ISSN:0020-7543    

DOI:10.1080/00207548908942554

出版商:Taylor & Francis Group    

年代:1989

数据来源: Taylor

摘要:

The trimming of three-dimensional parts using laser cutting industrial robots is a control challenge, particularly when high speeds and precision are required. The precise control of robot movement along predetermined trajectories is necessary in order to achieve satisfactory quality cuts. This paper focuses on the control system design for direct-drive manipulators for such high-speed trajectory control applications. First, the concept of decoupled and invariant dynamics is discussed for a specific manipulator. Second, a simple procedure of system identification and control system design is presented. It is demonstrated that through arm mechanism design, the control system is greatly simplified and satisfactory control performance is achieved. The arm mechanism design and control system are evaluated through simulations and experiments. The experimental tracking performance achieved is 3 m/s in speed, 3·8g in acceleration with a mean tracking error of 0·055°

ISSN:0020-7543    

DOI:10.1080/00207548908942555

出版商:Taylor & Francis Group    

年代:1989

数据来源: Taylor

摘要:

The market for programmable machines is still in its infancy, awaiting major changes in machine architectures and functionality. This paper anticipates the evolution of modular distributed manipulator systems and outlines their potential role as generic reconfigurable manufacturing machines. The necessary functionality of the control and mechanical primitive elements of such systems will be described with reference to major SERC-funded research aimed at evolving the primitives of universal machine control systems.

ISSN:0020-7543    

DOI:10.1080/00207548908942556

出版商:Taylor & Francis Group    

年代:1989

数据来源: Taylor

摘要:

The requirement for adaptability in assembly and some aspects of current research are reviewed. Traditional passive and active solutions are described. Autonomous devices consisting of sensing and micromanipulation which have been developed by the authors are discussed, together with some of the strategies developed.

ISSN:0020-7543    

DOI:10.1080/00207548908942557

出版商:Taylor & Francis Group    

年代:1989

数据来源: Taylor

摘要:

The paper describes self-tuning control as applied to a purpose-built experimental five-axis manipulator arm. The dynamic equations of the three principle axes are linearized and used as a design basis for pole-assignment self-tuning adaptive controllers

ISSN:0020-7543    

DOI:10.1080/00207548908942558

出版商:Taylor & Francis Group    

年代:1989

数据来源: Taylor

摘要:

A new approach to trajectory control of an industrial robot is proposed which aims to reduce the error in the trajectory, under the assumption that the position of the hand is known or can be measured in Cartesian space. An on-line system identification technique, referred to as the adaptive linear modelling technique, and a forecasting algorithm to generate corrective commands were used. A laser measurement system with a laser source and a photodetector was developed to detect the error between the actual and desired trajectories in Cartesian space. By implementing the proposed methods a 70% improvement in controlling the trajectory error was achieved.

ISSN:0020-7543    

DOI:10.1080/00207548908942559

出版商:Taylor & Francis Group    

年代:1989

数据来源: Taylor

摘要:

We introduce the concept of artificial intelligence and its possible contribution towards the human-robot interface by considering the conceptual support such an idealized interface might provide. In following this argument we see that integration of the various aspects of a product's life cycle is a convenient way of introducing the information and knowledge required for an artificially intelligent interface. The information is produced as a result of the earlier processes and lost in most conventional systems. We conclude that the knowledge of the task the robot is to perform is available not as an afterthought which would require manual input to the robot after the product has been designed but as part of a factory-wide integrated system concerned with the whole product life cycle.

ISSN:0020-7543    

DOI:10.1080/00207548908942560

出版商:Taylor & Francis Group    

年代:1989

数据来源: Taylor

摘要:

Cooperation among robots in multi-robot systems is called MRC (Multi-Robot Cooperation) and is defined by four cooperation modes. Measures of cooperation levels are defined. The design problem of how much cooperation to design is presented, and an analysis is described for systems with 2, 3, 4 and 5 cooperating robots. Production rate and cost effectiveness are used to compare various combinations of systems with and without cooperation. This is part of an extensive study on multi-robot systems characteristics that has been recently completed.

ISSN:0020-7543    

DOI:10.1080/00207548908942561

出版商:Taylor & Francis Group    

年代:1989

数据来源: Taylor

摘要:

This paper describes the initial phase o a project aiming to identify and define basic mechanisms for error recognition, diagnosis, interpretation and correction within the context of the control of collaborating robots forming an assembly cell. The integration of the logical and spatial control information derived from assembly plan and sensors is achieved through a knowledge-based framework. A practical demonstration of a composite assembly task has been chosen as a training set to focus the research.

ISSN:0020-7543    

DOI:10.1080/00207548908942562

出版商:Taylor & Francis Group    

年代:1989

数据来源: Taylor

摘要:

Increasingly robots form part of a complex automation scheme, dictating a requirement for robot control systems which can communicate beyond their local working environment. This paper explains how MAP Version 2·1 broadband local area network interfaces have been used to facilitate robot integration with computer-integrated manufacturing systems and describes integration methodologies which can find widespread application. To illustrate the principles involved a robot-based flexible assembly system has been constructed to assemble and test printed circuit boards. Each machine element of the flexible assembly system has been linked to a MAP backbone through the use of ‘OSI intelligent interfaces’ (or gateways). The interfaces incorporate INI COMMengines and were constructed at Loughborough University to achieve MAP to machine-specific protocol conversion and where appropriate to provide enhanced front-end processing facilities in the locality of machines. The paper also describes the features and use of an AUTOMAtion Integration Language (AUTOMAIL)which is an integration tool which can be used to define information transfer in distributed manufacturing systems. AUTOMAIL allows the system builder to define a number of sequential manufacturing tasks and the necessary synchronization of these tasks. The resulting software accomplishes interprocessor communication on the network through use of MAP application layer primitives and runs on a cell supervisory computer which itself is linked to the MAP backbone. In this way, various application and information architectures have been devised and studied. For example, cell supervisory computers have been used to interpret work-to-lists, generated by factory-wide production planning and control systems, and subsequently control and monitor the integrated functioning of robots, component transport, automatic testing and vision-based inspection systems.

ISSN:0020-7543    

DOI:10.1080/00207548908942563

出版商:Taylor & Francis Group    

年代:1989

数据来源: Taylor