检索结果-内蒙古大学图书馆

作者： Oliveira, Marcelo Frasson de

The great majority of industrial robots available in the market have high performance, especially relative to position accuracy. This aspect is one of the factors that most influence its final price, taking into account all complicated web elements that makes the robot operates in the correct form, since the actuators and the constructive part, passing by the architecture and control systems until the system of programming. According to these, the present work aims to project an industrial robot with more accessible costs, adequate to use in industrial process that not require high level of accuracy. For the reduction of manufacture and components costs of the robot, this work make viable to use of pneumatic actuators like a motive source, because are relatively cheap, light, not pollutants, easy assembly and operation, besides presenting a good relation weight/power. For such purpose, the strategy of control was implemented by sliding mode control for the objective to surpass the difficulties imposed by the non-linear behavior of the pneumatic components. About the reduction of programming and operation costs of the robot, an off-line programming environment was developed through manufacturing aided software and a software of engineering both usually found in industrial environments. The basic strategy in this work, was the development of an own methodology of project, conceived specifically for the application in projects of industrial robots, with the attributes of easiness of execution and modularization of the wrapped phases. That methodology, in the present work, presents the development of a Cartesian robot with three degrees of freedom actuated by pneumatic servo drive. ...

关键词： Cartesian robot Robótica Automação industrial Sliding mode control off-line programming Robôs industriais Dissertação

来源：评论

学校读者我要写书评

暂无评论

GENERATING A JOB DESCRIPTION FOR MOTION PLANNING

引用

IFAC Proceedings Volumes 2007年第3期40卷 24-29页

作者： Niels J. Jacobsen Charlotte H. Jacobsen Niels Jul Jacobsen is with Robocluster Odense DK-5230 Denmark Charlotte Hybschmann Jacobsen is with Odense Steel Shipyard Ltd Odense DK-5100 Denmark

This paper describes the system and methods that are used by the offline programming system, TAS, to generate job descriptions for the motion planners used at Odense Steel Shipyard. TAS uses attributes locally defined at each seam end to attach scripts. These scripts specify how the welding torch must behave at the seam ends. This information is collected into job descriptions which is again transferred to a motion planning module. This module calculates how the robot must move in order to fulfill welding specifications without colliding with the environment.

关键词： Automation CAD/CAM manufacturing systems Industrial robots Inference engines off-line programming process control Robot programming

来源：评论

学校读者我要写书评

暂无评论

TOWARDS SHORT SERIES PRODUCTION: ROBOT–BASED FLEXIBLE MANUFACTURING WITH INTELLIGENT SENSING

引用

IFAC Proceedings Volumes 2007年第3期40卷 271-276页

作者： Mikko Sallinen Tapio Heikkilä Timo Salmi VTT Kaitoväylä 1 90571 Oulu Finland Systems Engineering Laboratory University of Oulu P.O. Box 4400 90014 University of Oulu Finland VTT Metallimiehenkuja 6–8 02044 VTT Finland

This paper presents a sensor-based concept to carry out short series production with robots. Intelligent sensing extends our approach from earlier reported work towards truly flexible robotic production. A modern industrial robot provides an excellent, easy to adjust platform to flexible, reconfigurable production. In our concept we consider four main steps: sensing planning, motion planning, calibration and on-line adaptation. All these are critical steps in flexible robot –based manufacturing. These steps are explained in details with pilot examples cases in laboratory or industrial environments.

关键词： Sensor fusion force control off-line programming robot calibration

来源：评论

学校读者我要写书评

暂无评论

Neural network approach to collision free path-planning for robotic manipulators

引用

INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE 2006年第8期37卷 555-564页

作者： Pashkevich, A. Kazheunikau, M. Ruano, A. E. Belarussian State Univ Informat & Radioelect Dept Automat Control Robot Lab Minsk 220027 BELARUS Univ Algarve Ctr Intelligent Syst Fac Sci & Technol P-8000117 Faro Portugal

The paper deals with collision free path-planning for industrial robotic manipulators A new efficient approach is proposed that is based on the topologically ordered neural network model. This model describes harmonic potential field of the robot configuration space, sampled by the non-regular grid. The developed path-planning algorithm takes into account highly-irregular shape of the obstacles of welding and assembling robotic cells, and provides reduced number of collision checking. The stability of the topologically ordered neural network is investigated. The algorithm has been successfully applied to the off-line programming of a robotic manufacturing cell for the automotive industry.

关键词： robotic manipulators configuration space neural networks off-line programming

来源：评论

学校读者我要写书评

暂无评论

Neural network approach to collision free path-planning for robotic manipulators

Neural network approach to collision free path-planning for ...

引用

6th Portuguese Conference on Automatic Control

关键词： robotic manipulators configuration space neural networks off-line programming

来源：评论

学校读者我要写书评

暂无评论

Automatic Generation of Robot Paths from CAD-Data: - Based on linear and Circular Approximation -

引用

IFAC Proceedings Volumes 2006年第16期39卷 878-883页

作者： Berger Ulrich Kretzschmann Ralf Noack Jan Automatisierungstechnik Brandenburgische Technische Universität Siemens-Halske-Ring 14 03046 Cottbus 0049 355 694132

In this paper an approach for the automatic generation of robot trajectory paths from different free forming surfaces, described in 3D-CAD models will be presented. It bases on a linear and a circular interpolation and represents an extension of a former approach exclusively based on linear interpolation. The enhancements reached through the implementation of a circular interpolation procedure will be outlined, as well as the corresponding technical realization will be described. Together with a big European automotive enterprise first trial tests have been carried out within a real robot cell for the assembly of rear windows in the car body. The observed results show high system performance and stimulate the research activities toward new improvements.

关键词： Digital Factory Industrial robots off-line programming Robot programming Robot Path Generation

来源：评论

学校读者我要写书评

暂无评论

OPTIMAL GRADE TRANSITION IN POLYMERIZATION REACTORS: A COMPARATIVE CASE STUDY

引用

IFAC Proceedings Volumes 2006年第2期39卷 265-270页

作者： Nitin Padhiyar Sharad Bhartiya Ravindra D. Gudi Department of Chemical Engineering Indian Institute of Technology Bombay Mumbai-400 076 India

A study of grade transitions as encountered in polymerization reactors is presented. The results underscore the need for global optimization algorithms to fully realize the benefits of grade transition that are necessarily non-convex. For comparison purposes we use a non-gradient, parallel search, stochastic method, namely differential evolution (DE). Our simulations indicate that while the DE solution is highly dependent on the algorithm parameters and mutation strategy, the SQP solution depends on the initial guess value and consistently provides faster convergence. Finally, we also explore the issue of evaluating the optimal grade changeover time. All of the above issues have been demonstrated for the grade transition of polymethyl methacrylate (PMMA) in a non-isothermal CSTR.

关键词： gradient optimisation genetic algorithm nonlinear programming dynamic programming off-line programming process model time optimal control

来源：评论

学校读者我要写书评

暂无评论

off-line error prediction, diagnosis and recovery using virtual assembly systems

引用

JOURNAL OF INTELLIGENT MANUFACTURING 2004年第5期15卷 679-692页

作者： Baydar, C Saitou, K Univ Michigan Dept Mech Engn Ann Arbor MI 48109 USA

Automated assembly systems often stop their operation due to the unexpected failures occurred during their assembly process. Since these large-scale systems are composed of many parameters, it is difficult to anticipate all possible types of errors with their likelihood of occurrence. Several systems were developed in the literature, focussing on on-line diagnosing and recovery of the assembly process in an intelligent manner based on the predicted error scenarios. However, these systems do not cover all of the possible errors and they are deficient in dealing with the unexpected error situations. The proposed approach uses Monte Carlo simulation of the assembly process with the 3-D model of the assembly line to predict the possible errors in an off-line manner. After that, these predicted errors are diagnosed and recovered using Bayesian reasoning and genetic algorithms. Several case studies are performed on single-station and multi-station assembly systems and the results are discussed. It is expected that with this new approach, errors can be diagnosed and recovered accurately and costly downtimes of robotic assembly systems will be reduced.

关键词： off-line programming genetic algorithms robotic assembly systems virtual factories error diagnosis and recovery

来源：评论

学校读者我要写书评

暂无评论

Trajectory coordination planning and control for robot manipulators in automated material handling and processing

引用

INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY 2004年第11-12期23卷 831-845页

作者： Zha, XF Chen, XQ Singapore Inst Mfg Technol Singapore 638075 Singapore

Motion coordination planning and control play a crucial role in robot application to Cartesian task operations with taking into account kinematics and dynamics constraints. This paper presents a unified approach to coordination planning and control for robot position and orientation trajectories in Cartesian space. The concept of generalised robot pose is defined as the robot configuration consisting of position and orientation, in which the orientation is described by a vector equivalent to the rotational angular displacement. The robot pose ruled surface is formed as a three-dimensional motion locus of its configuration vector. The unified treatment of the end-effector positions and orientations is based on the robot pose ruled surface concept and used in trajectory interpolations. The coordination planning of pose trajectories for the robot end effector is accomplished by generating and optimising the pose ruled surface under the constraints of kinematics and dynamics performances. The coordination control is implemented through controlling the motion laws of two end points of the orientation vector and calculating the coordinates of instantaneous corresponding points. The simulation experiment using PUMA 560 robot in arc welding and surface finishing processes are carried out to verify the feasibility of the proposed approach and demonstrate the capabilities of generation and control models.

关键词： robot pose ruled surface unified approach trajectory planning and control off-line programming

来源：评论

学校读者我要写书评

暂无评论

Generation and simulation of robot trajectories in a virtual CAD-based off-line programming environment

引用

INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY 2001年第8期17卷 610-624页

作者： Zha, XF Du, H Nanyang Technol Univ Sch Mech & Prod Engn Singapore 639798 Singapore

This paper presents a new approach to the generation and optimisation of the position and orientation trajectories in Cartesian task space, and simulation in a virtual CAD-based off-line programming environment. A novel concept of the robot pose ruled surface is proposed, and defined as a motion locus of the robot orientation vector, i.e. the vector of equivalent angular displacement. The planning for trajectories of robot end-effectors can be accomplished by generating the robot pose ruled surface and optimising its area under the constraints with good kinematics and dynamics performances. The established optimisation model is based on functional analysis and dynamics planning, and is simplified by using high-order polynomial space curves as the robotic position and orientation trajectories. The developed system, RoboSim, is a virtual integrated environment which can be used as a testbed for automatic motion planning and simulation for robots. Two examples are given to verify the feasibility of the proposed approach and models, and to demonstrate the capabilities of generation, optimisation, and simulation modules and libraries in the RoboSim package. The simulation results show that the approach and system are feasible and useful for motion planning, performance analysis and evaluation, and CAD-based prototyping and off-line programming in both the virtual and the real design and planning environment.

关键词： CAD motion planning off-line programming optimisation performance analysis and evaluation robot pose ruled surface trajectory planning virtual prototyping

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：