Journal articles: 'ABB Robot'

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Moradi Dalvand, Mohsen, and Saeid Nahavandi. "Teleoperation of ABB industrial robots." Industrial Robot: An International Journal 41, no. 3 (May 13, 2014): 286–95. http://dx.doi.org/10.1108/ir-09-2013-400.

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Purpose – The purpose of this paper is to analyse teleoperation of an ABB industrial robot with an ABB IRC5 controller. A method to improve motion smoothness and decrease latency using the existing ABB IRC5 robot controller without access to any low-level interface is proposed. Design/methodology/approach – The proposed control algorithm includes a high-level proportional-integral-derivative controller (PID) controller used to dynamically generate reference velocities for different travel ranges of the tool centre point (TCP) of the robot. Communication with the ABB IRC5 controller was performed utilising the ABB PC software development kit. The multitasking feature of the IRC5 controller was used to enhance the communication frequency between the controller and the remote application. Trajectory tracking experiments of a pre-defined three-dimensional trajectory were carried out and the benefits of the proposed algorithm were demonstrated. The robot was intentionally installed on a wobbly table and its vibrations were recorded using a six-degrees-of-freedom force/torque sensor fitted to the tool mounting interface of the robot. The robot vibrations were used as a measure of the smoothness of the tracking movements. Findings – A communication rate of up to 250 Hz between the computer and the controller was established using C# .Net. Experimental results demonstrating the robot TCP, tracking errors and robot vibrations for different control approaches were provided and analysed. It was demonstrated that the proposed approach results in the smoothest motion with tracking errors of < 0.2 mm. Research limitations/implications – The proposed approach may be employed to produce smooth motion for a remotely operated ABB industrial robot with the existing ABB IRC5 controller. However, to achieve high-bandwidth path following, the inherent latency of the controller must be overcome, for example by utilising a low-level interface. It is particularly useful for applications including a large number of short manipulation segments, which is typical in teleoperation applications. Social implications – Using the proposed technique, off-the-shelf industrial robots can be used for research and industrial applications where remote control is required. Originality/value – Although low-level control interface for industrial robots seems to be the ideal long-term solution for teleoperation applications, the proposed remote control technique allows out-of-the-box ABB industrial robots with IRC5 controllers to achieve high efficiency and manipulation smoothness without requirements of any low-level programming interface.

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Kaczmarek, Wojciech, and Szymon Borys. "An algorithm for creating a sorting/packaging application using the Pick-Master 3 software for ABB robots." Mechanik 91, no. 7 (July 9, 2018): 526–28. http://dx.doi.org/10.17814/mechanik.2018.7.73.

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Presented is the algorithm for creating sorting and packaging applications using the PickMaster 3 application for ABB robots. The article complements ABB company materials. The creation of the application has been divided into three parts (creating lines, preparing the robot and creating the project).

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Hůla, P., R. Šindelář, and A. Trinkl. "Verification of applicability of ABB robots for trans-planting seedlings in greenhouses." Research in Agricultural Engineering 54, No. 3 (August 20, 2008): 155–62. http://dx.doi.org/10.17221/715-rae.

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The article deals with the verification of applicability of different types of ABB industrial robots for trans-planting seedlings. Initial hypothesis was formulated at the beginning namely that the robots with full rotary series and parallel kinematical structure can be employed in the operation of trans-planting seedlings. Testing was performed on real types of robots IRB 1400, IRB 140T and IRB 140B, and using model application. The robot IRB 340 was tested in virtual simulation only. Based on the measurements, it was found out that all real robots tested are able to perform the operation of seedlings trans-planting involving 36 plants with the cycle duration below 2.7 min and at 100% success rate. Within the given range of the movement velocity no statistically significant differences in the cycle duration or in the number of wrongly trans-planted seedlings were found between different robot types. It can be therefore concluded that all the robots tested can be used for trans-planting seedlings.

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Holubek, Radovan, Daynier Rolando Delgado Sobrino, Peter Košťál, and Roman Ružarovský. "Offline Programming of an ABB Robot Using Imported CAD Models in the RobotStudio Software Environment." Applied Mechanics and Materials 693 (December 2014): 62–67. http://dx.doi.org/10.4028/www.scientific.net/amm.693.62.

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Current trend in automation area is focused to the innovation in all fields of the technologies and technological devices. Probably industrial robots and manipulators belong to development too. Industrial robots and manipulators belong to progressive elements of automation. Modern concept uses the offline programming as a tools integration of the virtual CAD models into programming environment. Offline programming carries a lot of advantages for example possibility of the programming without real robot system, possibility of the collision state debugging. Implementation of CAD models in virtual environment of Robot studio achieves better workplace station of creating robotic system and also it generates rather trajectories of the robot path in this system.

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Vocetka, Michal, Jiří Suder, and Daniel Huczala. "THE USE OF THE TWO-HANDED COLLABORATIVE ROBOT IN NON-COLLABORATIVE APPLICATION." Acta Polytechnica 60, no. 2 (April 30, 2020): 151–57. http://dx.doi.org/10.14311/ap.2020.60.0151.

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The article deals with possibilities of using of a two-handed collaborative robot in automated production. The introductory part of this paper is about robot manufacturers’ proposed ways of use of collaborative robots and a consideration of correctness of this stance. In this matter, an alternative point of view is proposed and tested, where a collaborative robot does not cooperate with a worker but replaces him/her completely. The main part of the study focuses on a specific installation of the YuMi collaborative robot into an already existing production line of a leading Czech supplier in the automotive industry. This real application is verified in simulations with an alternative solution consisting of two traditional industrial robots ABB IRB 120 instead. These data are evaluated and the advantages of deploying the collaborative robot and the industrial robots in the specific assembly application are compared. Economic return and productivity in high production cycle applications are considered. The article then describes the difficulties caused by the low load capacity of the YuMi collaborative robot and an alternative approach using the FEM methodology and topology optimization in the robot grip jaws design.

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Chen, Tianyan, Jinsong Lin, Deyu Wu, and Haibin Wu. "Research of Calibration Method for Industrial Robot Based on Error Model of Position." Applied Sciences 11, no. 3 (January 31, 2021): 1287. http://dx.doi.org/10.3390/app11031287.

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Based on the current situation of high precision and comparatively low APA (absolute positioning accuracy) in industrial robots, a calibration method to enhance the APA of industrial robots is proposed. In view of the "hidden" characteristics of the RBCS (robot base coordinate system) and the FCS (flange coordinate system) in the measurement process, a comparatively general measurement and calibration method of the RBCS and the FCS is proposed, and the source of the robot terminal position error is classified into three aspects: positioning error of industrial RBCS, kinematics parameter error of manipulator, and positioning error of industrial robot end FCS. The robot position error model is established, and the relation equation of the robot end position error and the industrial robot model parameter error is deduced. By solving the equation, the parameter error identification and the supplementary results are obtained, and the method of compensating the error by using the robot joint angle is realized. The Leica laser tracker is used to verify the calibration method on ABB IRB120 industrial robot. The experimental results show that the calibration method can effectively enhance the APA of the robot.

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Wang, Chong, Dongxue Liu, Qun Sun, and Tong Wang. "Analysis of Open Architecture 6R Robot Forward and Inverse Kinematics Adaptive to Structural Variations." Mathematical Problems in Engineering 2021 (March 15, 2021): 1–11. http://dx.doi.org/10.1155/2021/4516109.

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This paper presents a kinematic analysis for an open architecture 6R robot controller, which is designed to control robots made by domestic manufactures with structural variations. Usually, robot kinematic studies are often introduced for specific robot types, and therefore, difficult to apply the kinematic model from one to another robot. This study incorporates most of the robot structural variations in one model so that it is convenient to switch robot types by modifying model parameters. By combining an adequate set of parameters, the kinematic models, especially the inverse kinematics, are derived. The kinematic models are proved to be suitable for many classic industrial robot types, such as Puma560, ABB IRB120/1600, KAWASAKI RS003N/RS010N, FANUC M6iB/M10iA, and therefore be applicable to those with similar structures. The analysis and derivation of the forward and inverse kinematic models are presented, and the results are proven to be accurate.

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Pinzón Quintero, Camilo Alberto, Ángel Andrés Joya Quintero, Felipe González Roldán, and Pedro Fabián Cárdenas Herrera. "Collaborative Pick and Place using industrial robots, simulation and deployment." Visión electrónica 14, no. 1 (January 31, 2020): 72–78. http://dx.doi.org/10.14483/22484728.16364.

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In recent times, a fraction of industrial robotics has been oriented to a collaborative approach between different devices to achieve a specific task. This paper describes the simulation and deployment of a metallic beam pick a place process using tow industrial robots. At first, the tool design is presented; it used an electromagnet attached to the robot end effector to lift the load correctly. The communication sequence between the robot's controllers using the digital I/O modules is discussed. The software Robot Studio allowed the process simulation, in which the performance was validated. All the tasks were tested in two ABB IRB 140 industrial robots.

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Sanchez, Antonio, Luis Gracia, Ricardo Morales, and Carlos Perez-Vidal. "Representation of Robots in Matlab." International Journal of Software Engineering and Knowledge Engineering 29, no. 01 (January 2019): 23–42. http://dx.doi.org/10.1142/s0218194019500025.

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This paper presents a new software tool, namely RoboClass, to include and manage realistic robots and elements of the environment in Matlab simulations. These elements are loaded from CAD models using an STL-file and can be as detailed as desired. All the steps involved in the process are explained in detail. Furthermore, two illustrative examples are considered to show the effectiveness and versatility of the proposed approach: the ABB-IRB120 industrial robot and the CSA research robot. The developed tool is especially useful both for robotics research and teaching.

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Zhu, Carlos Ye, J. Norberto Pires, and Amin Azar. "A novel multi-brand robotic software interface for industrial additive manufacturing cells." Industrial Robot: the international journal of robotics research and application 47, no. 4 (April 13, 2020): 581–92. http://dx.doi.org/10.1108/ir-11-2019-0237.

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Purpose This study aims to report the development of a provisional robotic cell for additive manufacturing (AM) of metallic parts. To this end, the paper discusses cross-disciplinary concepts related to the development of the robotic cell and the associated command and control system such as the Computer-Aided Design (CAD) interface, the slicing software and the path planning for the robot manipulator toward printing the selected workpiece. This study also reports the development of a virtual production cell that simulates the AM toolpath generated for the desired workpiece, the adaptation of the simulation environments to enable AM and the development of a user application to setup, command and control the AM processes. If a digital twin setup is efficiently built, with a good correlation between the simulation environment and the real systems, developers may explore this functionality to significantly reduce the development cycle, which can be very long in AM applications where metallurgic properties, part distortion and other properties need to be monitored and controlled. Design/methodology/approach To generate the robot manipulator path, several simulation programs were considered, resulting in different solutions to program and control the robot of choice [in this study, Kuka and Asea Brown Boveri (ABB) robots were considered]. By integrating the solutions from Slic3r, Inventor, Kuka.Sim, Kuka.Officelite, RobotStudio and Visual Studio software packages, this study aims to develop a functional simulation system capable of producing a given workpiece. For this purpose, a graphical user interface (GUI) was designed to provide the user with a higher level of control over the entire process toward simplifying the programming and implementation events. Findings The presented solutions are compatible with the simulation environments of specific robot manufacturers, namely, ABB and Kuka, meaning that the authors aim to align the developments with most of the currently realized AM processing cells. In the long-term, the authors aim to build an AM system that implements a produce-from-CAD strategy i.e. that can be commanded directly from the CAD package used to design the part the authors are interested in. Research limitations/implications This study attempts to shed light on the industrial AM, a field that is being constantly evolved. Arguably, one of the most important aspects of an AM system is path planning for the AM operation, which must be independent of the robotic system used. This study depicts a generic implementation that can be used with several robot control systems. The paper demonstrates the principle with ABB and Kuka robots, exploiting in detail simulation environments that can be used to create digital twins of the real AM systems. This is very important in actual industrial setups, as a good correlation between the digital twins (simulation environment and real system) will enable developers to explore the AM system in not only a more efficient manner, greatly reducing the development cycle but also as a way to fully develop new solutions without stopping the real setup. In this research, a systematic review of robot systems through simulation environments was presented, aiming to emulate the logic that is, used in the production cell development, disregarding the system brand. The adopted digital twin strategy enables the authors to fully simulate, both operationally and functionality, the real AM system. For this purpose, different solutions were explored using robots from two different manufacturers and related simulation environments, illustrating a generic solution that is not bound to a certain brand. Practical implications Using specific programming tools, fully functional virtual production cells were conceived that can receive the instructions for the movements of the robot, using a transmission control protocol/internet protocol. Conversion of the CAD information into the robot path instructions for the robot was the main research question in this study. With the different simulation systems, a program that translates the CAD data into an acceptable format brings the robot closer to the automatic path planning based on CAD data. Both ABB and Kuka systems can access the CAD data, converting it to the correct robot instructions that are executed. Eventually, a functional and intuitive GUI application capable of commanding the simulation for the execution of the AM was implemented. The user can set the desired object and run a completely automatic AM process through the designated GUI. Comparing ABB simulation with the Kuka system, an important distinction can be found, namely, in the exportation of the programs. As the Kuka program runs with add-ons, the solution will not be exported while maintaining its functionality, whereas the ABB program can be integrated with a real controller because it is completely integrated with modules of the virtual controller. Originality/value To conclude, with the solutions exploited, this study reports a step forward into the development of a fully functional generic AM cell. The final objective is to implement an AM system that is, independent of any robot manufacturer brand and uses a produce-from-CAD strategy (c.f. digital manufacturing). In other words, the authors presented a system that is fully automatic, can be explored from a CAD package and, consequently, can be used by any CAD designer, without specific knowledge of robotics, materials and AM systems.

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Nubiola, Albert, and Ilian A. Bonev. "GEOMETRIC APPROACH TO SOLVING THE INVERSE DISPLACEMENT PROBLEM OF CALIBRATED DECOUPLED 6R SERIAL ROBOTS." Transactions of the Canadian Society for Mechanical Engineering 38, no. 1 (March 2014): 31–44. http://dx.doi.org/10.1139/tcsme-2014-0003.

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This paper presents a simple but efficient way to numerically calculate the inverse displacement problem of calibrated decoupled 6R serial robots. The method is iterative and works with any type of calibrated robot model, such as level-3 models, since it requires no algebraic computation and no resolution of high-order polynomials, only the computation of the forward displacement problem of the calibrated robot model and the inverse kinematics of the nominal robot model. The method proposed can find up to eight possible solutions for a given end-effector pose. A numerical example is presented, with one million arbitrary end-effector poses of a level-3 calibrated ABB IRB 120 robot. The computation time for solving the inverse problem is analyzed, and in most cases is found to be only four times the time needed to calculate the nominal inverse kinematics and the calibrated direct kinematics. Furthermore, the method is fast enough to be implemented directly into the robot controller using the RAPID programming language.

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Ciszak, Olaf, Jakub Juszkiewicz, and Marcin Suszyński. "Programming of Industrial Robots Using the Recognition of Geometric Signs in Flexible Welding Process." Symmetry 12, no. 9 (August 28, 2020): 1429. http://dx.doi.org/10.3390/sym12091429.

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The purpose of the article was to build a low-cost system for identifying shapes in order to program industrial robots (on the base of the six-axis “ABB IRB 140” robot) for a welding process in 2D. The whole system consisted of several elements developed in individual stages. The first step was to identify the existing robot control systems, which analysed images from an attached low-cost digital camera. Then, a computer program, which handles communication with the digital camera capturing and processing, was written. In addition, the program’s task was to detect geometric shapes (contours) drawn by humans and to approximate them. This study also presents research on a binarization and contour recognition method for this application. Based on this, the robot is able to weld the same contours on a 2D plane.

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Xu, X., Y. Hu, JM Zhai, LZ Li, and PS Guo. "A novel non-collision trajectory planning algorithm based on velocity potential field for robotic manipulator." International Journal of Advanced Robotic Systems 15, no. 4 (July 1, 2018): 172988141878707. http://dx.doi.org/10.1177/1729881418787075.

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This article presents a non-collision trajectory planning algorithm in three-dimensional space based on velocity potential field for robotic manipulators, which can be applied to collision avoidance among serial industrial robots and obstacles, and path optimization in multi-robot collaborative operation. The algorithm is achieved by planning joint velocities of manipulators based on attractive, repulsive, and tangential velocity of velocity potential field. To avoid oscillating at goal point, a saturated function is suggested to the attractive velocity potential field that slows down to the goal progressively. In repulsive velocity potential field, a spring damping system is designed to eliminate the chattering phenomenon near obstacles. Moreover, a fuzzy logic approach is used to optimize the spring damping coefficients for different velocities of manipulators. Different from the usual tangential velocity perpendicular to the repulsive velocity vector for avoiding the local minima problem, an innovative tangential velocity potential field is introduced that is considering the relative position and moving direction of obstacles for minimum avoidance path in three-dimensional space. In addition, a path priority strategy of collision avoidance is taken into account for better performance and higher efficiency when multi-robots cooperation is scheduled. The improvements for local minima and oscillation are verified by simulations in MATLAB. The adaptabilities of the algorithm in different velocities and priority strategies are demonstrated by simulations of two ABB robots in Robot Studio. The method is further implemented in an experimental platform with a SCARA and an ABB robot cooperation around a stationary obstacle and a moving object, and the result shows real time and effectiveness of the algorithms.

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Gao, Bingtuan, Yong Liu, Ning Xi, and Yantao Shen. "Developing an Efficient Calibration System for Joint Offset of Industrial Robots." Journal of Applied Mathematics 2014 (2014): 1–9. http://dx.doi.org/10.1155/2014/769343.

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Joint offset calibration is one of the most important methods to improve the positioning accuracy for industrial robots. This paper presents an efficient method to calibrate industrial robot joint offset. The proposed method mainly relies on a laser pointer mounted on the robot end-effector and a position sensitive device (PSD) located in the work space arbitrarily. A vision based control was employed to aid the laser beam shooting at the center of PSD surface from several initial robot postures. For each shoot, the laser beam was a line in space which can be determined by the robot joint angles and their offsets which were recorded when the laser beam was brought to the center of the PSD surface. Therefore, there are several lines in space parameterized by robot joint offsets only and all these lines were constrained by the same point, that is, the center of the PSD surface. Consequently, an optimization model was formulated and the Levenberg-Marquardt (LM) algorithm was employed to identify the joint offsets. The developed calibration system was implemented on an ABB industrial robot IRB1600 successfully. And the joint offsets of this robot can be calibrated within 6 minutes.

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Paes, Koen, Wim Dewulf, Karel Vander Elst, Karel Kellens, and Peter Slaets. "Energy Efficient Trajectories for an Industrial ABB Robot." Procedia CIRP 15 (2014): 105–10. http://dx.doi.org/10.1016/j.procir.2014.06.043.

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Tasevski, Jovica, Milutin Nikolic, and Dragisa Miskovic. "Integration of an industrial robot with the systems for image and voice recognition." Serbian Journal of Electrical Engineering 10, no. 1 (2013): 219–30. http://dx.doi.org/10.2298/sjee1301219t.

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The paper reports a solution for the integration of the industrial robot ABB IRB140 with the system for automatic speech recognition (ASR) and the system for computer vision. The robot has the task to manipulate the objects placed randomly on a pad lying on a table, and the computer vision system has to recognize their characteristics (shape, dimension, color, position, and orientation). The ASR system has a task to recognize human speech and use it as a command to the robot, so the robot can manipulate the objects.

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Chen, Shuyang, and John T. Wen. "Industrial Robot Trajectory Tracking Control Using Multi-Layer Neural Networks Trained by Iterative Learning Control." Robotics 10, no. 1 (March 21, 2021): 50. http://dx.doi.org/10.3390/robotics10010050.

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Fast and precise robot motion is needed in many industrial applications. Most industrial robot motion controllers allow externally commanded motion profiles, but the trajectory tracking performance is affected by the robot dynamics and joint servo controllers, to which users have no direct access and about which they have little information. The performance is further compromised by time delays in transmitting the external command as a setpoint to the inner control loop. This paper presents an approach for combining neural networks and iterative learning controls to improve the trajectory tracking performance for a multi-axis articulated industrial robot. For a given desired trajectory, the external command is iteratively refined using a high-fidelity dynamical simulator to compensate for the robot inner-loop dynamics. These desired trajectories and the corresponding refined input trajectories are then used to train multi-layer neural networks to emulate the dynamical inverse of the nonlinear inner-loop dynamics. We show that with a sufficiently rich training set, the trained neural networks generalize well to trajectories beyond the training set as tested in the simulator. In applying the trained neural networks to a physical robot, the tracking performance still improves but not as much as in the simulator. We show that transfer learning effectively bridges the gap between simulation and the physical robot. Finally, we test the trained neural networks on other robot models in simulation and demonstrate the possibility of a general purpose network. Development and evaluation of this methodology are based on the ABB IRB6640-180 industrial robot and ABB RobotStudio software packages.

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Brad, Stelian, Emilia Brad, and Cosmin Ioanes. "Method for Planning Multitasking Robot Application Programs in RAPID." Solid State Phenomena 166-167 (September 2010): 69–76. http://dx.doi.org/10.4028/www.scientific.net/ssp.166-167.69.

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In order to set up well-structured multitasking robot application programs careful planning is required. Robot programming languages (e.g. Karel, RAPID, Melfa, SimPro, etc.) vary from robot to robot constructor. General planning tools used in software development (e.g. UML, IDEF, etc.) require adequate professional skills and a special way of thinking such that robot programmers to apply and adapt them to the specificity of each robot programming language. Customized and intuitive planning tools of robot applications with regard to each particular programming language seem to be preferred by ordinary robot programmers and operators when facing with the development of complex robot tasks. This paper introduces such a tool in relation to the RAPIDTM programming language, specific to ABB robot models. Its effectiveness is revealed in a case study.

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Li, Bin. "Optimization of Multi-Intelligent Robot Control System Based on Wireless Communication Network." Wireless Communications and Mobile Computing 2021 (July 24, 2021): 1–10. http://dx.doi.org/10.1155/2021/6457317.

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The robot is a very complex multi-input multioutput nonlinear system. It has time-varying, strong coupling, and nonlinear dynamic characteristics, and its control is very complicated. Due to the inaccuracy of measurement and modeling, coupled with changes in the load and the influence of external disturbances, it is actually impossible to obtain an accurate and complete dynamic model of the robot. We must face the existence of various uncertain factors of the robot. This paper analyzes the real-time communication protocol in the wireless network control system and confirms that the main way to improve the real-time performance of the wireless network control system is to implement the real-time media access control (MAC) protocol. This paper studies robots from the perspective of control and mainly discusses how to use artificial immune algorithms to design robust nonlinear proportion integral derivative (PID) controllers. A nonlinear PID controller is used to replace the classic PID controller. The nonlinear link can be adjusted with the change of the error, so as to achieve the purpose of improving the adaptability and robustness to obtain satisfactory tracking performance. We carried out selective compliance assembly robot arm (SCARA) robot remote control experiment, dual robot following experiment, SCARA and ABB robot collisionless motion planning experiment, and multirobot intelligent collaborative assembly experiment. The experimental results show that the C/S mode remote control system has good practicability and can complete remote tasks; the P2P communication system has good information transmission effects and can realize real-time information sharing between robots; the collision-free motion planning algorithm enables the dual robots to complete obstacle avoidance tasks well in complex operating environments; the functional modules of the system can closely cooperate to complete the tasks in coordination, and the multirobot system has a certain degree of intelligence.

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Ivan, Andrei Mario, Florin Adrian Nicolescu, Georgia Cezara Avram, and Adrian Theodor Mantea. "Off-Line Programming and Functioning Simulation of Robotic Flexible Manufacturing Cell for Part's Turning." Applied Mechanics and Materials 760 (May 2015): 213–18. http://dx.doi.org/10.4028/www.scientific.net/amm.760.213.

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This paper presents the works performed by the authors in the field of robotic flexible manufacturing cell offline programming and simulation. The study includes a manufacturing cell structure which includes a part transport system, a CNC lathe / turning centre and an articulated arm type industrial robot. The robot performs the task of loading / unloading the CNC lathe / manufacturing centre and manipulating the parts inside the cell, while the machining operations are performed by the CNC manufacturing centre. After briefly presenting the layout of the cell, the paper focuses on describing the methods used for offline programming and simulation of the tasks performed by the industrial robot. The software package used is ABB RobotStudio. The results of the research work are a process simulation and validation for CNC lathe / machining centre loading / unloading operation and part manipulation performed by the industrial robot and assisted task programming for this application using ABB RobotStudio software. The assisted offline programming and simulation general methods used, as well as the procedures for each stage of the applications are described, in order to illustrate the specific operation for each cell and offline programming aspects.

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APOSTOLESCU, Nicolae, Ion TOMESCU, Dragos Daniel Ion GUTA, and Radu BOGATEANU. "The autonomous control of landing on mobile platforms." INCAS BULLETIN 13, no. 3 (September 4, 2021): 3–12. http://dx.doi.org/10.13111/2066-8201.2021.13.3.1.

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In this paper, we propose a simulation application that allows an aerial vehicle to land autonomously on a moving platform in the presence of uncertainties and disturbances. We have tested our method with various speeds and positions for the landing platform. In the context of this article, the autonomous control of landing on mobile platforms consists in synchronizing the movement of an aerial vehicle with the movement of the mobile platform. As a first step, the Spacelab INCAS laboratory group has developed an offline simulation application that allows an ABB robot to receive information on the movement of a Stewart-type mobile platform in order to conduct a landing process. The application can initiate a landing process on the mobile platform and guide the vehicle for perfect docking on the platform. Offline simulation allows the study of several scenarios of a robot working cell - the mobile platform before setting up the production cell. The offline application has a distributed client-server structure. The client communicates with the server through specific communication protocols. The client and server can reside on the same computer. The client application is developed in the Matlab environment and has as object the simulation and programming of the PS-6TL-1500 platform; the server one simulates and programs an ABB 7600-500/2.55 robot that moves on the track, in the RAPID language under RobotStudio ABB simulator.

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Pollák, Martin, Monika Telišková, Marek Kočiško, and Petr Baron. "Application of industrial robot in 5-axis milling process." MATEC Web of Conferences 299 (2019): 04004. http://dx.doi.org/10.1051/matecconf/201929904004.

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Present in machining creates constantly new requirements to increase economic efficiency, productivity and product quality. With this advancement, industry is no longer focusing only on commonly used machining technologies, but is paying increasing attention to the implementation of robots in the manufacturing process by machining. The paper describes the design of equipment for the implementation of 5-axis milling with the help of a robot arm ABB IRB 140. It describes the design of the milling head and deals with the creation of NC machining program in software Autodesk Fusion 360. The generated NC program is then used in RoboDK to create a robotic arm control program. At the end of the paper are described laboratory tests of machining using the designed prototype milling head.

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Kartik et al.,, Kartik et al ,. "Determination of Latency of An Abb Industrial Arm Robot." International Journal of Robotics Research and Development 11, no. 2 (2021): 39–44. http://dx.doi.org/10.24247/ijrrddec20213.

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Gou, Zhi Jian, Hai Ying Yu, Yong Kang Niu, and Yan Chao Xie. "The Research of 6-DOF Robot Reachable Workspace." Applied Mechanics and Materials 120 (October 2011): 47–50. http://dx.doi.org/10.4028/www.scientific.net/amm.120.47.

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With the continuous development of industrial robot application, it becomes very important for the solution of reachable space in the designing and applicating process. But the traditional theory calculation method is complex. When solving the reachable space of new kind of robot, we only draw lessons from the theory and need to change more. So a simple and convenient method is needed in theory field. This paper proposes a method that combine Matlab with SimDesigner to solve 6-DOF Robot reachable space, and takes ABB-1400 as an example to explain the solution of 6-DOF Robot reachable space. It could attain the full reachable space by add sine motion function reasonably to every joint, and obtain the solution of robot reachable space speedly.

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Elvira-Ortiz, David Alejandro, Rene de Jesus Romero-Troncoso, Arturo Yosimar Jaen-Cuellar, Luis Morales-Velazquez, and Roque Alfredo Osornio-Rios. "Vibration Suppression for Improving the Estimation of Kinematic Parameters on Industrial Robots." Shock and Vibration 2016 (2016): 1–15. http://dx.doi.org/10.1155/2016/6954012.

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Vibration is a phenomenon that is present on every industrial system such as CNC machines and industrial robots. Moreover, sensors used to estimate angular position of a joint in an industrial robot are severely affected by vibrations and lead to wrong estimations. This paper proposes a methodology for improving the estimation of kinematic parameters on industrial robots through a proper suppression of the vibration components present on signals acquired from two primary sensors: accelerometer and gyroscope. A Kalman filter is responsible for the filtering of spurious vibration. Additionally, a sensor fusion technique is used to merge information from both sensors and improve the results obtained using each sensor separately. The methodology is implemented in a proprietary hardware signal processor and tested in an ABB IRB 140 industrial robot, first by analyzing the motion profile of only one joint and then by estimating the path tracking of two welding tasks: one rectangular and another one circular. Results from this work prove that the sensor fusion technique accompanied by proper suppression of vibrations delivers better estimation than other proposed techniques.

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Gosim, Nwokomah Wilson, Tarig Faisal, H. M. A. A. Al-Assadi, and Mahmud Iwan. "Pick and Place ABB Working with a Liner Follower Robot." Procedia Engineering 41 (2012): 1336–42. http://dx.doi.org/10.1016/j.proeng.2012.07.319.

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Nicolescu, A. F., and C. Cristoiu. "Status check and calibration method for robot ABB IRB 140." IOP Conference Series: Materials Science and Engineering 444 (November 29, 2018): 052022. http://dx.doi.org/10.1088/1757-899x/444/5/052022.

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Fang, Dandan, You Zheng, Botao Zhang, Xiangbo Li, Pengfei Ju, Hua Li, and Cunnian Zeng. "Automatic Robot Trajectory for Thermal-Sprayed Complex Surfaces." Advances in Materials Science and Engineering 2018 (July 8, 2018): 1–11. http://dx.doi.org/10.1155/2018/8697056.

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Automatic trajectory generation for thermal spray application is highly desirable for today’s automotive manufacturing. Automatic robot trajectory for free-form surfaces to satisfy the coating uniform is still highly challenging due to the complex geometry of free-form surfaces. The purpose of this study is to present and implement a method for automatic generation of robot trajectory according to the given spray parameters on polygon profile and complex curved free-form surfaces, such as torch speed, spray distance, spray angle, and so on. This software development foundation is an Add-In programme of RobotStudio, which is off-line programming and simulation software of ABB Company. The experimental results show that the robot trajectory can be generated rapidly, accurately, and automatically on the complex geometries by this method.

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Lv, Hong Wei. "Study on Welding Path Planning of Welding Position Flock for Welding Robot Based on Improved Genetic Algorithm." Applied Mechanics and Materials 602-605 (August 2014): 1332–35. http://dx.doi.org/10.4028/www.scientific.net/amm.602-605.1332.

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With full rotation articulated ABB-IBR140-M2000 robot with six degrees of freedom used as welding robot, the exploring of efficient complete coverage of welding position flock is an important way of improving the performance of welding robot. Making use of improved genetic algorithm, in which the best father generation is saved and using ordered cross and reverse ordered mutation to constitute filial generation, and this method makes sure that the algorithms is convergent. The complete coverage of welding position optimization mathematic model whose objective is the minimum distance is established, making use of the improved genetic algorithm to solve the problem, an example is analyzed in detail, and the result shows that the algorithms is convergent and efficient.

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Ferraguti, Federica, Renzo Villa, Chiara Talignani Landi, Andrea Maria Zanchettin, Paolo Rocco, and Cristian Secchi. "A Unified Architecture for Physical and Ergonomic Human–Robot Collaboration." Robotica 38, no. 4 (June 19, 2019): 669–83. http://dx.doi.org/10.1017/s026357471900095x.

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SUMMARYIndustrial applications that involve working on and moving a heavy load or that constrain the operator to work in uncomfortable positions can take advantage of the assistance of a robotic assistant. In this paper, we propose an architecture for an ergonomic human–robot co-manipulation of objects of various shapes and weight. The object is carried by the robot and, thanks to an ergonomic planner, is positioned in the most comfortable way for the user. Furthermore, thanks to an admittance control with payload compensation, the user can easily adjust the position of the object for working on different parts of it. The proposed architecture is experimentally validated in a robotic cell including an ABB industrial robot.

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Vocetka, Michal, Róbert Huňady, Martin Hagara, Zdenko Bobovský, Tomáš Kot, and Václav Krys. "Influence of the Approach Direction on the Repeatability of an Industrial Robot." Applied Sciences 10, no. 23 (December 5, 2020): 8714. http://dx.doi.org/10.3390/app10238714.

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The article aims to prove the hypothesis, that an approach direction influences repeatability at target point of a trajectory. Unlike most researches that deal with absolute accuracy, this paper is focused on determining the achievable repeatability and the influence of the direction of approach on it. To prove the hypothesis, several measurements are performed under different conditions, on industrial robot ABB IRB1200. To verify and confirm the result obtained from the resolvers located on the individual axes of the robot, the measurements are replicated using high-speed digital image correlation cameras. Using an external measuring device, the real repeatability of the robot endpoint is determined. The measurement proved the correctness of the hypothesis, i.e., the dependence of the approach direction on repeatability was proved. Furthermore, real deviations were measured and the extent of this influence on the robot repeatability was determined.

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Cohal, Viorel. "Some Aspects Concerning Geometric Forms Automatically Find Images and Ordering them Using RobotStudio Simulation." Advanced Materials Research 1036 (October 2014): 760–63. http://dx.doi.org/10.4028/www.scientific.net/amr.1036.760.

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The paper presents finding certain geometric objects in an image of the work area. Using offline programming of robots ABB RobotStudio program is ordered using these objects in a predetermined order. A significant number of high-performance algorithms used in image processing using methods and techniques of artificial intelligence. On the other hand, artificial intelligence requires intersection area and building systems capable of performing the functions of the human intellect: experiential learning, natural language understanding and the use of reasoning to solve problems or make decisions. All these imply, however, accumulating a certain amount of information (knowledge base, environmental information, etc.). This information is taken from the intelligent sensors, and creates an image of the environment when taking data. The image thus obtained is extracted useful information. However the field of artificial vision is a common discipline both image processing and artificial intelligence. In the first stage, objects placed in the normal position as to determine the geometrical shape feature. Determine a range of appropriate methods for recognizing geometric shapes (square, circle, rectangle, etc.). Using ABB robot with gripper each object is positioned firmly in place .

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Ortiz Dominguez, Martín, Irving Morgado González, Arturo Cruz Avilés, Miguel A. Paredes Rueda, José A. García Macedo, Rodolfo Velázquez-Mancilla, Miguel A. Flores Rentería, Jorge Zuno Silva, and José M. Farfán García. "Diseño Mecatrónico de un Robot de Tres Grados de Libertad Aplicando la Metodología de Nigel Cross." Ingenio y Conciencia Boletín Científico de la Escuela Superior Ciudad Sahagún 6, no. 12 (July 5, 2019): 24–36. http://dx.doi.org/10.29057/escs.v6i12.4007.

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En el presente artículo se describen los aspectos importantes de la metodología de diseño, la fabricación y el modelado cinemático de un robot manipulador de tres grados de libertad. El manipulador robótico diseñado tendrá fines educativos e investigación y será utilizado en el área de robótica en la Escuela Superior de Ciudad Sahagún-UAEH. Se presenta la propuesta de diseño de un robot manipulador de 5 barras similar al IRB1400 de ABB. Se utilizan motoreductores con encoders de cuadratura y como adquisición de datos una tarjeta Arduino. Se calcula la cinemática directa e inversa del manipulador, mediante el uso de los parámetros de Denavit-Hartenberg. Se realizan pruebas de simulación del comportamiento del robot y la validación del modelo cinemático.

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Vu, Hung Minh, Trung Quang Trinh, and Thang Quoc Vo. "Research on kinematic structure of a redundant serial industrial robot arm." Science and Technology Development Journal 19, no. 3 (September 30, 2016): 24–33. http://dx.doi.org/10.32508/stdj.v19i3.561.

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This paper proposes a new kinematic structure of a redundant serial robot arm and presents forward and inverse kinematic analysis. This is a new structure developed based on the robot IRB 2400 of ABB. The new structure consists of six revolute joints and two prismatic joints. The proposed robot arm has only seven degrees of freedom because the structure has a constraint between two revolute joints. Two prismatic joints help to expand workspaces of manipulator from small to very large. The paper describes in details about forward and inverse kinematics. Forward kinematics is derived based on DH Convention while inverse kinematics is calculated based on an objective function to minimize motions of a revolute joint and two prismatic joints. The simulation results on Matlab software indicated that the joint positions and velocities of a redundant serial robot arm matched well the trajectories in Cartesian Space.

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Rooks, Brian. "High speed delivery and low cost from new ABB packaging robot." Industrial Robot: An International Journal 26, no. 4 (June 1999): 267–75. http://dx.doi.org/10.1108/01439919910277503.

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Reguera, P., M. Domínguez, H. Alaiz, J. J. Fuertes, M. A. Prada, and R. García. "REMOTE OPERATION OF ABB IRB 1400 S4 ROBOT OVER THE INTERNET." IFAC Proceedings Volumes 39, no. 6 (2006): 505–10. http://dx.doi.org/10.3182/20060621-3-es-2905.00087.

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Ju Zhengyue, 居正月, 吴建国 Wu Jianguo, and 张永康 Zhang Yongkang. "The Research of the Fiber Laser Processing System Based on ABB Robot." Applied laser 30, no. 4 (2010): 295–99. http://dx.doi.org/10.3788/al20103004.0295.

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Slamani, Mohamed, Albert Nubiola, and Ilian A. Bonev. "Modeling and assessment of the backlash error of an industrial robot." Robotica 30, no. 7 (January 16, 2012): 1167–75. http://dx.doi.org/10.1017/s0263574711001287.

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SUMMARYThis paper proposes an experimental approach for evaluating the backlash error of an ABB IRB 1600 industrial serial robot under various conditions using a laser interferometer measurement instrument. The effects of the backlash error are assessed by experiments conducted on horizontal and vertical paths. A polynomial model was used to represent the relationship between the backlash error and the robot configuration. A strategy based on statistical tests was developed to choose the degree of polynomial representing the effect of the tool center point (TCP) speed and payload. Results show that the backlash error strongly affects the repeatability of the industrial robot. Statistical analyses prove that the backlash is highly dependent on both robot configuration and TCP speed, whereas it remains nearly unaffected by changes in the payload. It was discovered that the backlash error as measured at the TCP may exceeds 100 μm, and that the positive backlash error increases and the negative backlash error decreases when there is increase in TCP speed.

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Holubek, Radovan, Daynier Rolando Delgado Sobrino, Peter Košťál, and Jarmila Oravcová. "Incorporation, Programming and Use of an ABB Robot for the Operations of Palletizing and Despalletizing at an Academic-Research Oriented Intelligent Manufacturing Cell." Applied Mechanics and Materials 309 (February 2013): 62–68. http://dx.doi.org/10.4028/www.scientific.net/amm.309.62.

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Because of the need of expanding the intelligence, functionalities and capabilities of an IMC at the IPSAM, in this paper the authors summarize the process of inserting, programming and using a new ABB robot (IRB 120) for the activities of palletizing and despalletizing of parts and pieces in such a cell. Together with all this, it is also presented a description of the material flow where this robot will be part of so as to better understand its role and interconnections with the remaining devices of the cell. Furthermore, through all the paper several graphics and technical specifications are also given for the sake of comprehension.

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Damaševičius, Robertas, Rytis Maskeliūnas, Gintautas Narvydas, Rūta Narbutaitė, Dawid Połap, and Marcin Woźniak. "Intelligent automation of dental material analysis using robotic arm with Jerk optimized trajectory." Journal of Ambient Intelligence and Humanized Computing 11, no. 12 (October 22, 2020): 6223–34. http://dx.doi.org/10.1007/s12652-020-02605-8.

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AbstractMany types of biomaterial analysis require numerous repetition of the same operations. We suggest applying the principles of Total Laboratory Automation (TLA) for analysis of dental tissues in in-vitro conditions. We propose an innovative robotic platform with ABB high precision industrial robotic arm. We programmed the robot to achieve 3000 cycles of submerging for analysis of the stability and thermal wear of dental adhesive materials. We address the problem of robot trajectory planning to achieve smooth and precise trajectory while minimizing jerk. We generate different variants of trajectory using natural cubic splines and adopt the NSGA II multiobjective evolutionary algorithm to find a Pareto-optimal set of robot arm trajectories. The results demonstrate the applicability of the developed robotic platform for in-vitro experiments with dental materials. The platform is suitable for small or medium size dental laboratories.

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Zhu, Su Xia, Quan Sheng Lei, and Jin Quan Li. "Analysis on Influence Coefficient of Workspace about a Configuration Palletizing Robot." Advanced Materials Research 630 (December 2012): 321–24. http://dx.doi.org/10.4028/www.scientific.net/amr.630.321.

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A Case Study of IRB460 configuration palletizing robot of ABB. On one hand, we use D-H method to set up its kinematics model, and adopt numerical method to get its three-dimensional workspace maps and coordinate plane projection maps by using Matlab programming. On the other hand, this paper introduces the concept of workspace influence coefficient, which provides an important basis for the optimized design of its structure, to discuss in detail and make a quantitative analysis of the influence degree and influence trend caused by the change of rod length and angle parameters.

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Kang, Hee Shin, Jeong Suh, and Taik Dong Cho. "Robot Based Laser Welding Technology." Materials Science Forum 580-582 (June 2008): 565–68. http://dx.doi.org/10.4028/www.scientific.net/msf.580-582.565.

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In order to obtain a good result in the laser welding process, the laser welding technology for manufacturing an automobile body is studied in this research. The monitoring of the welding quality and the seam tracking are studied to improve the productivity. The robot, the seam tracking system and CW Nd:YAG laser are used for the robot laser welding system. The laser system is 4kW Nd:YAG laser_(HL4006D) of Trumpf and the robot system is IRB6400R of ABB. The robot laser welding system is equipped with the seam tracker and plasma sensor. The seam tracking system is composed of SMART-20LS and RAPAL of Servo-Robot and MVS-5 sensor of MVS. The precise positioning of the laser beam on the joint to be assembled is obtained by seam tracker. The welding joints of steel plate are butt and lap joint. The three dimensional welding for non-linear tailored blank is performed after the fundamental experiments of bead-on-plate. Finally, the welding process for non-linear tailored blank and front side member is studied. The monitoring method of welding quality and seam tracking along the butt-joint are studied. The artificial defects in joint are well observed by the plasma intensity signal from the plasma sensor of UV and IR. The robot based laser welding system is developed for the precision seam tracking and the real-time monitoring of welding quality.

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Muncut, Elena-Stela, Lavinia-Ioana Culda, Geza-Mihai Erdodi, and Gheorghe Sima. "The welding program optimization of a S355 steel assembly used in agricultural machinery." MATEC Web of Conferences 290 (2019): 08014. http://dx.doi.org/10.1051/matecconf/201929008014.

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The paper will include the realization of a weld joint line with an ABB robot. The manufacturing area contains a welding device and a robot. For the robotic welding, the methods and a complete welding program will be presented. The first stage is the design of the device that can be used for manufacturing a range of comparable size pieces with similar gripping capability. There are described the axes and the way of movement, the presentation of the speeds for the rotating joints and roto-translation. CAD design of the workpiece including WPS (welding technology that contains the shape of each joint and welding parameters: welding current, electric arc voltage, welding speed and secondary parameters). The base material, the addition material, protective gases and a list of parts from the robot that require periodic changes will be presented. It is presented the CAD design of the workpiece including WPS.

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Shailendra Singh Chauhan and Avadhesh Kumar Khare. "Kinematic Analysis of the ABB IRB 1520 Industrial Robot Using RoboAnalyzer Software." Evergreen 7, no. 4 (December 2020): 510–18. http://dx.doi.org/10.5109/4150470.

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Lipina, Jan, Petr Greguš, Jaroslav Tomáš, Václav Krys, and Ekaterina Khludova. "Implementation of a Vacuum Effector for The ABB IRB 140 Industrial Robot." Transactions of the VŠB - Technical University of Ostrava, Mechanical Series 58, no. 2 (December 30, 2012): 25–32. http://dx.doi.org/10.22223/tr.2012-2/1918.

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Nubiola, Albert, and Ilian A. Bonev. "Absolute calibration of an ABB IRB 1600 robot using a laser tracker." Robotics and Computer-Integrated Manufacturing 29, no. 1 (February 2013): 236–45. http://dx.doi.org/10.1016/j.rcim.2012.06.004.

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Shailendra Singh Chauhan and Avadhesh Kumar Khare. "Kinematic Analysis of the ABB IRB 1520 Industrial Robot Using RoboAnalyzer Software." Evergreen 7, no. 4 (December 2020): 510–18. http://dx.doi.org/10.5109/4150470.

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Parameshwaran, R., A. Tony Thomas, and V. Madhu Vishal. "Vision Based Self Adaptive Algorithm for 6 Axis ABB Industrial Welding Robot." IOP Conference Series: Materials Science and Engineering 1123, no. 1 (April 1, 2021): 012038. http://dx.doi.org/10.1088/1757-899x/1123/1/012038.

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Krishnan, Megha G., Abhilash T. Vijayan, and Ashok Sankar. "Performance enhancement of two-camera robotic system using adaptive gain approach." Industrial Robot: the international journal of robotics research and application 47, no. 1 (November 4, 2019): 45–56. http://dx.doi.org/10.1108/ir-08-2019-0174.

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Purpose This paper aims to improve the performance of a two-camera robotic feedback system designed for automatic pick and place application by modifying its velocity profile during switching of control. Design/methodology/approach Cooperation of global and local vision sensors ensures visibility of the target for a two-camera robotic system. The master camera, monitoring the workspace, guides the robot such that image-based visual servoing (IBVS) by the eye-in-hand camera transcends its inherent shortcomings. A hybrid control law steers the robot until the system switches to IBVS in a region proven for its asymptotic stability and convergence through a qualitative overview of the scheme. Complementary gain factors can ensure a smooth transition in velocity during switching considering the versatility and range of the workspace. Findings The proposed strategy is verified through simulation studies and implemented on a 6-DOF industrial robot ABB IRB 1200 to validate the practicality of adaptive gain approach while switching in a hybrid visual feedback system. This approach can be extended to any control problem with uneven switching surfaces or coarse/fine controllers which are subjected to discrete time events. Practical implications In complex workspace where robots operate in parallel with other robots/humans and share workspaces, the supervisory control scheme ensures convergence. This study proves that hybrid control laws are more effective than conventional approaches in unstructured environments and visibility constraints can be overcome by the integration of multiple vision sensors. Originality/value The supervisory control is designed to combine the visual feedback data from eye-in-hand and eye-to-hand sensors. A gain adaptive approach smoothens the velocity characteristics of the end-effector while switching the control from master camera to the end-effector camera.

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Smith, Thomas, Panorios Benardos, and David Branson. "Assessing worker performance using dynamic cost functions in human robot collaborative tasks." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 234, no. 1 (March 26, 2019): 289–301. http://dx.doi.org/10.1177/0954406219838568.

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The aim of this research is to develop a framework to allow efficient human robot collaboration on manufacturing assembly tasks based on cost functions that quantify capabilities and performance of each element in a system and enable their efficient evaluation. A proposed cost function format is developed along with initial development of two example cost function variables, completion time and fatigue, obtained as each worker is completing assembly tasks. The cost function format and example variables were tested with two example tasks utilizing an ABB YuMi Robot in addition to a simulated human worker under various levels of fatigue. The total costs produced clearly identified the best worker to complete each task with these costs also clearly indicating when a human worker is fatigued to a greater or lesser degree than expected.

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Journal articles on the topic 'ABB Robot'

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