a database of positional errors, is determined in the region of the assembly process. This accuracy map then provides a data resource to offset the computed assembly locations during production and compensates appropriately for any imperfections in the physical mechanism. The HPS system also includes thermal and backlash compensation to account for some of the largest error producing factors in the system.
TL;DR: There has been a considerable growth of interest in climbing and walking robots since the first international conference in Brussels last year as mentioned in this paper, which attracted speakers from 20 countries, a number of whom were able to report on machines that have been built and successfully tested, and in some cases are under evaluation in industry.
Abstract: There has been a considerable growth of interest in climbing and walking robots since the first international conference in Brussels last year. The two‐day event at Portsmouth University attracted speakers from 20 countries, a number of whom were able to report on machines that have been built and successfully tested, and in some cases are under evaluation in industry. Supporting these from the end of academic research were papers dealing with simulation, control, locomotion, teleoperation, navigation, sensing and other aspects. Much of the work is being funded by the European Commission under the Brite‐Euram programme. The conference was preceded by a workshop day and included a small industrial exhibition.
TL;DR: In this paper, the assembly of automotive front wheel components using seven robots and three vision systems was described, where the use of vision minimised the costs associated with the presentation of parts to assembly cells.
Abstract: Describes the assembly of automotive front wheel components using seven robots and three vision systems. The use of vision minimised the costs associated with the presentation of parts to the assembly cells.