EGM Toolbox—Interface for Controlling ABB Robots in Simulink

Obal, Paweł; Gierlak, Piotr

doi:10.3390/s21227463

Cited by 6 publications

(4 citation statements)

References 19 publications

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“…The presented method was developed for the use in robotic machining of elements with imprecise shape, e.g., thin-walled castings or parts made of plastics, which have low precision and are very flexible. The difficulty in its application in practice is the need to modify standard industrial robot controllers [44].…”

Section: Discussionmentioning

confidence: 99%

“…It follows that 𝑉 ̇ is negative outside the compact sets defined by Eqs ( 41)- (44). According to the extension of the standard Lyapunov theory, it can be concluded that ‖𝑠 𝜏 ‖, |𝑠 𝑛𝑖 |, ‖𝑊 ̃𝜏‖ 𝐹 and ‖𝑊 ̃𝑛𝑖 ‖ 𝐹 are uniformly ultimately bounded, and the control system is stable.…”

Section: Neural Position/force Tracking Controlmentioning

confidence: 98%

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Neural Control of a Robotic Manipulator in Contact with a Flexible and Uncertain Environment

Gierlak

2023

Acta Mechanica Et Automatica

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This article presents the synthesis of a neural motion control system of a robot caused by disturbances of constraints limiting the movement, which are the result of flexibility and disturbances of the contact surface. A synthesis of the control law is presented, in which the knowledge of the robot’s dynamics and the parameters of a susceptible environment is not required. Moreover, the stability of the system is guaranteed in the case of an inaccurately known surface of the environment. This was achieved by introducing an additional module to the control law in directions normal to the surface of the environment. This additional term can be interpreted as the virtual viscotic resistance and spring force acting on the robot. This approach ensured the self-regulation of the robot’s interaction force with the compliant environment, limiting the impact of the geometrical inaccuracy of the environment.

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Section: Discussionmentioning

confidence: 99%

Section: Neural Position/force Tracking Controlmentioning

confidence: 98%

Neural Control of a Robotic Manipulator in Contact with a Flexible and Uncertain Environment

Gierlak

2023

Acta Mechanica Et Automatica

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“…These results become particularly important for extending the use of IRs to large-scale machining operations. To this aim, promising results have also been obtained by means of force-based compensations, as documented in [45][46][47]. In general, the adoption of force/torque sensors directly mounted on the robot's end-effector has been extended to many fields, ranging from automatic part handling to the execution of collaborative tasks (e.g., operator hand-guiding as depicted in Figure 4 and described in [48,49]).…”

Section: External Trajectory Generatormentioning

confidence: 99%

An Overview of Industrial Robots Control and Programming Approaches

et al. 2023

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Nowadays, manufacturing plants are required to be flexible to respond quickly to customer demands, adapting production and processes without affecting their efficiency. In this context, Industrial Robots (IRs) are a primary resource for modern factories due to their versatility which allows the execution of flexible, reconfigurable, and zero-defect manufacturing tasks. Even so, the control and programming of the commercially available IRs are limiting factors for their effective implementation, especially for dynamic production environments or when complex applications are required. These issues have stimulated the development of new technologies that support more efficient methods for robot control and programming. The goal of this research is to identify and evaluate the main approaches proposed in scientific papers and by the robotics industry in the last decades. After a critical review of the standard IR control schematic, the paper discusses the available control alternatives and summarizes their characteristics, range of applications, and remaining limitations.

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“…The off-line programming method consists of generating robot paths with the use of a virtual environment [3,4]. CAD models of individual robots, auxiliary devices, such as feeders, tool changers, part warehouses, etc., are imported into the environment.…”

Section: Off-line Programmingmentioning

confidence: 99%

Programming of Industrial Robots Using a Laser Tracker

Szybicki

Obal

Kurc

et al. 2022

Sensors

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This paper presents the use of a laser tracker for programming paths of industrial robots. The idea of operation, application, and the offered accuracy of the laser trackers are discussed. Then, the developed method of using a tracker for determining the path points of an industrial robot is presented. The requirements related to the developed method are indicated. The parameters of the industrial robot related to the repeatability and accuracy of the robots and the Absolute Accuracy option—increasing the accuracy—are characterized. The developed method is based on the accuracy of robots and the conversion of the position and orientation of individual coordinate systems. In the developed method, the robot is not used during programming and the programmer indicates the path points with the help of a retroreflector. The algorithm, which is the most important part of the developed method, has been implemented in the Rapid programming language to automate the programming process. This article provides an example of the use of the developed method to program the robot path during the grinding process. The advantages of the developed method are characterized and compared to existing solutions. In addition, the limitations and achieved accuracies are indicated.

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EGM Toolbox—Interface for Controlling ABB Robots in Simulink

Cited by 6 publications

References 19 publications

Neural Control of a Robotic Manipulator in Contact with a Flexible and Uncertain Environment

Neural Control of a Robotic Manipulator in Contact with a Flexible and Uncertain Environment

An Overview of Industrial Robots Control and Programming Approaches

Programming of Industrial Robots Using a Laser Tracker

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