Sensoring for Retrofitting of an Industrial Robot 1

Lima, Eduardo Josá; Torres, Guilherme; Castro, Carlos Alberto Carvalho; Bracarense, Alexandre Queiróz; Henriques, Renato Ventura Bayan; Lages, Walter Fetter

doi:10.1016/s1474-6670(17)36171-2

Cited by 2 publications

(1 citation statement)

References 3 publications

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“…The steps to apply a retrofitting technique in the project were based on diagnostics and verify the robot mechanical system, in addition to update the electronic/control system. In addition, the retrofitting was generated as a result of two sensors analysis: comparisons analog original velocity and position sensor in relation to digital technology, including the digital encoders to ensure a great precision and easy integration with the proposed control architecture [24].…”

Section: Related Workmentioning

confidence: 99%

Retrofitting of the IRB6-S2 robotic manipulator using Computer Numerical Control- based controllers

Álvares

Toquica

Lima

et al. 2018

J Braz. Soc. Mech. Sci. Eng.

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This work presents a comparative and descriptive study of numerical control machines solutions using Linux and Windows operating systems, used for the retrofitting of two similar models of old industrial robots, using controllers based on Computer Numerical Control (CNC). Federal University of Minas Gerais (UFMG) and University of Brasilia (UnB) adopted two different softwares, including the robot kinematics model and the generation of joint signal control. Furthermore, this article proposes a comparative study of the two open architecture controllers' implementation advantages and CAD/CAM integration option, by describing and analyzing each academic solution and choosing the best alternative controller to implement the retrofitting technique for old industrial robots. The comparative study validated the developed generic robot retrofitting methodology, which can be considered as the work's greatest contribution, as well as providing the open-source project, hardware and software, for ASEA IRB6-S2 Robot retrofitting. The proposed methodology is composed by a set of methods and activities described through an IDEF0 (Icam DEFinition for Function Modeling) model, which can be applied to the retrofitting of any industrial robot with serial or parallel kinematics, which guides the developer in five steps associated with the hardware and software specification for a desired robotic platform implementation as a custom solution based on LinuxCNC system.

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Section: Related Workmentioning

confidence: 99%