On generating the motion of industrial robot manipulators

Kaltsoukalas, Konstantinos; Makris, Sotiris; Chryssolouris, George

doi:10.1016/j.rcim.2014.10.002

Cited by 63 publications

(29 citation statements)

References 14 publications

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“…The horizontal positioning system is a fast process, since the process transfer function given in (1) complies with the dependency given in (2). The dominant time constant Tk equals 3 seconds and the parasite time constant equals 0.25 seconds.…”

Section: Iulia Clitan Vlad Muresan Mihail Abrudean and Andrei Flormentioning

confidence: 92%

Implementing Discrete Control for the Horizontal Positioning of an Industrial Manipulator Using MATLAB

Clitan¹,

Mureșan²,

Abrudean³

et al. 2020

IJMO

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The presented paper descries the implementation of a discrete control law, for an industrial manipulator, using MATLAB as computer software. The software implementation is done in order to test the overall performances of the discrete control law, since the on-site testing is not possible due tot the continuous functioning of the industrial manipulator as an unloading billets machine from a rotary hearth furnace, part of the hot rolling process. First, the magnitude optimum criterion, the Kessler variant, is applied as tuning method for the industrial manipulator's positioning system since the continuous model is already known, due to prior research. Further, the discrete control is derived from the pulse transfer function yielded from digitizing the continuous control. The discrete control law is implemented as a discrete control structure using unit delay blocks and as a dependency law using the MATLAB function block. The overall performances are tested, and they meet the performance expected by Kessler's tuning method.Index Terms-Positioning system, industrial manipulator, magnitude optimum criterion (the Kessler variant), discrete control, dependency law.

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Section: Iulia Clitan Vlad Muresan Mihail Abrudean and Andrei Flormentioning

confidence: 92%

Implementing Discrete Control for the Horizontal Positioning of an Industrial Manipulator Using MATLAB

Clitan¹,

Mureșan²,

Abrudean³

et al. 2020

IJMO

View full text Add to dashboard Cite

show abstract

“…Furthermore, the current implementation of the methodology is in line with procedures, such as virtual commissioning, under the virtual factory concept [3]. Finally, in conjunction with a path planner (i.e., [4] or [5], for a dual-arm robot case), it will lead to an automated assembly [6].…”

Section: Introductionmentioning

confidence: 93%

Simulating robotic manipulation of cabling and interaction with surroundings

Papacharalampopoulos

Aivaliotis

Makris

2018

Int J Adv Manuf Technol

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The manipulation of non-rigid parts, particularly cabling structures, such as the cable harness, raises various issues that require dealing with complex modeling. The first important issue is the prediction of the shape of flexible parts itself. Also, addressing collision detection problems is of high importance. However, both are computationally intensive problems, as well as coupled. More specifically, regarding modeling, the structure of a harness can affect the mechanics (regardless of whether it is modeled like a cable). In this paper, such phenomena have been taken into account. What is more, collision detection between cables and rigid bodies is performed, regarding a quasi-static approach. Furthermore, cable-cable interaction cases are also addressed with the herein presented algorithm. A methodology, based on the geometrical characteristics of a cable, is given, and illustration from implementation in a commercial software is discussed. The simulation of an industrial case of assembling cabling harness in automotive sector is used to prove the usability of the algorithm and the modeling.

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“…Despite the extent of research on path planning in some fields [2][3][4], investigation of optical polishing has been rather limited. Although the problem of discontinuous surfaces between the adjacent mm-sized short line segments has attracted wide concern when using parametric curve theory [5][6][7], frequent acceleration and deceleration result in poor realisation precision of dwell time, i.e., the runtime of trajectory (hereafter referred to as runtime), which further influences the polishing quality of elements and the convergence rate of surfaces [8].…”

Section: Introductionmentioning

confidence: 99%

A Trajectory Planning Method for Polishing Optical Elements Based on a Non-Uniform Rational B-Spline Curve

Dong

Guo

2018

Applied Sciences

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Optical polishing can accurately correct the surface error through controlling the dwell time of the polishing tool on the element surface. Thus, the precision of the trajectory and the dwell time (the runtime of the trajectory) are important factors affecting the polishing quality. This study introduces a systematic interpolation method for optical polishing using a non-uniform rational B-spline (NURBS). A numerical method for solving all the control points of NURBS was proposed with the help of a successive over relaxation (SOR) iterative theory, to overcome the problem of large computation. Then, an optimisation algorithm was applied to smooth the NURBS by taking the shear jerk as the evaluation index. Finally, a trajectory interpolation scheme was investigated for guaranteeing the precision of the trajectory runtime. The experiments on a prototype showed that, compared to the linear interpolation method, there was an order of magnitude improvement in interpolation, and runtime, errors. Correspondingly, the convergence rate of the surface error of elements improved from 37.59% to 44.44%.

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On generating the motion of industrial robot manipulators

Cited by 63 publications

References 14 publications

Implementing Discrete Control for the Horizontal Positioning of an Industrial Manipulator Using MATLAB

Implementing Discrete Control for the Horizontal Positioning of an Industrial Manipulator Using MATLAB

Simulating robotic manipulation of cabling and interaction with surroundings

A Trajectory Planning Method for Polishing Optical Elements Based on a Non-Uniform Rational B-Spline Curve

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