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24th International Conference on Control, Automation and Systems

作者： Choi, T. Park, J. Bak, J. Park, D. Korea Inst Machinery & Mat Adv Robot Res Ctr Daejeon 34103 South Korea

ISBN: (纸本)9798331517939;9788993215380

Korea has a high proportion of high-value-added LNG ships in its shipbuilding industry. In the past, many parts of building LNG ships were done manually, but recently, due to the labor shortage, research and development has been conducted to automate many parts. This paper describes how to automate the welding of membranes that make up the interior of an LNG cargo hold by using a mobile manipulator. The interior of a large LNG cargo hold consists of a number of basic elements: membranes. The member lanes must be joined together by laser welding. In order to automate this process using a mobile manipulator, software was developed to automate the procedure. The welding of the membranes is closely related to the quality of the weld, and the complexity of the paths means that rather than automatically generating the robot's paths, experts still manually create unit tasks by teaching the robot. The developed software uses these unit tasks to generate a working procedure for welding the entire cargo hold.

关键词： Laser welding mobile manipulator LNG cargo offline programming

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Automated Sound Intensity Measurement Using Doosan Robot: Off-Line programming for Enhanced Accuracy 28

Automated Sound Intensity Measurement Using Doosan Robot: Of...

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28th IEEE International Conference on Intelligent Engineering Systems (INES)

作者： Triki, Oussema Cherif, Raef UQAR Univ Quebec Rimouski Dept Math Informat & Genie Rimouski PQ Canada

ISBN: (纸本)9798350367607;9798350367591

Sound intensity measurement is a critical task in numerous industries, particularly in assessing the noise levels generated by vibrating machinery. Existing methods for such measurements often prove cumbersome, time-consuming, and reliant on multiple measurement tools, requiring continuous operator intervention throughout the process. To address this challenge, several studies have explored the integration of collaborative robots to automate these measurements. However, the diversity of programming languages among different robots complicates the implementation process and prolongs setup time. To resolve this issue, our work introduces a unified Python program, leveraging the RoboDK software, to seamlessly adapt our Python code for various robot types. Additionally, we employ offline simulation to ensure smooth operation and validate the effectiveness of our approach through experimental validation. This holistic approach not only streamlines the measurement process but also enhances accuracy and minimizes the need for continuous human intervention.

关键词： Sound intensity measurement robotics offline programming acoustic data Python programming noise reduction

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Multi-objective optimal trajectory planning of customized industrial robot based on reliable dynamic identification for improving control accuracy

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INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION 2022年第6期49卷 1156-1168页

作者： Hou, Renluan Niu, Jianwei Guo, Yuliang Ren, Tao Han, Bing Yu, Xiaolong Ma, Qun Wang, Jin Qi, Renjie Beihang Univ Hangzhou Innovat Inst Hangzhou Peoples R China Zhejiang Univ Sch Mech Engn Key Lab Adv Mfg Technol Zhejiang Prov Hangzhou Zhejiang Peoples R China Beihang Univ Sch Comp Sci & Engn State Key Lab Virtual Real Technol & Syst Beijing Peoples R China Zhejiang Univ Sch Mech Engn State Key Lab Fluid Power & Mechatron Syst Hangzhou Peoples R China Zhejiang Univ Sch Mech Engn Engn Res Ctr Design Engn & Digital Twin Zhejiang Hangzhou Peoples R China

Purpose The purpose of this paper is to enhance control accuracy, energy efficiency and productivity of customized industrial robots by the proposed multi-objective trajectory optimization approach. To obtain accurate dynamic matching torques of the robot joints with optimal motion, an improved dynamic model built by a novel parameter identification method has been proposed. Design/methodology/approach This paper proposes a novel multi-objective optimal approach to minimize the time and energy consumption of robot trajectory. First, the authors develop a reliable dynamic parameters identification method to obtain joint torques for formulating the normalized energy optimization function and dynamic constraints. Then, optimal trajectory variables are solved by converting the objective function into relaxation constraints based on second-order cone programming and Runge-Kutta discrete method to reduce the solving complexity. Findings Extensive experiments via simulation and in real customized robots are conducted. The results of this paper illustrate that the accuracy of joint torque predicted by the proposed model increases by 28.79% to 79.05% over the simplified models used in existing optimization studies. Meanwhile, under the same solving efficiency, the proposed optimization trajectory consumes a shorter time and less energy compared with the existing optimization ones and the polynomial trajectory. Originality/value A novel time-energy consumption optimal trajectory planning method based on dynamic identification is proposed. Most existing optimization methods neglect the effect of dynamic model reliability on energy efficiency optimization. A novel parameter identification approach and a complete dynamic torque model are proposed. Experimental results of dynamic matching torques verify that the control accuracy of optimal robot motion can be significantly improved by the proposed model.

关键词： Path planning Dynamic identification Time-energy consumption optimization Sequential quadratic programming Industrial robot Control offline programming

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Robotic Assembly of a Wooden Architectural Design 32nd

Robotic Assembly of a Wooden Architectural Design

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31st International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)

作者： Neri, Federico Cognoli, Roberto Palmieri, Giacomo Ruggiero, Roberto Polytech Univ Marche Dept Ind Engn & Math Sci Ancona Italy Univ Camerino Scuola Architettura & Design I-62032 Camerino Italy

ISBN: (纸本)9783031326080;9783031326066;9783031326059

This paper presents a fast and cost-effective solution for developing and implementing a collaborative robotic station to assemble wooden modules. For this purpose, the Grasshopper plug-in is proposed, which allows the management of the Rhinoceros 7 design environment to which it is connected to obtain information about the CAD of the robot station. Moreover, with this tool, it is possible to verify the movements of the robot through simulation and finally create a program that allows the control of the selected robot. The article describes the advantages of this design methodology, which allows a quick modification of the robot control in case of changes to the CAD project. Finally, the implementation of an automated station for assembling wooden elements developed using the described methodology is shown.

关键词： Robotic assembly Collaborative robotics architectural design Timber offline programming

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Planning and optimization of robotic pick-and-place operations in highly constrained industrial environments

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ASSEMBLY AUTOMATION 2021年第5期41卷 626-639页

作者： Tipary, Bence Kovacs, Andras Erdos, Ferenc Gabor Eotvos Lorand Res Network ELKH Inst Comp Sci & Control SZTAKI Budapest Hungary Budapest Univ Technol & Econ Dept Mfg Sci & Engn Fac Mech Engn Budapest Hungary

Purpose The purpose of this paper is to give a comprehensive solution method for the manipulation of parts with complex geometries arriving in bulk into a robotic assembly cell. As bin-picking applications are still not reliable in intricate workcells, first, the problem is transformed to a semi-structured pick-and-place application, then by collecting and organizing the required process planning steps, a methodology is formed to achieve reliable factory applications even in crowded assembly cell environments. Design/methodology/approach The process planning steps are separated into offline precomputation and online planning. The offline phase focuses on preparing the operation and reducing the online computational burdens. During the online phase, the parts laying in a semi-structured arrangement are first recognized and localized based on their stable equilibrium using two-dimensional vision. Then, the picking sequence and corresponding collision-free robot trajectories are planned and optimized. Findings The proposed method was evaluated in a geometrically complex experimental workcell, where it ensured precise, collision-free operation. Moreover, the applied planning processes could significantly reduce the execution time compared to heuristic approaches. Research limitations/implications The methodology can be further generalized by considering multiple part types and grasping modes. Additionally, the automation of grasp planning and the enhancement of part localization, sequence planning and path smoothing with more advanced solutions are further research directions. Originality/value The paper proposes a novel methodology that combines geometrical computations, image processing and combinatorial optimization, adapted to the requirements of flexible pick-and-place applications. The methodology covers each required planning step to reach reliable and more efficient operation.

关键词： Optimization Robotics Image processing offline programming Pick-and-place Robotic manipulator Object recognition Trajectory planning

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Influence of robot-guide strategies on the geometry of directed energy deposition components

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JOURNAL OF LASER APPLICATIONS 2024年第4期36卷

作者： Partes, Knut Schmidt, Malte Jade Univ Appl Sci Dept Engn Friedrich Paffrath Str 101 D-26389 Wilhelmshaven Germany

Directed energy deposition (DED) for additive manufacturing applications is commonly realized by the usage of industrial robots. The DED processing end effectors are usually mounted on industrial robot systems and can, therefore, be moved and oriented in up to many degrees of freedom. However, the design of the powder nozzle and the programming of the robot can limit the movement options. For this reason, translational movements, as with conventional 3D printers, are still common today. The end effector is usually guided horizontal over the component surface although welding in position (PA) is preferred in general. It may be necessary to tilt the end effector in order to gain advantages during processing due to the constrained position. This is particularly advantageous for overhang structures and is often realized with the help of a turn-tilt positioning table in combination with an industrial robot. However, this approach is, in some cases, not possible due to geometrical constrains. To extend applications in this direction, advanced methods for slicing the components and programming the robot movements are necessary. The main aspect of this work is the development, testing, and evaluation of a multidimensional DED manufacturing approach. This is tested on a thin-walled component with defined overhang areas and compared with conventional approaches. Different strategies are assessed in terms of the geometrical match of the target geometry. Influences of strategies on the results are evaluated. It can be shown that multidimensional path planning approaches lead to a better match of the target geometry.

关键词： LP-DED CAM Laser cladding offline programming industrial robot

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Automatic joint motion planning of 9-DOF robot based on redundancy optimization for wheel hub polishing

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ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING 2023年 81卷

作者： Liu, Zhiheng Li, Ruifeng Zhao, Lijun Xia, Yi Qin, Zhonghao Zhu, Kui Harbin Inst Technol State Key Lab Robot & Syst Harbin 150001 Peoples R China Harbin Inst Technol Wuhu Robot Ind Technol Res Inst Wuhu 241000 Peoples R China

Automatic joint motion planning is very important in robotic wheel hub polishing systems. Higher flexibility is achieved based on the joint configuration with multiple solutions, which means that the robot has kinematic redundancy for machining tasks. Redundant joints can be used to optimize the motion of the robot, but less research has been done on multi-dimensional redundant optimization. In this paper, a 6-axis robot with a 3-axis actuator is designed for wheel hub polishing. We propose an automatic joint motion planning method for a nine -axis industrial robot to achieve the shortest processing time. Firstly, offline programming is designed to generate paths for the complex surface of the hub. In order to reduce the machining path points on the surface of the hub, a improved Douglas-Peucker (DP) algorithm is proposed, which can take into account the change of the path point posture. Secondly, the Greedy Best First Search (GBFS) and Sine cosine algorithm (SCA) are combined to find the optimal joint motion efficiently. Moreover, we use nested SCA for comparison to test whether the combined algorithm can avoid local optima. Finally, the performance and computational efficiency of the method are validated in both simulation and real environments based on the hub surface.

关键词： Robotic polishing system Wheel hub offline programming Kinematic redundancy Joint motion planning

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An offline programming Method for the Robotic Deburring of Aerospace Components

An Offline Programming Method for the Robotic Deburring of A...

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International Workshop on Robotics in Smart Manufacturing (WRSM 2013) / 23rd International Conference on Flexible Automation and Intelligent Manufacturing (FAIM 2013)

作者： Leali, Francesco Pellicciari, Marcello Pini, Fabio Berselli, Giovanni Vergnano, Alberto Univ Modena & Reggio Emilia Enzo Ferrari Engn Dept I-41125 Modena Italy

ISBN: (纸本)9783642392221

Deburring of aerospace components is a complex task in case of large single pieces designed and optimized to deliver many mechanical functions. A constant high quality requires accurate 3D surface contouring operations with engineered tool compliance and cutting power. Moreover, aeronautic cast part production is characterized by small lot sizes with high variability of geometries and defects. Despite robots are conceived to provide the necessary flexibility, reconfigurability and efficiency, most robotic workcells are very limited by too long programming and setup times, especially at changeover. The paper reports a design method dealing with the integrated development of process and production system, and analyzes and compares a CAD-based and a digitizer-based offline programming strategy. The deburring of gear transmission housings for aerospace applications serves as a severe test field. The strategies are compared by the involved costs and times, learning easiness, production downtimes and machining accuracy. The results show how the reconfigurability of the system together with the exploitation of offline programming tools improves the robotic deburring process.

关键词： offline programming Industrial Robotics Integrated Design CAD-based tools Digitizers

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programming Industrial Robots for Wire Arc Additive Manufacturing 6th

Programming Industrial Robots for Wire Arc Additive Manufact...

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6th International Conference on Industrial Engineering, ICIE 2020

作者： Kulikov, A.A. Sidorova, A.V. Balanovskii, A.E. Irkutsk National Research Technical University 83 Lermontov Street Irkutsk664074 Russia

ISBN: (纸本)9783030548162

Additive manufacturing is an alternative method to traditional subtractive manufacturing, where the material is added layer by layer instead of being sequentially removed from the workpiece. 3D printing enables the manufacturing of parts with complex geometric shapes made from expensive metals with higher productivity and economic efficiency. However, there is currently no specialized software that would provide the utilization of additive technologies in the industrial scale. This article describes a case study of programming industrial robots for 3D printing of metal products. Once the desired objects were made in the CAD system, they were uploaded into the slicer where they were split into the layer structures. Special software for offline programming of industrial robots was used to translate the program into the robot language and perform 3D printing using the experimental robotic complex. As a result, the objects of cylindrical and square geometric shapes made of steel were printed using a welding machine and metal wire. © 2021, The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Additive manufacturing Gas metal arc welding Industrial robots offline programming Wire arc additive manufacturing

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Methods of Designing Technological Trajectories of Single Layer of Laser Powder Cladding on Flat Surfaces of Part Model in CAM 6th

Methods of Designing Technological Trajectories of Single La...

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6th International Conference on Industrial Engineering, ICIE 2020

作者： Rodionov, D. Lyukhter, A. Prokoshev, V. Vladimir State University Named After Alexander and Nikolay Stoletovs 87 Gorky St. Vladimir600000 Russia

ISBN: (纸本)9783030548162

The article deals with the design of technological trajectories of laser robotic powder cladding on flat surfaces of the part model in the CAM system. A method for determining a given flat surface of processing and its boundaries on a three-dimensional polygonal model of a part is proposed. The methods of coating the surface of the processing in a given direction and a given step, considering the location and rotation of the part in the positioner of the laser robotic cladding complex are described. The developed methods were successfully implemented in the authors software development and tested at the industrial complex of laser robotic powder cladding. © 2021, The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Additive technologies CAD/CAM Industrial robotic systems Laser cladding offline programming Technological preparation

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