2013 IEEE International Conference on Industrial Technology (ICIT) 2013
DOI: 10.1109/icit.2013.6505666
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Real-time analysis of a multi-robot sewing cell

Abstract: SummaryThis PhD thesis presents topics related to sensor-based real-time robot control in applied automation.While in the past industrial challenges often could be solved with traditional robot programming methods, the industry looks more and more towards the automation of complex tasks that need real-time sensor-feedback in the control loop of the robot. This is especially important in applications where the workpiece shape or characteristics are uncertain or unknown. When working on such workpieces, the move… Show more

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Cited by 16 publications
(6 citation statements)
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References 27 publications
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“…The multiple iterations on three robot velocities are processed to estimate the worst-case intrusion distance and reaction time, as illustrated in Figure 11 . The worst-case reaction time is calculated as 60 ms, which is comparable to the state-of-the-art calculation of 56 ms and 40 ms ( Schrimpf, 2013 ) for different robot controllers. The worst-case intrusion distance captured at multiple iterations and velocities equals to be 502 mm.…”
Section: Experimental Setup For Efficient Intrusion Distance Estimationsupporting
confidence: 62%
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“…The multiple iterations on three robot velocities are processed to estimate the worst-case intrusion distance and reaction time, as illustrated in Figure 11 . The worst-case reaction time is calculated as 60 ms, which is comparable to the state-of-the-art calculation of 56 ms and 40 ms ( Schrimpf, 2013 ) for different robot controllers. The worst-case intrusion distance captured at multiple iterations and velocities equals to be 502 mm.…”
Section: Experimental Setup For Efficient Intrusion Distance Estimationsupporting
confidence: 62%
“…Joint angular displacement along with a tool Frontiers in Robotics and AI frontiersin.org center point (TCP) in the base coordinate is provided at the external processing system. In order to compare the intrusion distance of local sensing (Schrimpf, 2013) with that of global sensing (Morato et al, 2014), an identical processing system is used with Intel i7-6700K CPU, Nvidia TITAN Xp GPU, and 12 GB GDDR5 memory. At 4 ms, as for Kuka communication speed, the robot joint values are used to estimate the position of the local sensor on the robot.…”
Section: Offline Data Processing Methods For Intrusion Distance and R...mentioning
confidence: 99%
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“…Eggen and Eggen (2019) presents experiments and results aimed at determining when it is advantageous to process-distribute a Python application. Schrimpf et al (2013) presented a time analysis for various data paths in a distributed, real-time, sensor-based robot application implemented and deployed with Python and ROS.…”
Section: Computer Sciencementioning
confidence: 99%
“…Eggen & Eggen (2019) presents experiments and results aimed at determining when it is advantageous to process-distribute a Python application. Schrimpf, Lind & Mathisen (2013) presented a time analysis for various data paths in a distributed, real-time, sensor-based robot application implemented and deployed with Python and ROS.…”
Section: Introductionmentioning
confidence: 99%