Journal articles: 'Robot KUKA'

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Lukač, Duško, and Miljana Milić. "Simulation of a Pick-and-Place Cube Robot by Means of the Simulation Software Kuka Sim Pro." Electronics ETF 21, no. 2 (2018): 95. http://dx.doi.org/10.7251/els1721095l.

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In this work the creation of the program code for industrial robot and the simulation of a robot cell by means of the simulation software KUKA Sim Pro in version 2.2.2, is presented. Simulated and programmed is, in reality existing KUKA-robot cell with industrial robot of the type KR6 R900 sixx (Agilus) with signal connected conveyor belt. The software KUKA Sim Pro is a program for design of 3D-layouts of a plant components including KUKA-robots. On this occasion, any layouts and concept designs can be simulated and be analysed. The used components were taken from the integrated library or were partly newly created. The industrial robot KUKA KR6 R900 sixx counts to the quickest robots of the world. In this work, the simulation of the robot cell and periphery is elaborated, as well as with it, connected practical circumstances and issues with the programming of the abovementioned robot.

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Vona, Gábor, Antal Apagyi, Timotei István Erdei, and Géza Husi. "Reconstruction, Adapter Design and Application of a Nokia Puma 560 Robot's Gripper on a Robot Cell Integrated KUKA KR5 Industrial Robot." Műszaki Tudományos Közlemények 11, no. 1 (2019): 183–86. http://dx.doi.org/10.33894/mtk-2019.11.41.

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Abstract This summary details the steps that were necessary to fasten a Nokia Puma 560’s gripper to a KUKA KR5 industrial robot found at University of Debrecen, Department of Mechatronics and also demonstrates its applications in the robot cell designed around its usage. It also includes the inspection and reconstruction of said gripper, and the 3D designing of its adapter. The adapter is intended for the KUKA KR5 robot, which is later manufactured using PRO-PLA 3D printing. The KUKA KR5 will also have a robot cell designed and built around it, for educational purposes.

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Crenganis, Mihai, and Akos Csiszar. "A Dynamic Model for KUKA KR6 in SPIF Processes." Materials Science Forum 957 (June 2019): 156–66. http://dx.doi.org/10.4028/www.scientific.net/msf.957.156.

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The paper presents the development of a dynamic model for the KUKA KR6 robot during single point incremental forming (SPIF) of metal sheets. The dynamic model of the KUKA KR6 robot is created in MATLAB®-SimMechanics. This dynamic model is necessary to verify that the mechanical structure of this low payload industrial robot of 36 Kg capacity can withstand some specific forces in incremental forming of some low plasticity alloys like Ti6Al4V. In the Centre of Studies and Research for Plastic Deformations of "Lucian Blaga" University of Sibiu, different attempts on single point incremental forming of thin metal sheets have been carried out and some of the studies are based on SPIF using the KUKA KR6-2 industrial robot. Nevertheless, the previous experimental attempts using the KUKA KR 6-2 robot in SPIF processes were realised only on 0.4 mm thick DC04 steel sheets. This material has very good deformability properties and the forces during the process are relatively small. After the dynamic model validation some specific circular trajectories are imposed and the forces that can appear during SPIF process for Ti6Al4V alloy sheets are taken into consideration. After forces analysis, it was concluded that the KUKA KR6 robot can be used in single point incremental forming processes for metal parts requiring greater forming forces.

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Popan, Alexandru, Nicolae Bâlc, Bogdan Luca, Alina Popan, and Alexandru Carean. "The Accuracy of the Plastic Parts Milling Process Executed by a Six Axes Robot." Applied Mechanics and Materials 808 (November 2015): 339–44. http://dx.doi.org/10.4028/www.scientific.net/amm.808.339.

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The objective of this paper is to analyze the precision of plastic parts made by using robot milling. Currently, the robots have good precision, rigidity, flexibility and they are able to machine parts. By using a six axis Kuka robot and an electric spindle, a plastic part was milled. The paper presents the advantages and disadvantages of this new technology, analyzing the dimensional accuracy, surface quality and costs.

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Talele, Sarveh Kishor. "MIG WELDING USING 8-AXIS KUKA ROBOT." International Journal of Engineering Applied Sciences and Technology 04, no. 10 (2020): 101–5. http://dx.doi.org/10.33564/ijeast.2020.v04i10.019.

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Semjon, Jan, and Martin Kočan. "PROPOSAL OF ROBOTIZED CELL WITH ROBOT KUKA KR 6 FOR EDUCATIONAL PURPOSES." TECHNICAL SCIENCES AND TECHNOLOGIES, no. 4(18) (2019): 49–54. http://dx.doi.org/10.25140/2411-5363-2019-4(18)-49-54.

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Urgency of the research. The issue of using robotic workplaces for training students of technical fields is highly topical. It makes it possible to increase the labour market participation of students not only for the needs of the present, but also for the future. The design and implementation of an educational robotized workplace make it possible to prepare students according to their needs and current knowledge. Target setting. The aim of the solution is to design an educational workplace for handling, equipped with a Kuka KR6 robot and pneumatic effector. The three-finger effector from SMC allows you to hold and carry objects with a maximum clamping force of 130 N. At the same time, the workplace allows you to place handling objects in a total of 32 positions. Actual scientific researches and issues analysis. The deployment of angular industrial robots has also penetrated into other areas of industry where their use was only sporadic. This creates the need for additional personnel able to program the robot and set the technology for a specific issue of the robotized workplace. Uninvestigated parts of general matters defining. Improvement of students' knowledge or retraining of employees creates preconditions for their better application in technical practice. The ability to realize customized programs on industrial robots currently deployed in industry prepares students to perform their work without the need for further training, saving costs and time for employers. The research objective. The aim of the research was to design an educational robotized workplace in order to prepare students according to the specific needs of employers. The workplace allows the use of other pneumatic grippers, while it is possible to connect a total of 16 inputs and outputs for the use of other peripheral devices. The robot can also be used to create a program in an ROS environment, which in turn creates the need to use a Kinect device to detect not oriented components. The statement of basic materials. The use of the robot, whose control system KR C4 is one of the most modern, allows students to prepare for the needs of practice in the nearest future. After completing the training, the student is able to program on-line Kuka robots for industrial use. Conclusions. The article focuses on the design and creation of a training robotized workplace for creating programs using a pneumatic gripper. The design and use of the chessboard makes it possible to create a large number of possible combinations for training purposes. This creates a good precondition for adapting training to the specific needs of trained groups. The use of horizontal and inclined plane will teach students how to use the co-ordinate system of the tool or external base when programming. For this reason, programming the movement of the robot along the correct trajectory is more complex and improves the spatial perception of the students in the robot workspace.

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Lenkutis, Tadas, Andrius Dzedzickis, Oleksii Balitskyi, et al. "„KUKA YOUBOT“ DINAMINIŲ CHARAKTERISTIKŲ TYRIMAS / RESEARCH OF KUKA YOUBOT DYNAMICAL CHARACTERISTICS." Mokslas - Lietuvos ateitis 11 (February 1, 2019): 1–3. http://dx.doi.org/10.3846/mla.2019.7072.

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In order to maintain competitiveness and a technical edge business entity are increasingly implementing advanced technical solutions in their operational processes, most of which include the installation of various type robotic systems. One of the best known and widely distributed examples of universal robotic system is Kuka-Youbot, which is a modular robotic system developed by KUKA as open source project for education and research. This system consists of two main modules, a robotic arm with 5 degrees of freedom, and a omni-directional mobile platform. It can be assembled in various configuration, such as a stationary robotic arm, a mobile platform, a robotic arm mounted on mobile platform and, two robotics arms mounted on one mobile platform. Positions of robot grabber were determined using two photo cameras of 1920×1080 in resolution, rulers and special algorithm in Matlab software. The longest duration of the vibrations was recorded when rotating Joint II on the vertical plane. The shortest-lasting vibrations were recorded when rotating the Joint V. In order to reduce the duration of the manipulator’s vibration time in operating mode, it is recommended to use the robot’s operating positions located at the horizontal plane.

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Kolyubin, Sergey, Leonid Paramonov, and Anton Shiriaev. "Robot Kinematics Identification: KUKA LWR4+ Redundant Manipulator Example." Journal of Physics: Conference Series 659 (November 19, 2015): 012011. http://dx.doi.org/10.1088/1742-6596/659/1/012011.

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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 (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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Nevmerzhitskiy, Maksim N., Boris S. Notkin, Andrey V. Vara, and Konstantin V. Zmeu. "Friction Model of Industrial Robot Joint with Temperature Correction by Example of KUKA KR10." Journal of Robotics 2019 (January 6, 2019): 1–11. http://dx.doi.org/10.1155/2019/6931563.

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The quality of industrial robots essentially depends on the properties of their kinematic couples. This research has involved conducting an experimental study of the friction torque in a joint of the KUKA KR10 industrial robot and building its model. It has been established that the largest impact on friction in the joint is caused by its axial load and velocity, as well as the temperature of the mechanism, which is generally not homogeneous. It is not possible to measure temperature fields in the joints of a serial industrial robot directly. This study has set forth a method to estimate friction torque taking into account the temperature factor indirectly. For this, we have used the motor temperature available for measuring in combination with special periodical motions, performed by the robot, during which we estimated the actual friction torque in the joint and calculated a temperature correction based on our findings.

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Thien, Nguyen Duc, Annalisa Terracina, Luca Iocchi, and Massimo Mecella. "Robotic Teaching Assistance for the “Tower of Hanoi” Problem." International Journal of Distance Education Technologies 14, no. 1 (2016): 64–76. http://dx.doi.org/10.4018/ijdet.2016010104.

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In this work the authors investigate the effectiveness of robotics in education. Rather than creating excitement for children when playing with robots in games, they are examining the overall learning environment where a robot acts as a teaching assistant. They designed a suitable lesson plan when groups of teenagers participate in activities involving the use of the robot: the authors first performed experiments for the robot to solve the “Tower of Hanoi” problem; then, they designed a lesson plan to teach the “Tower of Hanoi” problem using a KUKA youBot as a teaching assistant. The experiment involved two groups of students: one group was taught with the robot and the other group without the robot. Finally, the authors present results of a comparative study based on questionnaires, in order to understand if the effectiveness of the teaching has been greater with the robot as teaching assistant.

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Corona-Castuera, J., and I. Lopez-Juarez. "Behaviour-based approach for skill acquisition during assembly operations, starting from scratch." Robotica 24, no. 6 (2006): 657–71. http://dx.doi.org/10.1017/s0263574706002839.

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Industrial robots in poorly structured environments have to interact compliantly with this environment for successful operations. In this paper, we present a behaviour-based approach to learn peg-in-hole operations from scratch. The robot learns autonomously the initial mapping between contact states to motion commands employing fuzzy rules and creating an Acquired-Primitive Knowledge Base (ACQ-PKB), which is later used and refined on-line by a Fuzzy ARTMAP neural network-based controller. The effectiveness of the approach is tested comparing the compliant motion behaviour using the ACQ-PKB and a priori Given-Primitive Knowledge Base (GVN-PKB). Results using a KUKA KR15 industrial robot validate the approach.

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Yu, Tian Biao, Xu Zhang, Xiu Ling Xu, Lei Geng, and Wan Shan Wang. "Researches on Virtual Machining Simulation of Flexible Manufacturing Cell Based on KUKA Robot." Key Engineering Materials 621 (August 2014): 499–504. http://dx.doi.org/10.4028/www.scientific.net/kem.621.499.

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Flexible manufacturing cell (FMC) was the extension of the CNC machining center,which consisted of three portions , a CNC machining center , an industrial robot and unified by a the background computer programmable control. In order to guarantee the rationality and feasibility of the automatic operation loading and unloading workpieces , the simulation object was based on the KUKA robot of flexible manufacturing cell in this paper, which based on MATLAB/GUI and combinated of VRML language and information transmission method development between MATLAB and the simulation system of flexible manufacturing unit. According to the set up parameters and angles, the model was implemented. Through the control panel and the robot's real-time interactive simulation, 3d visualization window can be real-time display of the robot simulation, and validated the path planning. According to the simulation results of the model , it could provide reference to the actual movement of the KUKA robot trajectory planning, provided the better fully automated feasibility analysis of flexible manufacturing cell, and proved the improvement of flexible manufacturing unit operation scientifically and reasonably.

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Chen, Youdong, and Ling Li. "Collision-free trajectory planning for dual-robot systems using B-splines." International Journal of Advanced Robotic Systems 14, no. 4 (2017): 172988141772802. http://dx.doi.org/10.1177/1729881417728021.

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This article presents a new approach for planning collision-free trajectories of two robots working in a shared workspace. Based on the B-spline knot refinement and the local modification scheme, the approach only changes the local trajectory around the collision area without changing the shape in the global way. The geometric model of dual-robot is employed by two kinds of geometric elements (sphere and capsule). A collision check method calculates the distance between two robots to determine whether the collisions exist. The collision check is converted to calculate the distance between every two elements. The proposed method has been implemented on a dual-robot system composed of two KUKA manipulators. The numerical and simulation results presented in the article illustrate the efficiency of the proposed technique.

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Su, Hang, Nima Enayati, Luca Vantadori, Andrea Spinoglio, Giancarlo Ferrigno, and Elena De Momi. "Online human-like redundancy optimization for tele-operated anthropomorphic manipulators." International Journal of Advanced Robotic Systems 15, no. 6 (2018): 172988141881469. http://dx.doi.org/10.1177/1729881418814695.

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Robot human-like behavior can enhance the performance of human–robot cooperation with prominently improved natural interaction. This also holds for redundant robots with an anthropomorphic kinematics. In this article, we translated human ability of managing redundancy to control a seven degrees of freedom anthropomorphic robot arm (LWR4+, KUKA, Germany) during tele-operated tasks. We implemented a nonlinear regression method—based on neural networks—between the human arm elbow swivel angle and the hand target pose to achieve an anthropomorphic arm posture during tele-operation tasks. The method was assessed in simulation and experiments were performed with virtual reality tracking tasks in a lab environment. The results showed that the robot achieves a human-like arm posture during tele-operation, and the subjects prefer to work with the biologically inspired robot. The proposed method can be applied in control of anthropomorphic robot manipulators for tele-operated collaborative tasks, such as in factories or in operating rooms.

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Husi, Géza. "Position Singularities and Ambiguities of the KUKA KR5 Robot." International Journal of Engineering Technologies IJET 1, no. 1 (2015): 44–50. http://dx.doi.org/10.19072/ijet.105700.

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Husi, Géza. "Position Singularities and Ambiguities of the KUKA KR5 Robot." International Journal of Engineering Technologies, IJET 1, no. 1 (2015): 44. http://dx.doi.org/10.19072/ijet.15689.

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Shen, Bin, Zhihang Yang, and Yanwu Wang. "Virtual simulation of communication between KUKA robot and PLC." Journal of Physics: Conference Series 1634 (September 2020): 012065. http://dx.doi.org/10.1088/1742-6596/1634/1/012065.

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Jha, Aparna, Manoj Soni, and Mohd Suhaib. "Simulation and kinematic analysis of KUKA KR5 Arc robot." IOP Conference Series: Materials Science and Engineering 1149, no. 1 (2021): 012005. http://dx.doi.org/10.1088/1757-899x/1149/1/012005.

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Rigano, Giuseppe F., Luca Muratore, Arturo Laurenzi, Enrico M. Hoffman, and Nikos G. Tsagarakis. "A mixed real-time robot hardware abstraction layer (R-HAL)." Encyclopedia with Semantic Computing and Robotic Intelligence 02, no. 01 (2018): 1850010. http://dx.doi.org/10.1142/s2529737618500107.

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The rapid advances in robotics have recently led to the developments of a wide range of robotic platforms that exhibit significant differences at the hardware components level. Consequently, this poses a significant challenge to robot software developers since they have to know how every hardware device in the robot works to ensure their software’s compatibility when transferring/reusing their code on different robots. In this paper we present a new Robot Hardware Abstraction Layer (R-HAL) that permits to seamlessly program and control any robotic platform powered by the XBot control software framework. The implementation details of the R-HAL are introduced. The R-HAL is extensively validated through simulation trials and experiments with a wide range of dissimilar robotic platforms, among them the COMAN and WALK-MAN humanoids, the KUKA LWR and the CENTAURO upper body. The results attained demonstrate in practice the gained benefits in terms of code compatibility, reuse and portability, and finally unified application programming even for robots with significantly diverse hardware.

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Erdei, Timotei István, and Géza Husi. "Singularity measurement in the Cyber-physical and intelligent robot systems laboratory." International Review of Applied Sciences and Engineering 11, no. 2 (2020): 82–87. http://dx.doi.org/10.1556/1848.2020.20001.

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AbstractIn the building mechatronics research centre of University of Debrecen, Faculty of Engineering, a new laboratory has been designed, named “Cyber-physical and intelligent robot systems laboratory”. The possibility to design and test unique and platform-independent systems was among the main goals, hoping that the system itself and its advancements may later be used in manufacturing industries as well.Fulfilling the needs of “Industry 4.0” is a challenging task, as it requires every single device (e.g. industrial robots) to be connected to the same network, where they may be monitored and controlled. However, there are some factors that limit this, such as the periodical “instability” that some machines have, caused by singularity points.The following material studies these so-called singularities of a KUKA KR5 industrial welder robot placed in a robot cell, from an engineering viewpoint.

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Dumas, Claire, Stéphane Caro, Mehdi Cherif, Sébastien Garnier, and Benoît Furet. "Joint stiffness identification of industrial serial robots." Robotica 30, no. 4 (2011): 649–59. http://dx.doi.org/10.1017/s0263574711000932.

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SUMMARYThis paper presents a new methodology for the joint stiffness identification of industrial serial robots and as consequence for the evaluation of both translational and rotational displacements of the robot's end-effector subject to an external wrench (force and torque). In this paper, the robot's links are supposed to be quite stiffer than the actuated joints as it is usually the case with industrial serial robots. The robustness of the identification method and the sensitivity of the results to measurement errors, and the number of experimental tests are also analyzed. The Kuka KR240-2 robot is used as an illustrative example throughout the paper.

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Avantsa V. S. S. Somasundar et al.,, Avantsa V. S. S. Somasundar et al ,. "Singularity Analysis of Kuka 6 DOF Robot for Motion Simulation." International Journal of Mechanical and Production Engineering Research and Development 9, no. 2 (2019): 223–28. http://dx.doi.org/10.24247/ijmperdapr201921.

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Bisu, Claudiu, Mehdi Cherif, Alain Gerard, and Jean Yves K'nevez. "Dynamic Behavior Analysis for a Six Axis Industrial Machining Robot." Advanced Materials Research 423 (December 2011): 65–76. http://dx.doi.org/10.4028/www.scientific.net/amr.423.65.

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The six axis robots are widely used in automotive industry for their good repeatability (as defined in the ISO92983) (painting, welding, mastic deposition, handling etc.). In the aerospace industry, robot starts to be used for complex applications such as drilling, riveting, fiber placement, NDT, etc. Given the positioning performance of serial robots, precision applications require usually external measurement device with complexes calibration procedure in order to reach the precision needed. New applications in the machining field of composite material (aerospace, naval, or wind turbine for example) intend to use off line programming of serial robot without the use of calibration or external measurement device. For those applications, the position, orientation and path trajectory precision of the tool center point of the robot are needed to generate the machining operation. This article presents the different conditions that currently limit the development of robots in robotic machining applications. We analyze the dynamical behavior of a robot KUKA KR240-2 (located at the University of Bordeaux 1) equipped with a HSM Spindle (42000 rpm, 18kW). This analysis is done in three stages. The first step is determining the self-excited frequencies of the robot structure for three different configurations of work. The second phase aims to analyze the dynamical vibration of the structure as the spindle is activated without cutting. The third stage consists of vibration analysis during a milling operation.

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Rizescu, Ciprian Ion, Constantin Udrea, and Dana Rizescu. "Experimental Setup for Harmonic Drive Efficiency Determination." Advanced Materials Research 463-464 (February 2012): 1518–21. http://dx.doi.org/10.4028/www.scientific.net/amr.463-464.1518.

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This paper deals with a harmonic drive, which can be used for an industrial robot, such as RIP 63, COMAU, or KUKA (RRR). The robot could be integrated in an industrial manufacturing process where it has to manipulate / transport bags, sacks, or other loads. The paper presents also the experimental setup for efficiency determination as well as experimental determinations. The computation operations were performed in MATLAB environment and the results were in good agreement with experimental tests.

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Sharkawy, Abdel-Nasser, Panagiotis N. Koustoumpardis, and Nikos Aspragathos. "Neural Network Design for Manipulator Collision Detection Based Only on the Joint Position Sensors." Robotica 38, no. 10 (2019): 1737–55. http://dx.doi.org/10.1017/s0263574719000985.

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SUMMARYIn this paper, a multilayer feedforward neural network (NN) is designed and trained, for human–robot collisions detection, using only the intrinsic joint position sensors of a manipulator. The topology of one NN is designed considering the coupled dynamics of the robot and trained, with and without external contacts, by Levenberg–Marquardt algorithm to detect unwanted collisions of the human operator with the manipulator and the link that is collided. The proposed approach could be applied to any industrial robot, where only the joint position signals are available. The designed NN is compared quantitatively and qualitatively with an NN, where both the intrinsic joint position and the torque sensors of the manipulator are used. The proposed method is evaluated experimentally with the KUKA LWR manipulator, which is considered as an example of the collaborative robots, using two of its joints in a planar horizontal motion. The results illustrate that the developed system is efficient and fast to detect the collisions and identify the collided link.

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Hähn, Felix, and Matthias Weigold. "Hybrid compliance compensation for path accuracy enhancement in robot machining." Production Engineering 14, no. 4 (2020): 425–33. http://dx.doi.org/10.1007/s11740-020-00976-7.

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Abstract Robot machining processes with high material removal rates lack of high path accuracy mainly due to the low stiffness of industrial robots. The low stiffness leads to process forces caused deviations of the tool center point (TCP) from the planned position of more than 1 mm in industrial applications. To enhance the path accuracy a novel hybrid compliance compensation is developed. It combines a force sensor and model based online compensation with forces of an offline simulation to instantly react to predictable high force changes e.g. at a milling cutter exit from the work piece. The method is applied to a KUKA KR 300 robot. A compliance model based on a forward kinematic with virtual joints is implemented on an external controller. Cartesian or axis specific compensation values are calculated and transferred to the robot via a control circuit. A compliance measurement method is developed and a force torque sensor is mounted to the flange of the robot. The system is validated in with Cartesian and axis specific compensation values as well as with and without pilot control.

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Tera, Melania, Claudia–Emilia Gîrjob, Cristina–Maria Biriș, and Mihai Crenganiș. "Modular fastening system and tool–holder working unit for incremental forming." MATEC Web of Conferences 299 (2019): 05005. http://dx.doi.org/10.1051/matecconf/201929905005.

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Incremental forming can be usually unfolded either on CNC milling machine–tools or serial industrial robots. The approach proposed in this paper tackles the problem of designing a modular fastening system, which can be adapted for both above mentioned technological equipment. The fastening system of the sheet–metal workpiece is composed of a fixing plate and a retaining plate. The fixing and retaining plates will be made up of different individual elements, which can be easily repositioned to obtain different sizes of the part. Moreover, the fastening system has to be able to be positioned either horizontally (to be fitted on CNC milling machines) or vertically (to be fitted on industrial robots. The paper also presents the design of a tool–holder working unit which will be fitted on KUKA KR 210 industrial robot. The working unit will be mounted as end–effector of the robot and will bear the punch, driving it on the processing toolpaths.

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Girbacia, Teodora, Florin Girbacia, and Gheorghe Mogan. "Virtual Planning of Robot Trajectories for Spray Painting Applications." Applied Mechanics and Materials 658 (October 2014): 632–37. http://dx.doi.org/10.4028/www.scientific.net/amm.658.632.

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In this paper is presented a Virtual Reality application that can be used for automatic generation of robot trajectories for spray painting operations conducted on products with complex surfaces. The trajectory generation for robots that perform painting operations of complex curved surfaces was achieved by implementing a generic algorithm capable of maintaining an optimal distance for painting. The distance between the effecter of the robot and the surface of the CAD model, used to compensate and maintain an optimal painting distance, is determined by a "rayhit" collision detection algorithm that allows the detection of the contact between a linear segment and the mesh of the virtual object. To visualize in the virtual environment the deposition of paint layers, an algorithm was implemented that is based on mapping techniques for dynamically generated textures on the surface that is being painted. A VR software application was developed for generating and visualizing the trajectories of a KUKA robotic system that performs the activity of painting a complex curved product.

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Chera, Ionut, Octavian Bologa, Sever Gabriel Racz, and Radu Eugen Breaz. "Robot-Forming - An Incremental Forming Process Using an Industrial Robot by Means of DELMIA Software Package." Applied Mechanics and Materials 371 (August 2013): 416–20. http://dx.doi.org/10.4028/www.scientific.net/amm.371.416.

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The purpose of this research is to present an alternative method for manufacturing sheet metal parts using an asymmetric incremental forming process by means of an industrial robot. This method is based on designing, simulating and generating the toolpath for the tool attached to the robot using DELMIA software package. The proposed approach allows users to check for system collisions, robot joins limitations and singularity problems. After a comprehensive simulation of the movements of the robot is performed, the program code can be generated by means of a specific DELMIA function. The program can be used afterwards to control the robot during the experimental work. In order to demonstrate the capabilities of robot-forming, a truncated pyramid sheet metal part was manufactured using a custom made stand and with the help of a KUKA KR6 anthropomorphic robot.

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Chera, Ionut, Octavian Bologa, Gabriel Racz, and Radu Breaz. "Experimental Researches Regarding Strain Measurement of Incrementally Formed Sheet Metal Parts Done Using an Industrial Robot." Applied Mechanics and Materials 555 (June 2014): 300–305. http://dx.doi.org/10.4028/www.scientific.net/amm.555.300.

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This paper aims to provide results regarding the measurement of the strains in the material of sheet metal parts which have been incrementally formed. The incremental forming of the steel sheets has been performed with the aid of a KUKA KR 6 industrial robot on a specially constructed stand, and the measurement of the strains has been done using ARAMIS optical measurement system. The trajectory of the forming punch which is attached to the robot was designed using CATIA V5 and the movements of the robot were designed and simulated in DELMIA software. DELMIA generated the program code needed for the robot to execute the desired movements in order to form the sheet metal parts.

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32

Khan, Urfi, Sudipto Mukherjee, Nathi Ram Chauhan, and Upinder Kaur. "Collision detection and inverse dynamics control of KUKA LBR IIWA robot." International Journal of Mechatronics and Automation 8, no. 1 (2021): 9. http://dx.doi.org/10.1504/ijma.2021.10036257.

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Kaur, Upinder, Urfi Khan, Nathi Ram Chauhan, and Sudipto Mukherjee. "Collision detection and inverse dynamics control of KUKA LBR IIWA robot." International Journal of Mechatronics and Automation 8, no. 1 (2021): 9. http://dx.doi.org/10.1504/ijma.2021.113718.

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34

Hagane, Shohei, Liz Katherine Rincon Ardila, Takuma Katsumata, Vincent Bonnet, Philippe Fraisse, and Gentiane Venture. "Adaptive Generalized Predictive Controller and Cartesian Force Control for Robot Arm Using Dynamics and Geometric Identification." Journal of Robotics and Mechatronics 30, no. 6 (2018): 927–42. http://dx.doi.org/10.20965/jrm.2018.p0927.

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In realistic situations such as human-robot interactions or contact tasks, robots must have the capacity to adapt accordingly to their environment, other processes and systems. Adaptive model based controllers, that requires accurate dynamic and geometric robot’s information, can be used. Accurate estimations of the inertial and geometric parameters of the robot and end-effector are essential for the controller to demonstrate a high performance. However, the identification of these parameters can be time-consuming and complex. Thus, in this paper, a framework based on an adaptive predictive control scheme and a fast dynamic and geometric identification process is proposed. This approach was demonstrated using a KUKA lightweight robot (LWR) in the performance of a force-controlled wall-painting task. In this study, the performances of a generalized predictive control (GPC), adaptive proportional derivative gravity compensation, and adaptive GPC (AGPC) were compared. The results revealed that predictive controllers are more suitable than adaptive PD controllers with gravitational compensation, owing to the use of well-identified geometric and inertial parameters.

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35

Zabalza, Jaime, Zixiang Fei, Cuebong Wong, et al. "Smart Sensing and Adaptive Reasoning for Enabling Industrial Robots with Interactive Human-Robot Capabilities in Dynamic Environments—A Case Study." Sensors 19, no. 6 (2019): 1354. http://dx.doi.org/10.3390/s19061354.

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Traditional industry is seeing an increasing demand for more autonomous and flexible manufacturing in unstructured settings, a shift away from the fixed, isolated workspaces where robots perform predefined actions repetitively. This work presents a case study in which a robotic manipulator, namely a KUKA KR90 R3100, is provided with smart sensing capabilities such as vision and adaptive reasoning for real-time collision avoidance and online path planning in dynamically-changing environments. A machine vision module based on low-cost cameras and color detection in the hue, saturation, value (HSV) space is developed to make the robot aware of its changing environment. Therefore, this vision allows the detection and localization of a randomly moving obstacle. Path correction to avoid collision avoidance for such obstacles with robotic manipulator is achieved by exploiting an adaptive path planning module along with a dedicated robot control module, where the three modules run simultaneously. These sensing/smart capabilities allow the smooth interactions between the robot and its dynamic environment, where the robot needs to react to dynamic changes through autonomous thinking and reasoning with the reaction times below the average human reaction time. The experimental results demonstrate that effective human-robot and robot-robot interactions can be realized through the innovative integration of emerging sensing techniques, efficient planning algorithms and systematic designs.

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Sturov, Anton, and Nikolai Chashchin. "Machining composite material by a robotic complex based on KUKA KR210 robot." Proceedings of Irkutsk State Technical University 23, no. 4 (2019): 743–50. http://dx.doi.org/10.21285/1814-3520-2019-4-743-750.

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Cebula, Magdalena, and Piotr Murawski. "Design and implementation of an information system to study the repeatability of the orientation in space for medical applications." Computer Science and Mathematical Modelling, no. 10/2019 (September 30, 2020): 5–16. http://dx.doi.org/10.5604/01.3001.0014.4434.

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The aim of the study was to study the repeatability of the object’s orientation in space. During the study, a self-constructed system of 4 gyroscope and an available robot of the Kuka type were used. An application allowing for comparison of research results was written and presented. The article contains individual stages of work (analytical and implementation), research results, conclusions and discussion.

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Berger, Johann, Michael Unger, Lisa Landgraf, Richard Bieck, Thomas Neumuth, and Andreas Melzer. "Assessment of Natural User Interactions for Robot-Assisted Interventions." Current Directions in Biomedical Engineering 4, no. 1 (2018): 165–68. http://dx.doi.org/10.1515/cdbme-2018-0041.

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AbstractRobotic assistance in clinical interventions provides high precision and performance. However, the acceptance of such systems is still very low. The idea of collaborative robotics promises practical solutions for this problem. To further promote these ideas in the medical domain, novel concepts for user interactions are needed. This work presents a preliminary study on the recognition accuracy of touch gesture interaction with a KUKA LBR iiwa robotic arm. A recognition application utilising a set of 4 different touch gestures was implemented and evaluated by eight participants. The overall recognition accuracy of the system is 89.8%.

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Qiu, Xiao Li, Yan Xing, and Shuang Feng. "The Implement of Robotic Cutting Trajectory Plan for Pressure Vessel." Applied Mechanics and Materials 271-272 (December 2012): 570–74. http://dx.doi.org/10.4028/www.scientific.net/amm.271-272.570.

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Robot is now can used to cut the opening pore of Pressure Vessel and the end of pipe. It is important to solve the problem of robotic cutting trajectory planning for cutting of the three-dimensional curved surface and the intersected curve with groove at the end of pipe. According to the analytical geometry in the three-dimensional space, the mathematical model of intersected curve with groove is presented. Trajectory planning and cutting torch stance is fixed through the feature extraction and kinematics calculation. Using the L-positioner, the problem of robot limiting in cutting process is resolved. As a post operator, a program is developed to automatically generate corresponding robot program to match to the program language format of Kuka and Reis robot. The robot cutting trajectory supported by the above algorithms and program is tested in solidworks.

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Lim, Sun, Hak Sang Jung, Seung Yong Lee, Young Woo Park, and Il Kyun Jung. "IT Assembly Process Gripper Real-Time Embedded System Design." Applied Mechanics and Materials 865 (June 2017): 463–67. http://dx.doi.org/10.4028/www.scientific.net/amm.865.463.

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In this paper we propose the gripper handle real-time based embedded system for operating robot manipulator. The general gripper has only a simple function and has also I/O module. Thus general gripper and position based robot controller combination is not suitable for precision process operation, IT assembly process. In order to give various functions and intelligence to the gripper, it is necessary to have an embedded controller that real-time guarantees. The proposed embedded system have five component that handle the pose of the gripper, measure the pose and translation of gripper, motoring the gripping tip, operate the stiffness of the gripper and communicate with Ethernet interface to the external robot controller. The external robot interface parts are supported to communicate with various external robot maker, KUKA, DENSO, ROBOSTAR etc. The validation and functional ability is tested on the LAB environment.

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41

Lahr, Gustavo José Giardini, Glauco Augusto de Paula Caurin, and Carlos Alberto Fortulan. "The Use of Robot with Force Control in Machining of Green Ceramics." Materials Science Forum 805 (September 2014): 615–20. http://dx.doi.org/10.4028/www.scientific.net/msf.805.615.

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This papers studies the use of robots in the green machining of ceramics, specifically, the machining of high alumina porcelain insulators. The green state has very low strength and high brittleness where the forces applied during machining can generate and/or develop defects in the part that will reduce their properties after sintering. This work aims to study the machining by robot models of electrical insulators in 1:10 scale. Blanks were compacted in high alumina porcelain by isostatic pressing and green machined with a manual grinder attached to a Kuka KR16 robot. Models of insulators in gypsum were successfully machined and used for setup and configuration of the process. They were machined with cutting depth 0.87 mm and feed of 20 mm/s, this is the minimum programmable velocity for this robot model, and these parameters for the machining of the green porcelain generated excessive cracks at the tips of the fins. Changing the cutting depth to values of 0.25 mm, an established value in CNC machining, allowed to conclude that insufficient stiffness of the robot together with its high forward speed and excessive vibration of the grinding limits its use for thin thicknesses, although with potential for improvement.

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42

Bigras, Pascal, Michel Lambert, and Claude Perron. "Robust Force Controller for Industrial Robots: Optimal Design and Real-Time Implementation on a KUKA Robot." IEEE Transactions on Control Systems Technology 20, no. 2 (2012): 473–79. http://dx.doi.org/10.1109/tcst.2011.2112661.

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Žlajpah, Leon, and Tadej Petrič. "Unified Virtual Guides Framework for Path Tracking Tasks." Robotica 38, no. 10 (2019): 1807–23. http://dx.doi.org/10.1017/s0263574719000973.

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SUMMARYIn this paper, we propose a novel unified framework for virtual guides. The human–robot interaction is based on a virtual robot, which is controlled by the admittance control. The unified framework combines virtual guides, control of the dynamic behavior, and path tracking. Different virtual guides and active constraints can be realized by using dead-zones in the position part of the admittance controller. The proposed algorithm can act in a changing task space and allows selection of the tasks-space and redundant degrees-of-freedom during the task execution. The admittance control algorithm can be implemented either on a velocity or on acceleration level. The proposed framework has been validated by an experiment on a KUKA LWR robot performing the Buzz-Wire task.

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44

Wolinski, Łukasz, and Paweł Malczyk. "Dynamic Modeling and Analysis of a Lightweight Robotic Manipulator in Joint Space." Archive of Mechanical Engineering 62, no. 2 (2015): 279–302. http://dx.doi.org/10.1515/meceng-2015-0016.

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Abstract The primary importance of the paper is the application of the efficient formulation for the simulation of open-loop lightweight robotic manipulator. The framework employed in the paper makes use of the spatial operator algebra and the associated equations are expressed in joint space. This compact representation of the manipulator dynamics makes it possible to solve the robot forward and inverse dynamics problems in a recursive and fast manner. In the current form, the presented algorithm can be applied for the dynamics simulation of an open-loop chain system possessing any number of joints. Specifically, the formulation has been successfully applied for the analysis of the 7DOF KUKA LWR robot. Results from a number of test cases for the robot demonstrate the verification of the calculations

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Maithani, Harsh, Juan Antonio Corrales Ramon, Laurent Lequievre, Youcef Mezouar, and Matthieu Alric. "Exoscarne: Assistive Strategies for an Industrial Meat Cutting System Based on Physical Human-Robot Interaction." Applied Sciences 11, no. 9 (2021): 3907. http://dx.doi.org/10.3390/app11093907.

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Musculoskeletal disorders of the wrist are common in the meat industry. A proof of concept of a physical human-robot interaction (pHRI)-based assistive strategy for an industrial meat cutting system is demonstrated which can be transferred to an exoskeleton later. We discuss how a robot can assist a human in pHRI, specifically in the context of an industrial project i.e for the meat cutting industry. We developed an impedance control-based system that enables a KUKA LWR robot to provide assistive forces to a professional butcher while simultaneously allowing motion of the knife (tool) in all degrees of freedom. We developed two assistive strategies—a force amplification strategy and an intent prediction strategy—and integrated them into an impedance controller.

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46

Hu, Min. "Research on Kinematic Trajectory Simulation System of KUKA Arc Welding Robot System." IOP Conference Series: Materials Science and Engineering 248 (October 2017): 012019. http://dx.doi.org/10.1088/1757-899x/248/1/012019.

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47

Vilău, Cristian, Nicolae Bâlc, and Dan Leordean. "Design and Analyses to Determine the Minimum Acting Force of a Gripper for Handling the Parts with Robots." Applied Mechanics and Materials 808 (November 2015): 264–70. http://dx.doi.org/10.4028/www.scientific.net/amm.808.264.

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This paper presents a model of gripper designed for KUKA robot, together with a series of static and dynamic analyses for different loadings of it. Both the 3D design and static and dynamic analyses have been conducted using the design of Creo package with Parametric and Simulate the modules. The Gripper designed has in its composition a mechanism type rack-pinion type and a quadrilateral mechanism, for carrying out a parallel movement of jaw. It was determined the minimum force of actuation of the pinion-rack mechanism of gripper for maintaining the piece caught in gripper jaws, at the maximum speeds of rotation of the robot.

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48

Cai, Ying, Peijiang Yuan, and Dongdong Chen. "A flexible calibration method connecting the joint space and the working space of industrial robots." Industrial Robot: An International Journal 45, no. 3 (2018): 407–15. http://dx.doi.org/10.1108/ir-02-2018-0036.

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Purpose To improve the accuracy of the industrial robots’ absolute positioning, a Kriging calibration is proposed. Design/methodology/approach This method particularly designs a semivariogram for connecting the joint space and the working space. After that, Kriging equations are determined and solved to predict the position errors of targets. Subsequently, a simple and convenient error compensation, which can be implemented on the control command, is proposed. Findings The verification experiment of the position-error multiplicity and the Kriging calibration experiment are done in the KUKA R210 R2700 industrial robot. The position-error multiplicity experiment reveals that the position error of the industrial robot varies with the joint angle sets. Besides, the Kriging calibration experiment shows that the maximum of the spatial position errors is reduced from 1.2906 to 0.2484 mm, which reveals the validity of the Kriging calibration. Originality/value The special designed semivariation allows this method to be flexible and practical. It can be used in various fields where the angle solutions of industrial robots should be adapted according to the optimal demand and the environment, such as the optimal trajectory planning and the obstacle avoidance. Besides, this method can provide accuracy positioning results.

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Chera, Ionuţ Moise, and Octavian Bologa. "Experimental Researches Regarding the Distribution of the Deformations on Incremental Formed Parts." ACTA Universitatis Cibiniensis 65, no. 1 (2014): 13–19. http://dx.doi.org/10.1515/aucts-2015-0003.

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Abstract The goal of this research is to present results regarding the variation of the deformations on the surface of the incremental formed parts. The experiments were performed on a custom layout by means of a KUKA industrial robot and the measurement of the sheet metal deformations was done using ARAMIS optical measurement system. The custom layout allows for the measurement of the deformations to take place during the actual forming process

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Neranon, Paramin. "Implicit force control approach for Safe physical Robot-to-Human object handover." Indonesian Journal of Electrical Engineering and Computer Science 17, no. 2 (2020): 615. http://dx.doi.org/10.11591/ijeecs.v17.i2.pp615-628.

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This research focuses on the development of the conceptual frameworks of human-human interaction applied for a robotic behaviour-based approach for safe physical human-robot interaction. The control has been constructed based on understanding the dynamic and kinematic behavioural characteristics of how two humans pass an object to each other. This has enabled a KR-16-KUKA robot to naturally interact with a human so as to facilitate the dexterous transfer of an object in an effective manner. Implicit force control based on Proportional Integral and Fuzzy Logic Control which allows the robot end effector’s trajectory to be moderated based on the applied force in real-time was adopted. The experimental results have confirmed that the quantitative performance of the force-controlled robot is close to that of the human and can be considered acceptable for human-robot interaction. Furthermore, the control based Fuzzy Logic Control was shown to be slightly superior performance compared to Proportional Integral control.

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Journal articles on the topic 'Robot KUKA'

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