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17th IEEE International Conference on Industrial Informatics (INDIN)

作者： Mandal, Avijit Sharma, Divyasheel Sukhwani, Mohak Jetley, Raoul Sarkar, Santonu ABB Bangalore Karnataka India BITS Pilani Sancoale Goa India

ISBN: (纸本)9781728129273

In recent times, there has been significant interest in collaborative robots where the tasks performed by a robot are non-repetitive and complex, and humans and robots share an overlapping workspace. In such a case, the robot controller must necessarily be safety-aware. In this paper, we propose a mechanism to evaluate a robot program and compute a safety score for each action that the robot is about to perform. To this end, we have implemented a code analyzer that examines the robot's Move instructions and assigns a safety score. A subjective logic based approach is used to compute the safety score for each instruction. We have evaluated the approach through ABB's RobotStudio (R) simulator. We simulate two scenarios: First, where two robots share a workspace and second, where a robot moves along a path with an obstacle. The simulations show that using our code analyzer and safety score formalism;it is possible to evaluate the application code for safety and enable avoidance of potentially unsafe behavior.

关键词： Safety Human-Robot Co-operation rapid programming Collaborative Robots Subjective Logic

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Implementation of cascade classifier technique for gesture control of an ABB industrial manipulator 2

Implementation of cascade classifier technique for gesture c...

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2nd International Conference on Inventive Systems and Control (ICISC)

作者： Telang, Sujeet Rout, B. K. Pande, Aditya Birla Inst Technol & Sci Dept Mech Engn Pilani Rajasthan India

ISBN: (纸本)9781538608074

There have been several attempts already made to control an industrial robot using hand gestures. The current work proposes a different methodology for controlling an industrial robot. Instead of having an external arrangement of controllers, the Robot-Studio software which is compatible and intended for ABB robots, is maneuvered to achieve gesture control of robot by connecting it with python programming software. Here, a Python programming software with an OpenCV library is used to acquire coordinates of the hand gesture recognized with the help of Cascade Classifier technique. We have implemented Socket programming between RobotStudio software and Python software for transmitting those coordinates to the robot and thus accomplish a real time interface between them.

关键词： ABB-IRB1410 RobotStudio rapid programming Python OpenCV Cascade Classifier Socket programming

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Robotic Control & Visualization Toolbox for MATLAB 8

Robotic Control & Visualization Toolbox for MATLAB

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8th Vienna International Conference on Mathematical Modelling

作者： Pawletta, T. Freymann, B. Deatcu, C. Schmidt, A. Hsch Wismar Univ Appl Sci Res Grp CEA PF 1210 D-23952 Wismar Germany

Industrial robots are used in various application fields and many robot manufacturers are active on the market. In most cases, their software solutions are proprietary and thereby they cannot be used for third party robots. Moreover, the integration of external hard- or software is highly restricted. Long term standardization efforts for robot programming languages. such as the Industrial Robot Language (IRL) and its successor, the programming Language for Robots (PLR), have been mostly ignored by robot manufacturers. This fact leads to a restriction on the combined usage of robots. Multi robot applications where robots have to interact are usually limited to software solutions and robots of one manufacturer. On the other hand, control design in engineering is often carried out by the usage of Scientific and Technical Computing Environments (SCEs) like MATLAB. The Robotic Control & Visualization (RCV) toolbox for MATLAB tries to close the gap between robot manufacturer-specific software solutions and SCEs. The current version of the RCV toolbox supports a uniform and integrated control development for KUKA and KAWASAKI robots in the MATLAB/Simulink eiwironment. An extension to other robot types is straight forward. Thus, the implementation of heterogeneous multi-robot applications is considerably simplified. (C) 2015, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

关键词： robot control rapid programming simulation visualization state machine hardware integration MATLAB Stateflow

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Digitální zprovoznění robotizovaného systému pro laserové řezání

Digitální zprovoznění robotizovaného systému pro laser...

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作者： Žaludek, Jan Brno University of Technology

Tato diplomová práce se zabývá virtuálním zprovoznění robotického systému pro laserové řezání. V první části práce jsou shrnuty teoretick... 详细信息

Tato diplomová práce se zabývá virtuálním zprovoznění robotického systému pro laserové řezání. V první části práce jsou shrnuty teoretické znalosti z oblasti virtuálního zprovoznění, základní principy laseru a laserového řezání a systémový rozbor pracoviště. V praktické části bylo pracoviště navrhnuto včetně způsobů upínaní vybraných dílů. Návrh pracoviště a samotné virtuální zprovoznění proběhlo v softwaru RobotStudio. V programovacím jazyku rapid byl vytvořen a odladěn program pro řízení systému a virtuální pracoviště bylo zprovozněno. Pro snadnější ovládání bylo vytvořeno uživatelské rozhraní na FlexPendant.

关键词： Virtuální zprovoznění robotické řezání laserem ABB RobotStudio rapid programování průmyslový robot robotizované pracoviště Virtual Commissioning Robotic Laser Cutting ABB Robotstudio rapid programming Industrial Robot Robotic Workplace Text

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An Object-Oriented Model for rapid Prototyping of Data Path/Control Systems – A Case Study

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IFAC Proceedings Volumes 1998年第15期31卷 301-306页

作者： Ricardo J. Machado Joāo M. Fernandes Alberto J. Proença Dept. of Informatics School of Engineering University of Minho Braga Portugal

The aim of this article is to present how to use shobi-PN, an Object Oriented Petri Net model to specify data path/control systems. In a case study, a transputer link adaptor is specified for rapid-prototyping by applying the shobi-PN model and the generation of VHDL code for simulation is presented. The case study demonstrates the applicability and the capability of a development process, supported by the use of object-oriented principles to model both the control unit and the data path of complex systems, with a developed CAD tool

关键词： Object modelling techniques Petri-nets Computer control systemdesign rapid programming

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Achieving Targets Quickly with rapid Prototyping

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IFAC Proceedings Volumes 2000年第9期33卷 597-599页

作者： Matz Mathias IAVGmbH

The combination of more complex mechanical and electronic systems in heavy duty trucks requires the work with very fast evaluation tools and methods, like the rapid controller prototyping, to reduce the developing time to a minimum. Specially for the design and test of prototyp systems which are not known very well is this necesary to reach the targets in time.

关键词： turbines rapid programming prototyping vehicle control applications dynamic systems

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Robotic Control & Visualization Toolbox for MATLAB

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IFAC-PapersOnLine 2015年第1期48卷 687-688页

作者： T. Pawletta B. Freymann C. Deatcu A. Schmidt Hochschule Wismar - University of Applied Sciences Research Group CEA PF1210 D-23952 Wismar Germany

Industrial robots are used in various application fields and many robot manufacturers are active on the market. In most cases, their software solutions are proprietary and thereby they cannot be used for third party robots. Moreover, the integration of external hard- or software is highly restricted. Long term standardization efforts for robot programming languages, such as the Industrial Robot Language (IRL) and its successor, the programming Language for Robots (PLR), have been mostly ignored by robot manufacturers. This fact leads to a restriction on the combined usage of robots. Multirobot applications where robots have to interact are usually limited to software solutions and robots of one manufacturer. On the other hand, control design in engineering is often carried out by the usage of Scientific and Technical Computing Environments (SCEs) like MATLAB. The Robotic Control & Visualization (RCV) toolbox for MATLAB tries to close the gap between robot manufacturer-specific software solutions and SCEs. The current version of the RCV toolbox supports a uniform and integrated control development for KUKA and KAWASAKI robots in the MATLAB/Simulink environment. An extension to other robot types is straight forward. Thus, the implementation of heterogeneous multi-robot applications is considerably simplified.

关键词： robot control rapid programming simulation visualization state machine hardware integration MATLAB Stateflow

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