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Robotic based thermoplastic fibre placement process

Robotic based thermoplastic fibre placement process

引用

IEEE international conference on robotics and automation (ICRA)

作者： M. Ahrens V. Mallick K. Parfrey ABB Corporate Research Limited Dattwil Switzerland

Carbon fibre reinforced composites offer excellent specific stiffness and strength and are therefore interesting for rotating machinery applications. The main disadvantage of high performance composites is the manufacturing process which is labor intensive and thus slow and expensive. The thermoplastic fibre placement process overcomes these difficulties due to its high degree of automation. During the process, an impregnated thermoplastic tape is heated up and then consolidated in-situ under pressure. This process has been implemented on a 6-axis robot in our laboratory and on a 3-axis robotic workcell at the ABB motor factory in Switzerland. This workcell is used to wind overhang bandages for motors.

关键词： Robots Composite materials Polymers Resins robotics and automation Organic materials Manufacturing processes Quality control Chemicals Machinery

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Mobile robot sonar sensing with pseudo-random codes

Mobile robot sonar sensing with pseudo-random codes

引用

IEEE international conference on robotics and automation (ICRA)

作者： K.-W. Jorg M. Berg Computer Science Department Robotics Research Group Kaiserslautern University Kaiserslautern Germany

One of the most severe problems in conventional mobile robot sonar sensing is from the literature known as crosstalk. This article addresses the crosstalk problem and presents first experimental results of a new approach which allows the simultaneous firing of sonar sensors. At the same time frequent misreadings caused by crosstalk or external ultrasound sources are eliminated. Moreover, the range resolution as well as the lateral resolution of a sonar sensor are significantly increased. This is achieved by carefully designing the emitted burst, i.e. by using appropriate pseudo-random sequences together with a matched filter technique.

关键词： Mobile robots Crosstalk Robot sensing systems robotics and automation Pulse compression methods Error correction Delay Application software Sonar applications Computer science

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Key issues in the dynamic control of lightweight robots for space and terrestrial applications

Key issues in the dynamic control of lightweight robots for ...

引用

IEEE international conference on robotics and automation (ICRA)

作者： Jing-Xin Shi A. Albu-Schaffer G. Hirzinger Research Establishment DLR Institute for Robotics and System Dynamics German Aerospace Wessling Germany

Compared with industrial robots, the DLR lightweight robot characterizes a new milestone in the field of robot design. The module structure, the highly integrated electrical and mechanical components, the very low own-weight/load ratio, the high motion speed as well as the joint-torque feedback capability are the main features of this new robot generation aiming towards the functionality of a human arm. The paper attempts to integrate the newest results in the field of robotics, nonlinear control theory and electric drive systems to formulate the possible solutions of the dynamic control issues, Some experimental or simulation results are given to confirm the effectiveness of the proposed control approaches.

关键词： Lighting control Robot control Orbital robotics Robot sensing systems Service robots Aerodynamics Humans Torque Feedback Aerospace industry

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Multi-agent based dynamic scheduling for a flexible assembly system

Multi-agent based dynamic scheduling for a flexible assembly...

引用

IEEE international conference on robotics and automation (ICRA)

作者： Yung-Yu Chen Li-Chen Fu Yu-Chien Chen Department of Computer Science and Information Engineering National Taiwan University Taipei Taiwan

ISBN: (纸本)078034300X

This paper proposes a multi-agent based dynamic scheduling approach for a flexible assembly system. We first introduce a flexible control system developed by Intelligent robotics and automation Laboratory in National Taiwan University. Based on that control system, the agents can communicate with each other conveniently. A generic agent architecture is proposed to model the pieces of equipment in the flexible assembly system. With a distributed architecture, the agents make their scheduling decisions using their local rule base. The agents acquire the resources following the distributed resource allocation protocol. The scheduling complexity is reduced to meet the real-time response requirement in the applications for flexible automated production. The present work is applied to the experimental robotized flexible assembly system in the above laboratory.

关键词： Dynamic scheduling Assembly systems Automatic control Control systems robotics and automation Laboratories Intelligent systems Intelligent robots Resource management Protocols

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A direct-drive pneumatic stepping motor for robots: designs for pipe-inspection microrobots and for human-care robots

A direct-drive pneumatic stepping motor for robots: designs ...

引用

IEEE international conference on robotics and automation (ICRA)

作者： K. Suzumori K. Hori T. Miyagawa Research and Development Center Toshiba Corporation Kawasaki Japan

A direct-drive stepping motor based on a new principle is reported. The features of the motor include: 1) high torque (4-20 times higher than that of the same-sized conventional electric motors); 2) high stepping resolution; 3) light weight; and 4) simple structure. The motors are suitable for robots in new applications such as microrobots and human-care robots. The mechanism and theoretical analysis for the motor are presented. Two models, which are designed for pipe-inspection microrobots and for human-care robots are shown respectively.

关键词： Micromotors Robots Rotors Torque Pneumatic actuators Medical robotics Teeth Orbital robotics Gears Engine cylinders

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Experiment with two industrial robot manipulators rigidly holding an egg

Experiment with two industrial robot manipulators rigidly ho...

引用

IEEE international conference on robotics and automation (ICRA)

作者： Wen-Hong Zhu J. De Schutter Department of Electrical and Computer Eng University of British Columbia Canada Division of Production Engineering Machine Design and Automation Department of Meclianical Engineering Katholieke Universiteit Leuven Leuven Belgium

An experiment with two industrial robots KUKA 361/KUKA 160 holding an egg with two hard points contact without using any flexibility is reported in this paper. This experiment illustrates the force control result based on the framework of general constrained robots. Decentralized full-model parameter adaptation is performed by using virtual decomposition. This experiment indicates that the robots are able to perform very delicate operations with the aid of advanced control algorithms and force feedback. It also highlights the potential applications to human-centred robotics.

关键词： Service robots Manipulators Robot kinematics Force control Matrix decomposition Joining processes Torque control Lagrangian functions Actuators Equations

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A multi-functional robot as a partner for civil applications

A multi-functional robot as a partner for civil applications

引用

IEEE conference on Control Technology and applications (CCTA)

作者： F. Giuffrida P. Morasso R. Zaccaria G. Vercelli ISA DTA Srl Genoa Italy DIST University of Genova Genoa Italy DEEI University of Trieste Trieste Italy

A multi-functional mobile robot has been derived as a technology transfer from a European project. The robot is intended for a variety of biomedical/assistive tasks and other general civil applications. Its autonomy is provided by an open set of sensors that include, in particular, a positioning system, integrated into the local networks typical of "intelligent buildings" and building automation.

关键词： Mobile robots Robot sensing systems robotics and automation Humans Infrared sensors Sensor systems Navigation Orbital robotics Laboratories Robot vision systems

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Development of a distributed object-oriented system framework for the computer-integrated manufacturing execution system

Development of a distributed object-oriented system framewor...

引用

IEEE international conference on robotics and automation (ICRA)

作者： Fan-Tien Cheng E. Shen Jun-Yan Deng K. Nguyen Institute of Manufacturing Engineering National Cheng Kung University Tainan Taiwan Mitta Technology Group Inc. Sunnyvale CA USA

Today, most of the manufacturing execution systems (MES) are large, monolithic, insufficiently configurable and difficult to modify. Using a distributed object-oriented technique, we present a systematic approach to develop a computer-integrated MES framework which is open, modularised, distributed, configurable, interoperable, collaborative, and maintainable. The CORBA infrastructure is adopted to develop this integratable MES. We also use OLE automation and COM objects to construct sample applications. An example is shown to demonstrate the fruit of this systematic approach.

关键词： Computer aided manufacturing Distributed computing Job shop scheduling Manufacturing processes System testing Integrated circuit packaging Production facilities Computer integrated manufacturing Maintenance engineering Manufacturing automation

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Interactive virtual factory for design of a shopfloor using single cluster analysis

Interactive virtual factory for design of a shopfloor using ...

引用

IEEE international conference on robotics and automation (ICRA)

作者： L. Lefort T. Kesavadas Department of Mechanical and AeroSpace Engineering State University of New York Buffalo NY USA

An interactive virtual factory testbed was developed as a part of a research to explore the applications of virtual environments (VE) in the area of manufacturing automation. This fully immersive factory built with special attention to details consists of a set of modular machines that a designer can drag and place in the factory to study issues such as plant layout, clusters and part flow analysis. This paper further discusses several computational issues of developing such factories including the scene graph structures, frame based intersection detection and visual realism for creating a reliable virtual interface. Finally, a single cluster analysis algorithm is implemented as an example of applying traditional factory design methods in developing virtual factories of the future.

关键词： Virtual manufacturing Production facilities Automatic testing Virtual environment Manufacturing automation Computer interfaces Layout Algorithm design and analysis Clustering algorithms Design methodology

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Systematic creation and application of virtual factory with object oriented concept

Systematic creation and application of virtual factory with ...

引用

IEEE international conference on robotics and automation (ICRA)

作者： Ming-Hung Lin Li-Chen Fu Department of Computer Science and Information Engineering National Taiwan University Taipei Taiwan

ISBN: (纸本)078034300X

Proposes a systematic method of creation and application of a virtual factory. Basic definition of a virtual factory is first given, followed by its foundation principles and architectural overview, and then a systematic method based on object technologies is proposed to create the virtual factory. Specially, for a real manufacturing environment, a corresponding virtual factory can be created via the polymorphism parameterized universal virtual factory with several interactions. The virtual factory can be linked to the real factory and enable simulation-based control by means of the switching architecture we proposed. Its reliable predictions can not only prove the production scenarios but also improve the decision making process of acquisition managers in the applications for flexible automated production. The present work is being applied to the experimental robotized flexible assembly system developed by Intelligent robotics and automation Laboratory in National Taiwan University.

关键词： Virtual manufacturing Intelligent robots robotics and automation Production facilities Automatic control Decision making Robotic assembly Assembly systems Intelligent systems Laboratories

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