Positioneringsnauwkeurigheid en herhalingsnauwkeurigheid van robots.
Auteur: J.W. Rietdijk WPB rapport no.: 0087 feb. 184
Verslag van I-l opdracht. Begeleiding: Ir. P.W. KOumans Ir. P.H.J. Schellekens Prof.dr.ir. A.C.H. van der Wolf
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Inhoud. I Ilho uu
paq.
1-1 opdracht
paq. 2
Voorwoord
paq. 3
Inleiding
paq. 4
Hoofdstuk 1 Omschrijving begrippen.
paq. 6
Boofdstuk 2 Definities.
paq. 12
Hoofdstuk 3 Bet meten van positionerinqsnauwkeuriqheid en herhalingsnauwkeuriqheid.
paq. 21
Hoofdstuk 4 De statistiek achter het meten.
paq. 26
Hoofdstuk 5 Het weerqeven van de resultaten.
paq. 30
literatuurlijst
paq. 34
Bijlaqe met titels
~n
beschrijvingen
paq. 37
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I-1 opdracht. V~~r
de aanduiding van de kwaliteit van een robot worden de begrippen positioneernauwkeurigheid en herhalinq5nauwki~igheid gebruikt. Ga na of er in de literatuur omschrijvingen van deze begrippen voorkomen en zo ja, beschouw en vergelijk die kritisch. Formuleer een bruikbaar stel definities voor toepassing bij robots. Geef aan op welke wijz-e(n) de meting van deze nauwkeurigheden zou kunnen geschieden bij gangbare typen van industritHe robots.
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Voorwoord. In dit verslag van een 1-1 apdracht wordt een beschauwing gegeven over de positianeringsnauwkeurigheid en de herhalingsnauwkeurigheid van robots of manipulataren. Oit verslag is ingedeeld in 5 haofdstukken. In haofdstuk 1 wordt een beschrijving gegeven van de begrippen positianeringsnauwkeurigheid en herhalingsnauwkeurigheid om de lezer te introducer en in de problematiek van de positieeigenschappen van robots. Vervolgens warden in hoafdstuk 2 de positioneringsnauwkeurigheid en herhalingsnauwkeurigheid gedefinieerd en vergeleken met definities die voorkomen in de literatuur. Hoofdstuk 3 is gewijd aan de manier van het meten van positianeringsnauwkeurigheid en harhalingsnauwkeurigheid van een robot. De voor- en nadelen van de verschillende meetmethoden warden besproken. De statistische verwerking van de meetresultaten wordt beschouwd in haofdstuk 4. Haofdstuk 5 tens lotte bevat een kart overzicht van een aantal wijzen waarop de pasitioneringsnauwkeurigheid en herhalingsnauwkeurigheid kunnen warden weergegeven, ap basis van de in haafdstuk 2 gemaakte definities. Tenslotte is er behalve een literatuurlijst een uitgebreid overzicht apgenamen van de output van deze literatuurstudie die voor een groat gedeelte tot stand is gekomen via de computer van de centro bibl .. dienst. In dit averzicht is een veelvoud van titels en beschrijvingen . van artikels opgenomen die van nut kunnen zijn voor toekomstig onderzoek in de vakgroep.
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Inleiding. Ret gebruik van industriele robots en manipulator en is de afgelopen jaren aanzienlijk toegenomen. De specificatie van de eiqenschapl?en van zo'n werktuig is echter verwarrend. Richtlijnen voor standaardisatie van de beschrijvinqswijzen van de eigenschappen zijn wenselijk zodat het. mogelijk wordt om verschillende soorten robots en manipulatoren te vergelijken. Een aantal eigenschappen van de robot die van belanq zijn worden genoemd in lit.[24], Ilt.(25] en 1it.[27] en zijn weergeqeven in tabel 1 en tabel 2.
Geometric
dimensions
Wodt__
ThttmIt dimensions
Kinem8tic dimensioN
Dynamic dilMf'llioM
0rMnt time
T..... furcIt. T.........,. of ~lMti
Grippina forca
tabel 1 eigenschappen van een robot . • In deze literatuurstudie ligt het accent op de \ positioneringsnauwkeurigheid en herhalingsnauwkeurigheid, beide { qeometrische eigenschappen van €len robot. i Verantwoorde definities van deze begrippen moeten als basis dienen voor uniforme tests ter bepa1ing van de kwaliteit bij b.v. de afname van een robot. :1'"' Vd',
H,
II
'/\ ···f. ,
Ret is in een aantal gevallen mogelijk om €len vergelijkiq4' te trekken tussen tests voor robots en tests voor werktuigmachines / Deze vergelijking gaat hierin manco dat de uTteiIidelljke"~:kwaliteit van €len gereedschapsw€lrktuiq wordt b€lpaald door de maatnauwkeuriqheid van het produkt dat €lrmee geproduceerd wordt. Dit is m€l€lstal niet het geval bij robots omdat e€ln robot in het a1gemeen geen bewerking uitvoert zoais-een~ge-r-ee(fschapswer kEuig~ Oi tzonder irigeri-~iIJn -delas - -'en~--" veI£spuitrooots-waa-rde-kwafiteit van het produkt direkt €len gevolg is' van de positioneringsnauwkeurigheid en herhalingsnauwkeurigheid, die
//
- 5 dan overiqens enkele ordertgroter zijn dan bij een gereedschapswerkLuig.
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tabel 2 eigenschappen van een robot.
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Hoofdstuk 1. 1.1 Inleiding.
In dit hoofdstuk worden de beqrippen positionerinqsnauwkeurigheid en herhaliugsnauwkeurigheid gelntroduceerd. De afhankelijkheid van deze ten opzichte van vaI'iabeIen ais belasting , plaats e.d. wordt gegeven. Daarna is het mogelijk.om in hoofdstuk 2 een definitie teqeven van de positioneringsnauwkeurigheid en herhalingsnauwkeuI'iqheid en deze definit.ies te vergelijken aan de hand van bestaande literatuur Olf dit gebied. 1.2.
Qositionering§nauwkeu.igh~id
en
be.halingsnauwkeuI'i9h~id.
De positioneringsnauwkeurigheid en herhalingsllauwkeurigbeid van een robot zijn te beschouwen als ruimteIijke eigenschappen en worden dus gekarakteriseerd door 6 variabelen. Deze 6 variabelen, zijn de positie van de robothand (3 variabelen) en de orientatie van de robotband (3 variabelen) . In de onderzocbte literatuur is het gebruikelijk am, wanneer bet J geometrisch gedrag van een robot wordt bekeken, de orientatie buiteu\ beschouwing te laten. Dit komt omdat tot nu toe het I kwaliteitscriterium van een robot de positienauwkeuxigheid is. In dit gedeeite van hoofdstuk 1 wordt aIleen gekeken naar de positie van de robothand en dan kan t.a.v. de orientatie van de robothand eell analoog verhaal opgesteld worden. In fig.1 worden de begrippen positioneringsnauwkeurigheid en herhalingsnauwkeuxigheid weergegeven. De positionerillgsnauwkeurigheid is de mate waarin de robothand een gewenste positie bereikt die hem van tevoren is opgedragell, de engels term die hiervoor vaak gebruikt wordt is waccuracyW of ·positioning accuracy", zie lit.[36]. De herhalingsnauwkeuxigheid is de mate waarin de robothand in staat is am punten meerdere malen te bereiken, of boe goed de robot zichzelf kan herhalen. De engelse term die hiervoor vaak wordt gebruikt is de repeatability, zie lit. [36]. In de duitse literatuur spreekt men over ·Positionsgenauigkeit R (positioneringsnauwkeurigheid) en niet over herhalingsnauwkeurigheid. De standaard verdeling van de meet punt en dient ais basis voor de beschrijving van de herhalingsnauwkeurigheid, maar hierover meer in hoofdstuk 2 en 4.
1
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t
I
LTARGET POINT
:... HIGH RePEATABlltTY HIGH ACCURACY
l.TARGE1'
LTARGet POINT
POINT
"HiGH RePEATABILITY lOW ACCURACY
lOW ItEPEATABR.lTY ; HIGHACCURACY
1. Finn, prltt~s (top) fJItd distribution CU",ft (bottom) ,""""at~ two importtmt pnJonntmce sp«ij"'lCIItiom: IICCUTtIq (II robot's ability to moVe! to the tarret) and I't!pHtllbility (a robot's ability to return to the lame point).
fig.1 positioneringsnauwkeurigheid en herhalingsnauwkeurigheid.
1.3. Variabelen van positionerinqsnauwkeuriqheid en herhalinqsnauwkeuriqheig. ~ De positione.lin9snauwkeurigheid Vdn een robot is afhankelijk van 4 factoren t. w, : 1) Het oplossend vermogen van de besturing. 2) De onnauwkeurigheden van de mechanische componenten (verbindingen, aandrijvingen, uitbuiging, etc,). l) De beldsting van de hand. 4) Een willekeurige, nooit van tevoren benaderde vastgestelde positie. 'Ll ~ ("~r Ie i;'''"k ~,~ t,..~,- i (~/~,/,-,
Het oplossend vermogen van- een besturing wordt bepaald door de hoeveelheid besturingsincrementen die voorhanden zijn om een bepaalde as te sturen. Dit aantal besturingsincrementen is afhankelijk van het meetsysteem en de gebruikte besturingscomputer.
, ,)
- 8 -
Het oplossend vermogen van de besturing is ter verduidelijking weergegeven in fig.2. 48 IN. (1.22 MJ (4096 CONTROl. INCREMENTS)
-
SI.IOING JOINT
CONTROl. 48 IN. (1.2~MJ RESOWTION " .lJ12 IN. 7.3 5 MM) ; - - -.. -
--
Fig. 2·11. Control influence on resolution.
fig.2. Oplossend vermogen. V~~r
een ~artesisc.:he robot, een robot met assen in de X-,Y- en Zrichting, is het oplossend vermogen van de bestuxing constant per
Bij een robot met een roterende schakel varieert het oplossend verlllogen in mm met de afstand tot heL draaipunt, ue fig.3. SPATIAl. RESOI.UTION ~ WITH 800M EXTENOEO\ / '
//~/
/-/~
4~
ANGULAR RESOLUTION - - - - . . . ,
" - SPATIAl. RESOLUTION WITH 800M RETRACTED
ROBOT ARM (TOPVIEWl
Fig. 2·12. Effect of boom extension on spatial resolution (exaggerated).
fig.3 Oplossend vermogen.
dS.
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Het oplossend vermogen van de verschlllende robotelementen heeft qesommeerd een oplossend vermogen van de robot-hand tot qevolg zoals qeqeven is in fiq.4*.
•
JOINT MOTIOIt
~'
II'
i
I
I
I
~-----7 , ,
,
TARGET
POSITION
.U12 16.(.305 _J (RESOLUTION)
L
FIRST JOINT
POSlnO"
ADJACENT JOINT
POSInO"
JI't&. 3-14. Accuracylepatfal reeolutioll relatloIlebip.
fiq.4* Oplossend vermoqen. Als qevolq van mechanische onnauwkeurigheden in de componenten van de robot zoals wrijvinq (virtuele spelinq), spelinq tU5sen de tandwielen, spelinq in Jlet scharnier of onder invloed van een belastlnq zal de werkelijke positie van de robothand anders zijn dan verwacht werd op basis van de meetsiqnalen die de robotbesturing ontvanqt. Als gevolg van deze onnauwkeurigheden zal de plaats waar de robothand kan zijn groter worden, zi: fig.5*.
..
TOOL riP
JOINT MOTION
,--....,'..., i'"-.... I
.
I I I
I
II
....------)
TARGET POSITION.
'"
~~
(MECHANICAL INACCURACY)
(MECHANICAL INACCURAC'f1 .016IN.f.406 mmJ (SPATIAL RESOLUTION}
Fig.. 3-13. Accuracy/n!:SOlutioll
relatioD8bi~
fig.5* Oplossend vermogen.
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De positioneringsnauwkeurigheid vall een robot is bovendien afhankelijk van eeu willekeurige, nooit-van-te-voIt!n-b.:rw.derde vastgestt:!lde positie (target position). De grootte van de positioneringsnauwkeurigheid is afhankelijk van de korste afsLc:tnd tu~~en "target position" en een besturingspunl. Ligt een fttarget position" dichter bij een bestu.ci.ugspunt. dan
*
~
---
-- Hiii -L:;xX:: - ~ h~1:;J l~\ hAy,\Io-{"U
.
Figuren 4" en 5 zijn in details gewijzigd bij overname uit . lit.[20] omdat anders in de figuren reeds een definitie van positioneringsnauwkeurigheid voor zou komen.
1,4.ProgralUl!Ieerwijze robot. De in 1.3 beschouwde dfhankelijkheid van de positioneringsnauwkeurigheld en de herhalingsnauwkeurigheid van el:u robot gadt zander meer op wanneer een Iobot geprogrammeerd is in de £..g. tedt:h-mode. Wanneer de roLot geprogrammeerd wordt in de teach-mode zal de robot met de hand nddr de posities worden gebracht die gewenst zijn. De standen van de robotelementen worden via het meetsysteem uitgelezen en dan opgeslagen in het geheugen van de besturing, Deze
,}
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elemenLsL
hi . A·{ ev~l~ ~'
::{..("'>
I
1.5. Gedrag van een robot.
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~~W7
!
v-v-t
Bij de bespreking van de positioneringsnauwkeurigheid en de herhalinqsnauwkeurigheid van een robol is tot nu toe in dit hoofdstuk uitgeqaan van een situatie waarbij de robot stil stond. Wttuneer de robot gaaL bt:'!wegen wilen ttls gevolq van besturinqsfouten en onnauwkeuriqheden van de mechanische componenten extra positioneringsfouten opLreden die er toe leiden dat de positioneringsnauwkeuxigheid en de herhalingsnauwkeurigheid van een robot onder dynamische omstandigheden anders zulIen zijn dan onder statische omstandigheden. Een vergelijking met de 9Qreedschapswerktuigen is hier op z~Jn plaats daar er bij de besturing van de slede van zo'n gereedschapswerktuiq dezelfde dynamische problemen optreden als bij een robot. In het algemeen zal een robot meer Ittst hebben van naloop\' dootzwiepeu dan een slede lIan t:'!t!n gereedsci1apswerktuig. Dit is een gevolq van de bouw en de beweqingssnelheid van de robot. De problemen die hierdoor kunnen optreden kunnen op een identieke wijze worden beschreven. Ex moeL hier natuurlijk weI rekening mee worden gehouden bij het meten aan robots.
I' .
jv
't
'1
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Hoofdsl:.uk 2. 2.1. positionerin9snauwkeurigheid. zijn op dit moment twee gangbare definities van positioneringsnauwkeurigheid in de onderzochte literatuur. In lit. [20] wordt de positioneringsllauwkeur.i.gheld gedefinieerd als:
Ex
-accuracy: spatial resolution I 2D,
zie fig.6. V~~r de accuracy wordt in dit gellal de meest ongutlsti'Je situatie genomen. De definitie die hierboven is gegeven komt overeen met de definitie in lit. [34] die luidt: "absolute accuracy is defined ·as the tolerance in each coordinate in reaching any gillen point in space.-
•
rOOL rIP
JOINT MOTION
TARGET POSITION-,
.I02mm .004 IN. (MECHANICAt
INACCUHACYI
.008 IN.t.W mm! (ACCURACY)
(MECHANICAL INACCURACY)
.016 IN'(A06 trim!
{SPATIAL RESOWTJONI
Fig. 2-13. Accuraqr/resolution relationship.
fig.6 positioneernauwkeurigheid. Deze definitie van posiLioneringsllauwkeurigheid is dus afhankelijk \fan de herhalingsnauwkeurigheid welke a.a. het gevolg is van de annauwkeurigheden vall de mechanische componenten. Volgens deze definitie is de positioneringsnauwkeurigheid de maximale positioneerfout die op kan treden wanlleer een punt wordt benaderd. De positioneringsnauwkeurigheid is de maximale Iuimtelijke afstand tUBBen het doel, "target point·, en de werkelijke positie van de robothand. Voor de eenvoud in het vervolg zal deze definitie aangeduid worden met definitie 1. . In lit. [28] komt een andere deflnitie voor van de pO::l.i.tioneringsnauwkeurighl:id van een robot: "accuracy is the difference between the target point and the center of the distribution curve." Deze defini t.ie van pusitioneringsllduwkeurigheid is onafhaukeli jk van Je herhalingsnauwkeurigheid wat wordt verduidel.i.jkt in fig.7, waar de herhalingsnauwkeurigheid samenhangt met de breedte van de verdeling en
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de po~.i.tioucrin':l3nauwkeurigheid de afstand is van-het "target" tot het midden van de verdeling, zie oak fig.1.
3. A ecuracy is 1M di6tflltce fro", tire '~"'lIbility drcIe l'
eenle to 1M target poin/. Statistically.
it is tM dirtflltCf! fro", tire center point of the ,ttnp to the tttrgd point.
fig.7 Definitie van accuracy. In de onderzochte duitse literatuur kamen verschillende definities VOor. De "Syslemat.ische Abweichung yom Sollwert am Ort x." is in J
lit. [2] gedefinieerd dIs de afstand van het doel, de ·Sollwert", tot de gemiddelde waarde van de metingen, bij metingen op een plaats, zie fi 'I.8 en fig. 9 .
:-
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r---
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fig.S
BUd 4. V.rteUuol-der M.a....rt. "11 elne.. Sttchprobe t bet Mfahr.n au. dar Rlchtun't
fig.9.
Deze definitie is gemaakt voor de assen van een gereedschapswerktuig maar is ook te gebruiken voor het beschrijven van de positioneringsnauwkeuri'lheid van een robothand wanneer deze ·Systematische Abweichung vom Sollwert am Ort x." gelijk is aan de J Raccuracy· gedeflnieerd als:
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"accuracy is the difference between the target point and the center of the distribution curve." In de. figuren 8 en 9 geen rekeniu9 gehouden met de "Umkehrspanlie", een dade-slag, die onl;;:;taat wanne.::r heLze::'fde punL vanuit twee richtingen wordt benaderd. In de figuren 10 en 11 wordt hie.r weI rekening mee gehouden.
Slid 7. Grephite". Oentellung der .....,.61111n nwI'!"'" Md· pcMIt~ i~b der gIIWihlten
p
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lf l , - -
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fig. 11.
fig. 10
In de lileLatuuL van engelse, amerikaanse of franse afkomst wordL g~en aandacht besteed dan dit verschijnsel. In deze literatuur wonlt aaugenomen Jat de meetwaarden een normale verdeling hebben i.p.v. twee normale verdelingen, een voor benadering uit elke richting. Tot nu toe is wat betreft de accuracy aIleen uitgegaan van positioneringsnduwkeurigheid in een punt. Het gedrag van de positianeringsnauwkeurigheid langs een as kan ook beschreven worden. De UPositionsabweichung- is in lit.[2] gedefinieerd a1s: "Die Positionsabweichung Pa als systematische Abweichung ist die in einer gew~hlten PrQfachse maximal auftretende Oifferenz der Mittelwerte aller Messpositiolf't:n" I
zie uok rig. 10. De ·Positionsabweichung" geeft de maximale afwijking aan tussen de "Istpositionen" en is gelijk aan de maximale systematische afwijking per besturingsas. De dPositionsunsicherheit"
~n
lit.[2] gedefinieerd als:
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"Die Positionsunsicherheit P ist did in der gt:w.1hlten pr:nfachse ermittelte Gesamtabweichung unter Berflcksichtigung der in den Einzelpositionen ermittelten Kennwerte: Positionsabweichung f Umkehrspanne und Posilionsstreubreite. Sie umfasst somit die systematische und die zuf.11ligen Abweichungen" , zie ook fig.10. Deze ·Positionsunsicherheit" geeft aIle afwijkingen weer die op kunnen treden, zoals verduidelijkt wordt in fig.12.
fig. 12. Arbeitsunsicherheit. In lit.[n, lit.[29] en lit.[30J wordt ingegaan op een methode um dd positioneringsnauwkeurigheid van een robot te berekenen in het werkbereik. Oit deze beschouwingen blijkt dat de positioneringsllauwkeurigheid van een robot voorspelbaar sterk varieerl van punt tot punt en mede afhankelijk is van de orientatid van de roboLhand. Een definitie van positioneringsnauwkeurigheid die een waarde oplevert voor de positioneringsnauwkeurigheid voor het gehele werkgebied van de robot is niet optimaal. Door de grote afwijkingen die optreden in de positioneringsnauwkeurigheid OVdr het werkgebied van de robot zou een onvolledig beeld worden verkregen van de eigenschappen van zo'n robot. Voor een optimaal gebrulk van bet begrip po::>itioneringsHd.uwkeurigheid is het aan te raden am gebruik te maken van een definitie van positioneringsnauwkeurigheid die niet een algemene waarde levert van de positioneringsnauwkeurigheid voor het gehele werkbereik van de robot maar van een definitie waarbij de positioneringsnauwkeurigheid van punt tot punt gespecificeerd wordt. Wanueer er gezocht wordt naar een waarde am de positioneringsnauwkeurigheid van een robot aan te geven kan definitie 1 het beste worden gebruikt. Definitie 1 geeft een waarde van de
- 16 -
positioneringsnauwkeurigheid die dil'ect een beeld geeft hoe nauwkeurig een robothand een punt kan benaderell. Wanneer de positioneringsH.:luwkeurigheid zou worden gedefinieerd volgens definitie 2 als de gemiddelde plaats van de posities van de robothand is een herhalingsnauwkeurigheid nodig om een juist beeld te krijgen van de positioneereigenschappen van de robot. Een dergelijke ingewikkelde structuur isniet aan te bevelen olildat zij misverstanden kan veroor:z:aken. Vaor de gebruiker van de robot geeft definitie 1 de informatie hel beste weer. De fabrikant van de robot zal w.i.l1ell weten wat de oorzaak van de positioneernauwkeurigheid vall zijn robot. Dan is het van belallg om de waarde te kennen van de herhalingsnauwkeurigheid en van de gemiddelde plaats van derobot.hand. De voorgestelde definitie van positioneringsnauwkeurigheid is:
Lu~scn \
-De positioneringsnauwkeurigheid is de maximale afstand de gewenste positie en de werkdijke positie gerueten in Mn punt van een as.
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ft
Dit is weergegeven in fi9.14 van 2.2. 2.2. herhaling§naywks;urj.gheid. r
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Een definltie van herhalirulsnauwkeurigheid moet rekening houden met de ,/ verde ling van de standen./~~n de robot. En zal dus gebaseerd zijn op een statisti5~he benadering van deze verdeling. Zo zijn er een aantal de f ini ties on tst<'tall vall herhalingsnauwkeur igheid .
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smallest circle tlult can be drawn to inelude aI'points. Sttllistical/y, one
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Iud/ 0/ the maxinuun widtlt (or range) 0/ tlte distribution clII'Ve is repeetability.
·1 I
- 17 -
Uit lit.[28] voigt de volgende definitie, z.le ook fig.13: "Repeatability is the lenghlt of t.he radius of the smallest circle that can be drawn ~~ include all points. Statistically, one half of the maximum width (or range) of the distributluon curve is repeatability." Dezelfde definitie is gebruikt .l.n lit. [20] alleen met. de volgende formulering: "Repeatability is the ability of the robot to reposition itself to a position to which it was previously commanded or trained", Z.l.e
oak fig 14. ARBITRARY ~ ...- ..... 1" ,. - ..... , F , ., I • ,IXED TARGET I . .', •
+" • I
.
,.
'-'
Ii
I'
ACCURACY
,,-+....
T",ned Positions
) Range
I
' ... _.1
... •• • :
+ '--'"
I.
' I ,"', , ''/
/
I
r' \. ,
...-. ......... \
.+.",1
.....
-
~ REPEATABILITY SPA TIAL RESOLUTION
of E"or Due to
CompOllMltandStnftlf
InllCcuracies
Reputed Positions
Fig. 2-16. A two-dimensional depiction of tool-tip positioDs of adjacent increments. trained and repeated (exaggerated).
fig.14. herhalinqshauwkeurigheid. Volgens een andere definit.ie, lit.[21] volgl dat: "The repeatability error of a positioning task can be determined by comparing the average position of the repeated tasks with the repeated position that is one standard deviation away." l: ~; ~ Een derde definitie .is afkomstig uit lit.(35] waarin wordt geschreven dat: "Within the ISO/TC39/SC2/WG2 working group on the Accuracy and Repeatability of positioning of Numerically Controlled Machine Tools it is recognised that the ± 3 sigma criterion has been used and accepted for a number of years and it is proposed to
- 18 -
retain this figure together with a standard test to specify the confidence limits."
~yc1e
but not
UiL deze laatste woorden, "not to specify the confidence limits", komen de verschillen voort. Als we aannemen dat de robotollderdelen gepositioneerd worden volgens de normale verdeling ontstaat voor de verdeling van posities van de robothand bij naderingiTan een punt, een beeld als in fi9.15.
Slid 12. Normal_letluno
fig.15. Hierbij moet opgemerkt worden dat bij een verdeling met -Umkehrspanne" (zie o.a. £ig.11) de normale verdeling zo kan worden omgerekend (zie H4) dat een beeld verkregen wordt zoals in fig.15. Wiskundig kan dan worden bepaald dat 68.26\ van aIle meetwaarden tU5sen ~-o en ~+o liggen, 95.4\ ligt tussen ~-2o en ~+20 en 99.76\ ligt tussen ~-3o en ~+30t zie lit.[2]. Definitie 2 gaat uit van een herhalingsnauwkeu.t:igheid van 0, !neL al;.; gevolg dat deze waarde maar een nauwkeurigheid heeft van 63. 2G~•. Definitie 1 gaat uit van een praktische situatie en zegt dat alle meetwaarden binnen een drkel moeten liggen. De herhalingsnauwkeurigheid is in dat geval sterk afhankelijk van het aantal meetpunten. Definitie 3 gaat uit van een internationaal geaccepteerde 3a-norm met een hoge betrouwbaarheid, zie lit.[3S]. De literatuur van duitse afkomst gaat uit van een ·positionsstreubreite H di~ in lit.[2] gedefinieerd is a15: "Die Positionsstreubreite P5 beschreibt fftr die gewahlte Prl1fachse die Auswirkung zufalliger Abweichungen in jeder Position. sie wird mit einer festgelegten Statistischen Aussagewahrscheinl.i.chkeit angegeben (Abschuitt 4.2.2 und 4.2.3)."
- 19 -
Deze definitie wordt statistisch onderbouwd zodat voor de ·Positionsstreubreite am Ort x." geldt: J
6
*
s.
1
waarin Sj de standaardafwijking van de meetwaarden in punt Xj is. Gezien de afspraken die gemaakt z~Jn in de ISO/TC39/SC2/WG2 werkgroep en de definities van het VOl, zie lit.[2], is een definitie van herhalinqsnauwkeuriqheid die uitqaat van een ±3a gebied de eniqe juiste. Gezien het betrouwbaarheidsinterval van 99.76\ zal praktisch qeen enkele maal de robothand buiten dit gebied terecht komen. Een derqelijke definitie van herhalinqsnauwkeuriqheid is daarom van qroot nut voor de qebruiker. Definitie van herhalinqsnauwkeuriqheid: "De herhalinqsnauwkeuriqheid van een robot is qelijk aan drie maal de (qemiddelde) standaard afwijkinq van de meetpunten, plus de/dode slaq.-
/WH vlk, ~
Deze herhalinqsnauwkeuriqheid is de straal van de cirkel rand het gemiddelde van de meetwaarden waarbinnen 99.76% van aIle meetwaarden liggen. 2,3. Andere Detinities.
In lit. [26] komen twee andere waarden naar voren die de positioneringsnauwkeuriqheid van een robot beschrijven. De "middle range of positioning" is de qemiddelde waarde over een as van de -range of positioning" die gedefinieerd is als: "The range of pos,tioninq characterizes how exact an industrial robot finds the same programmed point independent of the direction from, which M is movinq." it De "ranqe of positioning" is gelijk aan de herhalinqsnauwkeuriqheid zoals gedefinieerd in 2.2, en de "middle ranqe of positioning" qeeft de gemiddelde herhalingsnauwkeurigheid over een as van de robot. In lit.[26] wordt de "middle range of positioning" geqeven door de vergelijking:
Rpu '" U + 6*s
- 20 -
waa~ ij de gemiddelde "Umkehrspanne w is over een as en s de gemiddelde
standaard afwijking over een as. Een andere waarde die wordt gebruikt in lit.[26] is de "middle range positioning tolerance", de gemiddelde waarde van de "positioning tolerance·, die gedefinieerd wordt als: "the positioninq tolerance presents the range of positioning all over the whole workinq space of the robot." De "middle range positioning tolerance- is gedefinieerd in de volgende vergelijking:
- X.
1un
I + U + 65.
Deze "middle range positioning tolerance· is gelijk aan de eerder genoemde ·Positionsunsicherheit·,en is een maat voor de maximale afwijking die op kan treden over het gehele werkgebied van de robot en gaat uit van de positioneernauwkeurigheden van twee punten.
- 21 -
Roofdstuk :3. Hel:. lueten van positioner inqsnauwkeurigheid en herhalingsnauwkeuIiqheid. '3.1. Alqemeen. Bij het meten van de karakteristiekeu van robots moe len tukele condilles goed in het oog worden gehouden. Ret. gedra9 van de robot verschilt nogal wanneer er met een andere snelheid, belasting of temperatuur wordt gewerkt. Wannee.r dangenomen wordt dat de temperaluur van de robot na inlol;ien t::onsi:.ant blijft, zijn de gevolgen van de temperatuur op het gedrag van de rouot tc verwaarlozen ..Oe motortemperatuur loopt bij het inlopen langzaam op tot een maximum waarde. Er moet weI rekening worden qehouden met de verandering van het qedrag van de robot o.i.v. de belasting en de snelheid. Oit kan OJ? een eenvoudiqe wijze gebeuren door te meten met minimum en maximum snelheid en belasting zoals voorgesteld in tabel J.
Handling weight.
Motion speed Measuring number 1
low
x x
2
3 4
high
x x
0
.
maximum
x x x. x
Table 1: Measuring sequence for each axis
tabel 3 Meetvolqorde. V~~r de verschillende "measuring numbers" wordt de robotas doorgemeten op positionerinqsnauwkeurigheid en herhalinqsnauwkeurigheid.
Tabel 4 gaen een meer uitgebreid overzicht van het meten van posilioneringsnauwkeurigheid en herhalingsnauwkeurigheid onder statische en dynamische omstandigheden. Bovendien wordt ingegaan op de "Umkehrspanne" , de drift en op de overshoot die op kunnen treden wa.nneer een punt worut benaderd. Deze eigenschappen van de robot zijn zeker van belang voar het gedrag ervan en dienen meegenomen te worden bij het opstellen van afnamenormen.
- 22 Tot nu toe is alleen ingeqaan op het geJrag van de robot in een punt. Wanneel de robothand €::en vasLgestelde bddU moel volgen komell eigenschappen ais "overshoot", en naloop aan de oIde. Deze eigenschaPPt)il zul1en ook zeker mee moeten worden genomen in ae toekomstiqe afnamevoorwaarden. Dit is een onderwerp voor een studie apart.
"
GeonMtriai war'" ......."ed on indumiaI roboU
ChefK....jltlC.
,.............,
Individual
itltlc
diMInIionI
Wdun
cycle or T_cycIe OperRlonai Uh
ItICIc*ly
,euittllnld
....
Working
StroU+Ane!e
Individwl
inlll._
Wd. .
PotitlOninfl ., .....ic
3cktIwiatiGn
b' oynemlc
3cktIwietion
.....
3ckie¥laIion
dl D'fIOint
3ckIrih of the
~
Ihooting
Dernpjng
T"'illl the 1MftU·
lOGS
Stltle
1o.1OGS
o.1OGS
X,I from 10
Cycle
lo.10GS
o.1OGS
0.100%
0.100%
............... Ufrom10
to.1oea
o.100s
o.1OGS
o.1OGS
$yltllmUic: error whim motion is .--.0
X. (61 fromn
1o.1OGS
o.1OGS
o.loea
o.1001t
Or»ratiomi beNlviour. SahaIriour over long
Cycta Tea:c:yde
rafenmce point meMUntmentI
Time 3d......it. . .
Velocity
StItle
X~
Itl Owf·
r..o...a
directiOn tKU.IfWI dele
DevUition in I Y _ when I....... EI_tic betIeIrioor
IndividwIIi
meMUnlflWfttl
c:• ....,.
Pvametef'l
reei..red mH. to
Cycte
*
* * :i'
Random error
J)III'ioG
Setefyd....... 1n
,o.1OGS
o.1OGS
o.1OGS
Q.100'lf.
WOtki,. ....
1o.tOGS
Q.100'lf.
0.100"'-
Q.1OGS
DeviatiOn from I;UFW with
~
Path-cl.lFW
2d-deviaUon
accuracy
X.I from 10
from the c:ut"ft
~tl
T_cycle _
per point or
c:p-convol
reuittIInId
tabel 4 Meetwaarden
3.2. Wat en Hoe meten. Wanneer de J,lositioneringsnauwkeurigheid en de herhalingsnauwkeurigheid Vdll een robot bepaald moeten worden, moe ten metingen gedaan wOLden in 6 -richtingen. Innners de pasitianeringsnauwkeurigheid en de herhdling:md.uwkeurigheid van een robot zijn ruimtelijke eigenschappen en worden ?ekara~teriz7erd d~or ~ variabelenl. De posi~i~ ~al1 de robolhand J.S van.abel In 3 rJ.chllngen, de X-, Y- en Z-nchtJ.ng, en de vrientc.i.Lie van de robolhand is uak variabel in 3 richtingen ,a-,p- en l-draaiing, zie ook 1.2.
- 23 Allcen in lit.[21] worden metingen gedaau waaruit de G bepaJen zijn.
V
Le
Fig 4: Partial c.ube inserted in the measurement zone ot the sa dial micrometers
fig.16. Metingen aan kubus. In figuur 16 worden deze metingen verduidelijkt. Door metingen op 2 plaatsen op elk 3 onder ling onafhankelijk oppervlakken te verrichten ia het mogelijk om de p05rtie en de orientatie van de robothahd uiL te rekenen zie lit.[21]. In deze figuur is de robothand voorgesteld door een blokje. De meting wordt hier, zie fig. 16, geddCill filet behulp van mechCiliische meetklokken. Deze meting is niet contactloos en zal daarom rnoeilijk Le automatiseren zijn omdat dan gevaar voor beschadiging van de meetinstrumenten bestaat. In de andere liLeratuur, o.a. in lit.[2S], lit.[27] en lit.[24], wordt slechts de positie Vdn de robothand gemeten en beperkt men zich tot het meten van 3 variabelen, hamelijk de plaatsvariabelen. D~ meting geschiedt dan met een inductief meetsysteem, zie fig.17 en fig. 18. Er wordt of gebruik gemaakt van een blokje (fig.17) of een bol(fig 18) c~an de robothand. Bij deze meetmethoden is het mogelijk om de meetkop
- 24 weg te halen van de plaats waar de robothand Udal loe moet bewegen om boLsingell, en beschadigingen van de meetapparatuur te voorkomeu. Bovendien is het dan mogelijk om de robothand van de ver5chlllende zijden de positie te laten benaderen. E'en 'nieuwe methode om de positie van de robothand te meten is die met behulp van de la~erillterfer\ometrie. Daze methode is erg nduwkeurig maar kan volgens o.a. lit. [is] niet gebruik worden wanneer de robot ;neller beweegl dat ca. 1 (m.s
-1
J.
-
Bill 1
Ot~ ItIduIt/lver ~ li.ir Poa4tiolNl~ In Hanah4lbullVlIf1IJl'lJUn'I
fig.17
r,
fig.18.
,"-
De interesse van veel 'Jebrulkers gaat uit naa,r de plaatsnauwkeurigheld van de robothand en niet zo.zeer nadr de orientat.ienauwkeurigheld. Oaarom hebben veel metingen zich tot uu Loe beperkt tot de plaatsnauwkeurigheid. Zoals in 2.1. reeds werd opgemerkt blijkt ult lil.[1], lit..[29] en lit.[30] dat de positioneringsnauwkeurigheid van een robothand in sterke mate afhangt van de orientatie van de robothand. Het is dad.rom ook van belang om deze orienta tie te meten om dat anders geen betrouwbare lnformatie over de positioneringsnauwkeurigheid weergevevt:!n kan worden. Indien er gemeten wordt aan een 3D robot zoals in lit.[25] is de orientatie in veel gevallen nlet van bt:lang. Oit in tegenstelling tot wanneer er gemeten wOLdt aan b.v. de ASEA of een willekeurige 4D,5D of 60 robot. Bij een 3D robot is de orienta tie van de robothand a1 bepaald door de positie van de robothand. En 40, 5D of 60 robot heeft extra. vrijheidsgraden en zo kan de orientatie van de robothand worden gevarieerd terwijl de positie van de robothand niet verandert.
l)
- 25 Om de "Umkehrspanne- te meten is het nadig dat het punt van 2 zijden benaderd wardt. Omdat een 6D robot 6 onafhankelijke assen heeft zal een meetpunt (6 coordinaten) met alle 6 assen afzonderlijk van 2 zijden een aantal keren benaderd moeten worden om een complete meting in een punt te doen. Dit benaderen zal een aantal malen moeten gebeuren am een nauwkeurige meting te krijgen, zie hoofdstuk 4. Het qevolg hiervan is dat het aantal metinqen zeer hoag zal zijn. Dan verdient het te overwegen om het meten te automatiseren met als gevolg dat cantactlaos gemeten zal moeten worden.
- 26 -
Hoofdstuk 4 De statistiek achter het roe!;.en. In dit hoofdstuk wordt ingegaan op de verwerking van de meetwaardeu tot positioneringsnauwkeurigheid en herhalingsnauwkeurigheid. Er wordt nader ingegaan op de statistiek van het meten·waaruit een benauering kan worden gemaakt van het aantal benodigde meetwaarden. 4.1. Berekenin9.
In 11t.[2] wordt een beschrijving gegeven van de berekeningen ter verwerking van de met'ttresultaten waaruit het onderstaande voor een groat dee1 is overgenomen. De metingen worden voor de duidelijkheid verricht in een richting en de benadering vindt plaats vanuit een besturingsas. De basisgegevens die verkregen worden uit de meting zijn: meetwaarde
.1
op plaats x. )
- meetwaarde,
.I.
op plaats x . bij
he
x .. l.J
J
nadering ttH. positieve richting - meetwaarde i op plaats XJ' bij \.., nadering ult negatieve richting
X.
·f
1.J
X· .J. 1.)
Hieruit kunnen de volgende waarden worden berekend: - gemidde1de van de meetwaarden op plaats x. bij nadering in positieve J
richting :
x. f = )
_:t
n
n
t x .. t
. 1 .1=
.1)
- gemiddelde van de meetwaarden bij plaats Xj bij nadering in negatieve
:; ; 1:t
richting :
n
n
t
x .. +
. 1
1=
1)
- standaardafwijking van de meetwaarden op plaats . x.) bij nadering in positieve richting :
n-1 n r (x.. t - x- . f ) 2 n i=1 1) )
5 . t =/-*
J
- 27 -
- standaardafwijking van de meetwaarden op plaats Xj bij naderil1g in positieve richting :
s
n-1
.~:::.I-*
n
r
n .~-
J
2 (x .. +-x .• ) 1 ~J J
- gemiddelde standaardafwijking van de s.t + s .• meetwaarden op plaats x.
s.
=:
de "Umkehrspanne" op plaat5 Xj
U.
=
1
1
2
J
)
)
x.+J
x·f )
- de systematische afwijking van het doel op plaats x. )
de po;;itioneernauwkeurigheid van de
U.
Pn.= li.1
robot op plaat5 x. in x-richting;
J
J
J
- de herhalingsnauwkeuriqheid van de
U. Hn.= -1.+ 35.
robot op plaats x. in x-richting:
J
J
2
J
4.2. Statistische opmerkingen. Door het nemen van een enkele steekproef worden afwijkingen geintroduceerd. De bij de statistische verwerkinq van de m~etwaarden berekende kentallen en 5 stellen in werkelijkheid schattingen voor van de overeenkomstiqe kentallen ~ en 0 die het gemiddelde en de standaardafwijking voorstellen.
x
Wanneer het aantal metingen voldoende groot is n )= 50, dan zijn de x- en s-waarde voldoende nauwkeurig. Een aanvullende berekening voor de betrouwbaarheid is dan niet nodiq. I
x
Omdat de betrouwbaarheid v~~r en 5 afhangen van de steekproefgrootte kunnen bij kleinere steekproeven toch aanzienlijke verschillen optreden tussen de berekende en 5 en de werkelijke ~ en o.
x
I
I
+ 35. + ...L ) 2
t1
- 28 V~~r
de practische bepalin'l van de positiewaarden is volgens lit.[2] in het algemeen een steekproef met n~10 voldoende voor een bepalin'l
-
van x en
5
wanneer met een strooi'lebied van 6s + Uj
gerekend wordt.
V~~r
uitzonderin'ls'levallen wanneer de mogelijke afwijkingen tussen de steekproeven en de werkelijke waarden precies bepaald moeten worden vol'lt uu een korte verduidelijkin'l. YaOl:
het gemigdelde qeldtj
Met een betrouwbaarheid van 95%
li'l~
het werkelijk 'lemiddelde
~
in het
-.L t gebied x ± ( In )*s. De factor In is uit fig. 18 te halen.
fig.18 Betrouwbaarheidsbereik.
Het betrouwbaarheidsbereik voor het werkelijke gemiddelde
1.1.
J
begrenst
de waarde van de berekende waarde x .. J
Voor de standaardafwiiking geldt: Met een betrouwbaarheid van 95% Iigt de werkelijke standaard afwijking o tussen ..l.. *5 en..l.. *sR' De factoren D b en D o un zijn uit fig.19 te Do b R Dun halen. De hierboven gegeven be5chrijving van ver5chillende statistische eigenschappen is voldoende toereikend wanneer berekeningen gemaakt moeten worden van de positioneringsnauwkeurigheid en herhalingsnauwkeurigheid van robots.
- 29 -
...
'1~r
1
-fTC'
. IoU
~,'Jo .• ~
\
1.1
-.
\
,.,
-- l\r--~
i m
f~ -- I
.. .-1 i~.
11--
L.
,A""
-
....
,
-.-
r-
-...........
~
~F .~ .. ~
JJJ
-.
-_.
.. .
....
,-
c-
..
t--
.U
-"-~.
.
--
Shr1~ ..Ii1t>i"""""", It L. ,1
~ L.L.... ..1 .. 1
..Ll
'1~
f • 6 1m ; u 1 1 110 iIJO~1IW:h 1fif . . . . . . .om..yll . . C"'i1d!!bOMlfrtl#(ItI1!irIt!I"
1
_ . . ~_u.tiIngltnlldldt!M.ljoQi.~~SIrIIttbrI11iJwtidrunIjs", f$/IiII: flO"" ·s,.slf. f{O",'s"
BUd 15. V.n'_lIbIreIch fUr die Standar~hUfllf
fig.19 Betrouwbaarheidsgrenzen.
- 30 Hoofdstuk 5 Het weerqeven van de resultaten. Het weergeven van de positionez:ingsnauwkeurigheid en hez:halingsnauwkeurigheid van een robot is een probleem op zich. Het is natuuz:lijk mogelijk om met een waarde van positioneringsnauwkeurigheid en herhalingsnauwkeurigheid te volstaan voor het gehele werkbez:eik van de robot. De plaatselijke positionez:inqsnauwkeurigheid en herhalingsnauwkeurigheid zal dan in vele gevallen beter zijn deUl de maximum waaz:de die gegeven wordt. Er bestaat altijd zekerheid over de positionez:ingsnauwkeuIigheid en herhalingsnauwkeurigheid die op veel plaatsen beteI is dan de gegeven waarde voor het gehele wez:kbez:eik. Wanneez: een gebz:uiker een robot nodig heeft voor b.v. puntlassen zal hij slechts geinteresseerd zijn in de positioneringsnauwkeurigheid en herhalingsnauwkeurigheid van de robot op plaatsen waar de puntlassen gelegd moeten worden. Iets soortgelljks kan gezegd worden over een gebruiker die de robot wil gebruiken voor montage doeleinden. Kortom het is onverstandig om voor de robot een waarde voor positioneringsnauwkeurigheid en herhalingsnauwkeurigheid te geven voor het gehele werkterrein. De gebruiker zal zoeken naar een robot die in feite voor zijn toepassing te nauwkeurig is. Ais het voor hem dan mogelijk is een robot te vinden die voldoet aan zijn specificaties dan zullen de kosten voor deze robot veel hoger uitvallen dan nodi9 zou zijn. Het is daarom beter om de positioneringsnauwkeurigheid en herhalingsnauwkeurigheid van een robot te geven voor het werkgebied. Er bestaan een aantal mogelijkheden om de positioneringsnauwkeurigheid en herhalingsnauwkeuxigheid weer te geven in het werkgebied. A. In lit.[1], lit.[29] en lit.[30] wordt een methode beschreven die uitgaat van de onnauwkeurigheden in de afzonderlijke robotassen en daar uit een steisel van vergelijkingen berekend. Met dit steisel van vergelijkingen kunnen de contour en van de positioneringsnauwkeurigheid worden berekend. De orientatie van de robothand en de foutenverdeling in de assen worden dan ais variabelen ingevoerd. De positioneringsnauwkeurigheid van de robothand wordt weergegeven in een 2-dim. fiquur die een gedeelte van het werkterrein beslaat. Een andere optie is om de maximale positioneringsnauwkeurigheid, de orientatie van de robothand en de fout per besturingsas op te geven waarna het programma de waarschijnlijkheden van de positioneringsnauwkeurigheid op een plaats uitrekent. Deze weg is gevolgd in lit.[1], lit.[29] en lit.[30] en fig.20 en fi9.21 zijn daarvan het resultaat.
- 31 -
figure .t.
1'\.01 OF CONTOURS Of P()SITIOM'HC. PA08A91\.IlY
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zo
.0
I
I
I
10
60
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JOCI
--'a
Flgure 5.
fig 20 en fig.21. Deze figuren geven direkt een overzicht van de karakt.eristieken van een robot en bevatten nuttige informatie voor de gebruiker3 van robots. B. In lit. [22] wordt een methode beschreven om de gemeten nauwkeurigheden grafisch uit te zetten . Deze methode heet
- 32 ·Volumetric Accuracy Mapping" en is in feite" een uitbreidinq in de ruimte van 2-D "Accuracy Mapping", Eerst wordt het werkgebied van de robot opgedeeld in een aantal gebieden met hoekpunten, zie fig.22 en fiq.23 Daarna worden op de gekozen hoekpunten de positionedngsnauwkeudgheid en herhalingsnauwkeurigheid gemeten. De positioneringsnauwkeurigheid en herhalingsnauwkeurigheid worden dan in de qrafiek uitgezet en geven zo een beeld van de karakteristieken van de robot. Deze ruimtelijke qrafieken worden 2-dimensionaal weerqegeven wat tot onduidelijkheden kan leiden.
c, rn methode r wordt de waarschijnlijkheid van een bepaalde positionerinqsnauwkeurigheid of herhalingsnauwkeurigheid uitgezet die berekend is aan de hand van meetgegevens van de robotassen. Dezelfde grafische methode uit methode I zou ook gebruikt kunnen worden om in plaats van de waarschijnlijkheid van de positioneringsnauwkeurigheid en herhalingsnauwkeuriqheid de gemeten waarden ervan uit te zetten. Dit zou moeten gebeuren voor een aantal snelheden en belastingen am een goed beeld te geven van het totale gedrag van de robot. Hoewel deze methode, zover, besproken alleen gebruikt wordt voor het weergeven van positioneringsnauwkeurigheid en herhalingsnauwkeuriqheid zou deze methode oak gebruikt kunnen worden voor het weerqeven van b.v. ·Umkehrspanne" of ·Overshoot-.
- 33 -
fig 22
5 P!.AI·JES
Diagram lA:
Polar Coordinate Robot Work Volume
fig 23.
•
.. Diagram 1B:
XYZ! Coordinate Robot Work Volume
- 34 Literatuur; lit.[1]: K.J.Waldron, A.Kumar, Numerical plotting of surfaces of . positioning accuracy of manipulators,Mechanism and Machine Theory Vol.16, no.4, pp.361-368,1981. lit.[2]: vor/OGQ 3441, Statistische PrOfung der Arbeits- und Positions-genauigkeit von Werkzeugmaschinell, Grundlagen, VOIHandbuch Bettiebstechnik. lit.(3]:
vor/cGQ
3442, 5tatistische Pro.fung der Arbeitsgenauigkeit von Orehmaschinen, VOl-Handbuch Betriebstechnik.
lit.[4]: VOl/CGQ 3443, Statistische PrOfung de Arbeitsgenauigkeit von Frasmaschinen, VOI-Handbuch Betriebstechnik. lit.(5); VOl/CGQ 3444, Statistische Pro.fung der Arbeits- und Positions-genauigkeit von Koordinaten-Bohrmaschinen und Bearbeitungszentren, VOI-Handbuch Betriebstechnik. lit.[61: VOl/OGQ 3445, Statistische PrOfung der Arbeitsgenauigkeit von Schleifmaschinen, Grundlagen, Blatt 1-5, VOI-Randbuch Betriebstechnik. lit.[7]: H.Kenn, Auswahl und Abnahme von NC-Maschinen ffir eine nach Teile-Familien strukturierte Serienfertigung, Werkstatt und Betrieb 113 (1980) 12, p.809-813. lit.[8]: A.E. de Barr, PrOfung von Werkzeugmaschinen, Werkstaat und Betrieb 116 (1983) 6, p.367-371. lit.[91: K.Seyfarth und E.Hain, Geometriefehler bei Lagesteuerungen, Messen Steuern und Regeln 23 (1980) h.11, p.614-618. lit.[10):VDI 3254, Numerisch gesteuerte Werkzeugmaschinen Genauigkeitsanga~en, Blatt 1-3, VOI-Handbuch Betriebstechnik. lit. [11]:R.Schultschik, Oas volumetrische Fehlerverhalten von Mehrkoordinaten-Werkzeugmaschinen, Werkstatt un Betrleb 112 (1979) 4, p.231-23S. lit.[12]:M.Bambach u.a.,Zur Genauigkeit von MehrkoordinatenMessger&ten und deren OberprOfung, VCI-Z 122 (1980) no.13, p.535-548. lit.[13]:A.Harvie and J.S.Beattie, A quick way to calibrate coordinate measuxing machines, The Production Engineer June 1982, p.28-29. lit.[14]:J.Tlusty, Techniques for testing accuracy of NC-machine tools, 12"" MTDR-Conference, Manchester 1972, p.333-345.
- 35 lit. (1S]:R.Schultschlk, Oas volumetrische Fehlel.'verhalten von Mehrkoordinaten-Werkzeugmaschinen, Werkstatt und Betrieb 112 (1979) 2,p.117-121. lit.[16]:W.tove and A.Scar, The determination of the volumetric accuracy of multi-axes machines, 14~ MTDR-Conference, Manchester 1973, p.307-315. lit.[17]:A.Clement, Modelisation des erreurs de trajectoires des machines-outils, des machines a mesurer tridimensionnelles et des robots, Mecanique Materiaux llectricite (1980) no.369, p.294-297. lit.[18]:J.Farkas and I. EI-Sonbaty , Evaluation of positioning accuracy for numerically controlled machine tools, Periodica Polytechnica; Mechanical ~gineeringt 24 {1980} no.1/2, p.5566. lit.(19]:M.Weck und H.Mehles, Genauigkeitsmessungen an Werkzeugmaschinen, VDI-Berichte no.40S, 1961, p.41-54. lit. (20]:V.D.Hullt, Induslrial Robot Handbook, 1983, p.33-44.
lit. (21]:R.H.McEntire, Three dimension accuracy measurements methods for robots, The industrial Robot, september 1976,p.105-112. lit. [22]:C.Morgan, The realisation of robot testing, symposium on industrial robots, p.399-406.
10~
international
lit.[23]:A.Sh.Koliskor and·M.I.Kochenov, Methods for checking the operating accuracy of industrial robots, Stanski Instrument, vol.49,issue 8,1978, pp.7-10, and Machines & Tooling 49 no.8 p.8-11. lit. [24]:H.J.Warnecke, B.Brodbeck and G.Schiele, Comparative evaluation of industrial robot accuracy, Precision Engineerin9 1980; p.89-92~ lit. (25]: G. Engel und C. O' Souza, Untersuchung des Verhaltens von Handhabungsger4ten und Industrierobotern, Industrie-anzeiger 98, Jg. no.73, 10.9.1976, p.1294-1296. lit.[26]:G.Spur and B.H.Auer, Acceptance conditions for industrial robots, 3rd conference on industrial robot technology & 6~ international symposium on industrial robots, Nottingha.m 1976, p. F4-37~F4-45. lit. [27]:H.J.Warnecke and B.Brodbeck, Analysis of industrial robots on a test stand, The industrial robot, december 1977, p.194-198. lit.[28];P.Albertson, Verifying robot performance, robotics today, october 1983, p.33-36. lit.[29]:K.J.Waldron, positioning accuracy of manipulators, proc. NSF workshop on the impact os an academic community af required
- 36 research activity for generalized robotic manipulators, University of Florida, feb.1978. lit.[30]:K.J.Waldron and A.Kumar, Development of'a theory of errors for manipulators, Proceedings of the fifth world congreess on theory machines and mechanism - 1979, p.821-826. lit.[31]:V.A.Korolev, S.M.Sergeev, E.I.Jurevich, Application of pneumatic industrial robots for assenmbly, p.101-114. lit.[32]:N.G.Dagalakis, Analysis of robot performance operation, NBS, p.7.7J-7.95. lit.(33]:V.S.Ganovski, T.D.Neshko~, I.K. Boyadjiev, Some posibilities of increasing the industrial robot application in automatic assembly, lit.[34]:R.L.Paul, S.Y.Nof, Human and robot performance, p.26-27. lit. [35]:Performance testing, MTIRA, Macclesfield Cheshire. lit. [36]:U.Monczkowski and K.Regensburger, Anwendung fotografischer Messmethoden bei der Prnfung von Industrieroboter, Fertigingstechnik un Betrieb, Berlin 33 (1983) 11, p.650-652. lit. [37]:B.Zachau, U.Monczkowski, Erfahrungen bei der PrQfung von Industrierobotern, Fertigungstechnik und Betrieb, Berlin 32(1982) 11,p.67S-677. lit.[38]:K.Basegawa, K.Matsushima and T.Kaneko, Standardization of terms and symbols relating to industrial robots, Committee of Standardization in industrial robots, JIRA (Japan).
:r: .{
please type your terMinal identifier -2001:01-006please log in: NL2275;;3i06900803 remote: call connected ENTER YOUR DIALOG PASSWORD WWWWWWWW LOGON File1 Fri 9dec83 5:30:38 Port050 ** FILE 42 IS UNAVAILABLE TODAY ** *+. FILE 44 IS NOT WORKING TODAY ** ?NEWS news: Free tiMe (half hour) during DeceMber: CHRONOLOG NEWSLETTER (Flle 410) Naill Avaihble: COMPUTER DATABASE (File 275) MIDDLE EAST: ABST & INDEX (File 248) FEDERAL RESEARCH IN PROGRESS (File 265) SOCIOLOGICAL ABSTRACTS reload (File 37) AnnounceMents: USBE now a DIALORDER Supplier ~ Price change for MANAGEMENT CONTENTS now in effect: ?NEWS or ?RATES75 Delay in availability of database chapter for TRADEMARKSCAN BLLD users~ see ?NEWS. ? B411 9decB3 5:31:14 User64.43 $0.28 0.011 Hrs File1+. File411:DIALINDEX
File Items Description ';'>
S ROBOT? (6)
670 ROBOT? (8)
2115 ROBOT? (12)
(13)
625 ROBOT?
3320 ROBOT? (14)
1190 ROBOT? (34)
(94)
546 ROBOT? 199 ROBOT?
(113)
(186) (239)
o
ROBOT?
795 ROBOT? 167 ROBOT? 70 ROBOT?
(265)
12 ROBOT? ? B13
$1.05
9dec83 5:33:05 User6443 0.030 Hrs File411 12 Descriptors
File13:INSPEC - 77-83/15524 (Copr. lEE) See File 12(1969 thru 1976) Set Items Description ? S ROBOT? AND ACCURAC? 3320 ROBOT? 24699 ACCURAC?
1
103
ROBOT?~AND
ACCURAC?
J ? Tl/5/1-2
11511
1155141 B83061546, C83041651 LASER SCANNING lECHNIQUES FOR AUTOMATIC INSPECTION OF HEAT-SEALED FILM PACKAGES WOLF~ W.E. _ ENGNG. PHYS.-LAB, ·E.I. DU PONT DE NEMOURS AND CO., WILMINGTON, DE. USA PROC. SPIE INT. SOC. OPT. ENG. (USA) VOL.360 246-52 1982 Coden: PSrSDG ISSN: 0277-786X ROBOTICS AND INDUSTRIAL INSPECTION 24-27 AUG. 1982 SAN DIEGO, CA, USA TreatMent: APPLIC; PRACTICAL Document Type: CONFERENCE PAPER Languages: ENGLISH (5 Refs) MANY PRODUCTS IN THE FOOD AND DRUG INDUSTRY ARE SOLD IN HEAT-SEALED TRANSLUCENT FILM PACKAGES. AUTOMATIC INSPECTION OF THESE PACKAGES BEFORE SHIPMENT TO THE CUSTOMER IS AN IMPORTANT STEP IN ASSURING QUALITY. THE PAPER DESCRIBES A LASER SCANNER AND ASSOCIATED ELECTRO-OPTICAL AND ELECTRONIC SYSTEM FOR INSPECTING BLISTER PACKAGES WHICH ALSO SERVE AS REACTION VESSELS, IDENTIFYING AND CLASSIFYING DEFECTS FOR PROCESS CONTROLIN AN ONLINE SITUATION. THE SYSTEM IS A PRACTICAL ~APPLICATrON OF A COHERENT LIGHT SCANNER WHICH UTILIZES SPATIAt FILTERING AND A TRANSFORM PLANE ARRAY OF OPTICAL SENSORS FOR PERFORMING SOME OF THE SIGNAL PROCESSING NECESSARY FOR DEFECT DETECTION AND CLASSIFICATioN: AUTOMATIC REGISTRATION IN 2 DIMENSIONS IS INCORPORATED~ THUS RELAXING THE POSITIONAL ACCURACY REQUIREMENTS OF THE PRODUCT HANDLING SYSTEM Descriptors! PACKAGING; MATERIALS HANDLING; INSPECTION; LASER BEAM f"-lPPLICATIONS Identifiers: FOOD INDUSTRY; LASER SCANNING TECHNIQUES; ELECTROOPTICAL SYSTEMS; MATERIALS HANDLINGJ AUTOMATIC INSPECTION; HEAT-SEALED FILM PACKAGES; DRUG INDUSTRY; ELECTRONIC SYSTEM; BLISTER PACKAGES; PROCESS CONTROL; SPATIAL FILTERING; TRANSFORM PLANE ARRAY; OPTICAL SENSORS; PRODUCT HANDLING SYSrE~i Class Codes: B4360; C3320 1/5/2 1154118 B83060308~ C83042109 TEST PIECE 8AD~ TEST PIECE GOOD. ROBOTS TESTS ~RINTED CIRCUIT BOARDS ELEKTRONIK (GERMANY) VOL.32, NO.16 79-81 12 AUG. 1983 Coden: EKRKAR ISBN: 0013-5658 Treatment: APPLIC Document Type: JOURNAL PAPiR Languages: GERMAN (2 Refs> THE APPLICATION ~F ROBOT RBHS 600 TO PRINTED CIRCUIT BOARD HANDLING IN AUTOMATIC BOARD TEST SYSTEMS IS DESCRIBED. MECHANICAL CHARACTERISTICS OF THE 6-AXIS ROBOT INCLUDE POSITIONING ACCURACY OF 50 MUM, ANTHROPOMORPHIC ARM MOVEMENT AND SPEED, AND FULL SPEED CARRYING CAPACITY OF 2.2 KG. EACH DEGREE OF FREEDOM USES AN 8088 MICROPROCESSORS, AND CONTROL PROGRAMMING CAN BE IN MICROSOFT-BASIC VIA A DESK-TOP COMPUTER, BY TEACH-IN METHOD, OR WITH A BOARD HANDLING PROGRAM. THE ROBOT OPTICAL RECOGNITION SYSTEM CAN USE VIDICON OR CCD CAMERAS, AND A PROGRAM IS CURRENTLY IN PREPARATION FOR VISUAL INSPECTION OF BOARDS FOR MISSING COMPONENTS. CONTROL IS VIA THREE RS 232 INTERFACES. ROBOT UTILITY CAN INCLUDE TEST OPERATIONS SUCH AS ADJUSTMENTS AND SWITCH MOVEMENTS Descriptors: AUTOMATIC TESTING; INDUSTRIAL ROBOTS; PRINTED CIRCUITS; ELECTRONIC ENGINEERING COMPUTING; ELECTRONIC EQUIPMENT TESTING Identifiers: PCB TESTING; ROBOT; RBHS 600~ PRINTED CIRCUIT BOARD HANDLING ; 8088 MICROPROCESSORS; CONTROL PROGRAMMING; MICROSOFT-BASIC; TEACH-IN; BOARD HANDLING PROGRAM; OPTICAL RECOGNITION SYSTEM; VISUAL INSPECTION; RS 232 INTERFACES Class Codes.: 822100; C3380Z; C:24100·
? E ROBOT Ref' IteMs IndeH-terM E1 :t ROBOi1ATION E2 1 ROBOST E3 1554 :"'ROBOT E4 1 ROBOr ACCURACY E5 1 ROBOT ACTION E6 1 ROBOr ACTION PLANNING E7 1 ROBOT ACTIONS PLANNING Ee. 1 ROBOr ACTIONS PFI.OGRAI1MING £9 1 ROBOT ACTIVATORS E10 1 ROBOT ACTIVE FLEXIBILITY Ell 1 ROBOT ACTUATOR
? E ROBOTiCT Ref IteMs Index-terM E1 1 ROBOT-SERVED FMS E2 1 ROBOT-TECHNICAL SYStEMS E3 *ROBOT/CT E4 1 ROBOT/ENVIRONMENT INTERACTION E5 1 ROBOT/MACHINE VISION SYSTE/'I E6 1 ROBO)·S CONTROL SYSTEMS E7 2 ROBOTAl E8 1 ROBOTARMS E9 273 ROBOTIC E10 2 ROBOTIC AID ? S ROBOT/DE 2 0 ROBOT/DE ? S ROBOT ACCURACY/DE 3 0 ROBOT ACCURACY/DE ? SCDCDCDCCCCCC [0 CD CD [C [C [C 4 0 ? E ROBOT/DE Ref' IteMs Index-terM RT E1 *ROBOT E'-' 2590 ROBOTS 5 -..:.: £3 133 ROCHELLE 7 £4 112 ROCHELLE SALT ~ '( S E'" "5 2590 ROBOTS ? E E2 Ref' IteMs Index-terM Type RT P.,1 2590 ROBOTS 5 R2 1462 ARTIFICIAL INTELLIGENCE R 18 R3 685 AUTOMATA THEORY R 17 R4 957 8IOCYBERNETICS R 16 R~5 373 CONTROL EQUIPf"lENT R 20 0 876 SERVOME CHAN I SrlS R6 R .... '7 E ACCUR.ACY/DE Ref' IteMs Inde:.;-terM Type E1 *ACCURACY ? E ACCURACY/DE Ref' IteMs Inde)·~-terM Type E1 *ACCURACY
5 ? E (ACCURACY) Ref IteMs Index-terM E1 1 ACCURACT E2 2 ACCURACTELY E3 24079 *ACCURACY E4 1 ACCURACY <0.1 DB E5 1 ACCURACY <0.1 ('HCRON _ 1 ACCURACY <1PERCENT £6 E7 1 ACCURACY + OR -0.5 DEGRE ES C FOR -75 TO +1 E8 1 ACCURACY +OR- IPERCENT E9 1 ACCURACY +OR-O.1 FF EI0 1 ACCURACY ACHIEVABLE Ell 15 ACCURACY ANALYSIS -More? E ACCURACY)/DE RT Ref teMs Index-terM E1 *(ACCURACY) E2 926613 A 425 A.C. GENERATORS 12 E3 13 E4 133 A.C. MACHINES 13 435 A.C. MOTORS A.C. NETWORK ANALYSERS 1 £6 E7 A.F. AMPLIFIERS 1 A.M. (MODULATION) 1 E8 E9 148 A-CENTRES ? S ROBOTS/DE AND ACCURACY
2396 ROBOTS/DE 24079 ACCURACY 6 84 ROBOTS/DE AND ACCURACY ? S REPEATABILITY 7 0 REAPEATABILITY 7 S REPEATABILITY 8 487 REPEATABILITY ? e6ANDS 9 7 6AND8 7 T9/3/1'-? 9/3/1 1074305 883036007, C83023616 SENSOR.S FOR AXES f~EASURE{1.ENTS FOR ROBOTS'; A SURVEY GIELES, A.C.I"I. PHILIPS CENTRE ~OK lECHNOL., EINDHOVEN, NETHERLANDS COLLOQUIUM ON TAXES MEASUREMENT SYSTEMS FOR ROBOTS, OTHER NC DEVICES T 2 PP. 1983 2 MARCH 1983 LONDON. ENGLAND Publ: lEE, LONDON. ENGLAND
MANIPULATORS AN[
28 pp.
9/3/2 1070171 A83060346. C83023829 EVALUATION OF ANGLE TRANSDUCERS FOR A HIGH PERFORMANCE MANIPULATOR HOLT~ R.C. : MARCHWOOD ENGNG. LABS.~ CEGB. MARCHWOOD. ENGLAND COLLOQUIUM ON 'AXES MEASUREMENT SYSTEMS FOR ROBOTS~ MANIPULATORS ANt OTHER NC DEVICES' 3 PP. 1983 2 MARCH 1983 LONDON, ENGLAND Publ: lEE, LONDON, ENGLAND 28 pp.
9/3/3
1070131 C33023762 ACCURACY AND REPEATABILITY ROBOT TESTING APP, R.H.; FRITZ, H.E.; HAZEL. H.K.; REIS~ J.W. IBM CORP., ARMONK, NY, USA rBM TECH. DISCLOSURE BULL. (USA) VOL.25, .NO.lO Coden: IBiHAA ISSN: 0013-86&9
5151
f'lARCH 1983
9/3/4
808635 C82006649 AUTOMATION IN ARC WELDING JONES, S.B.; WESTON, J. ARC WELDING DEPT.~ WELDING INST., ABINGTON, ENGLAND SPONSOR: BRITISH ROBOr ASSOC PROCEEDINGS OF THE 4TH BRITISH ROBOT ASSOCIATION ANNUAL CONFERENCE 215-226 19.91 18-21 MAY 1981 ~RIGHTON, ~NGLAND Publ: BRITISH ROBOT ASSOC., KEMPSTON, BEDS., ENGLAND rV+254 pp. ISBN 0 903608 IJ 0 9/3/5
774482 C81035086 APPLICATIONS OF INDUSTRIAL ROBOTS IN ASSEMBLY OPERATIONS VON PISTOR, J.~ RICHTER, C.; STARKE, M.; ZACHAU, H. TECH. UNIV., DRESDEN, GERMANY WISS. Z. TECH. UNIV. DRESDEN (GERMANY) VOL. 30, NO.2-3 Coden: WZTUAU 9/3/6 268703 C78027113 TRIAL FABRICATION OF ~N INDUSTRIAL ROBOT HASHIMOTO, K.; TAKESAWA, K.; FUJIMURA, M. ANRITSU TECH. BULL. (JAPAN) NO.35 111-18
225-9
1981
MARCH 1978
9/3/7
004437 B77002423, C77000929 BEHAVIOUR OF HANDLING MACHINES AND INDUSTRIAL ROBOTS ENGEL, C.; DTSOUZA~ C. TH AACHEN~ AACHEN~ GERMANY IND.-ANZ. (GERMANY) VOL.98, NO.73 10 SEPT. 1294-6 IANZAQ
1976
Coden:
? T9/5/3,5-l 9/5/3 1070131 C83023762 ACCURACY AND REPEATABILITY ROBOT TESTING . APP, R.H.; FRITZ, H.E.; HAZEL, H.K.; RErS, J.W. IBM CORP., ARMONK, NY~ USA IBM TECH. DISCLOSURE BULL. (USA) VOL.25. NO.lO 5151-2 MARCH 1983 Coden: IBMTAA ISSN: 0018-8689 Tre~tMent: PRACTICAL DOCUMent Type: JOURNAL PAPER L~ngu~ges: ENGLISH THE TEST BEGINS BY DRIVING THE END EFFECTOR OF THE ROBOT TO THE FIRST POINT WHERE THE DATA IS RECORDED, AND THE ROBOT IS THEN COMMANDED TO GO TO THE OTHER POINTS UNTIL ALL THE DATA POINTS ON THE FIXTURE ARE COLLECTED USING FIVE RUNS Descriptors: INDUSTRIAL ROBOTS; AUTOMATIC TESTING Identlflers: AUTOMATIC TESTING; TEST ACCURACY; REPEATABILITY; ROBOT TESTING; DATA POINTS Class Codes: C3380B; C3395
9/5/5
774482 C81035086 APPLICATIONS OF INDUSTRIAL ROBOTS IN A~SEMBLY OPERATIONS VON PISTOR~ J.; RICHTER, C.; STARKE. M.; ZACHAU, H. TECH. UNIV., DRESDEN, GERMANY WISS. Z. lECH. UNru. DRESDEN (GERMANY) VOL.30, NO.2-3 225-9 1981 Coden: WZTUAU TreatMent: GENERAL,REVIEW DOCUMent Type: JOURNAL PAPER Languages: GERMAN (1 Refs) REFERENCE IS MADE TO THE WIDE USE OF ROBOTS IN WATCH MANUFACTURE, AND WORLD-WIDE USE OF INDUSTRIAL ROSOTS IN INDUSTRIAL OPERATIONS IS TABULATED, RANGING FROPI 30PERCENT IN METAL WORKING DOWN TO 7PERCENT IN WELDING AND 4PERCENT IN SURFACE HEAT TREATMENT. A HITACHI ROBOT USED FOR ASSEMBLING VACUUM CLEANERS IS DISCUSSED. REQUIREMENTS FOR THE USE OF ROBOTS ARE LISTED~ INCLUDING AOEQUATE MATERIAL TRANSPORT FACILITIES, GOOD ACCURACY AND REPEAT~BILITY AND MINIMISATION OF WORK AXES. AN AUTOMATIC ASSEMBLY MODULE IS ILLUSTRATED. WHICH IS USED TO STUDY IMPROVEMENTS IN THE HEAT-SHRINK ASSEMBLY O~ WHEELS ON TO AXLES. THE NEED TO PROVIDE OPTICAL SENSING POINTS ON THE WORK PIECES IS EMPHASISED. WITH SPECIAL REFERENCE TO INFRA-RED SENSING. THE FUTURE TREND IS STATED TO REQUIRE THE USE Of ARTIFICIAL INTELLIGENCE Descript~rs: INDUSTRIAL ROBOTS Identlfiers: INDUSTRIAL ROBOTS; ASSEMBLY OPERATIONS; HITACHI; AUTOMATIC ASSEMBLY MODULE; INFRA-RED SENSING . Class Codes: C3350E 9/5/6
268703 C78027113 TRIAL FABRICATION OF AN INDUSTRIAL ROBOT HASHIMOTO, K.; TAKESAWA, K.; FUJIMURA. M. ANRITSU TECH. BULL. (JAPAN) NO.35 111-18 MARCH 1978 Coden: ANTKAE TreatMent: EXPERIMENTAL DOCUMent T~pe: JOURNAL PAPER Languages: JAPANESE DESCRIBES AN INDUSTRIAL ~OBOT WITH PRECISE BEHAVIOR AND VERSATILITY FOR MATERIALS HANDLING APPLIED TO AN AUTOMATIC LATHE AND PRESS. THE THREE BASIC MOVEMENTS OF ARMS SUCH AS HORIZONTAL, VERTICAL, AND TURNING ARE CONTROLLED BY DIGITAL SERVOMECHANISMS~ WHILE THE FINGERS' IS SIMPLE ON-OFF MOVEMENT. GIVEN BELOW ARE THE TYPICAL PERFORMANCE CAPABILITIES OF THIS DEVICE: 15 KG CARRYING WEIGHT RANGE; MOVEMENT RANGE HORIZONTAL 500 MM, VERTICAL 500 MM. TURNING 180 DEGREES; MOVEMENT PATTERN POINT TO POINT; REPEATABILITY WITHIN 0.2 MM AND WITHIN 0.1 DEGREES; AND SPEED 500 MMIS AND 90 DEGREES/S Descriptors: ROBOTS; MATERIALS HANDLING; MACHINE TOOLS Identifiers: INDUSTRIAL ROBOT; MATERIALS HANDLING; AUTOMATIC LATHE AND PRESS; THREE BASIC MOVEMENTS; DIGITAL SERVOMECHANISMS; PERFORMANCE CAPABILITIES; TRIAL FABRICATION; PRECISE BEHAVIOUR; 15 KG CARRYING WEIGHT RANGE; 0.2 MM/ACCURACY; 0.1 DEGREE ACCURACY; 500 ~M; 90 DEGREES/C Class Codes: C3320; C3350E
g 9/5/7
004437
B77002423~
C77000929
BEHAVIOUR OF HANDLING MACHINES AND INDUSTRIAL ROBOTS ENGEL. Go; DrSOUZA, C. TH AACHEN, AACHEN. GERMANY IND. -ANZ. (GERMANY) VOL. 98, NO .. 7:.5 1294-6 10 SEPT. 19~6 Coden: IANZAQ TreatMent: THEORETICAL DOCUMent Type: JOURNAL PAPER Languages: GERMAN (2 Ref's) THE METROLOGICAL ANALYSIS OF HANDLING MACHINES INTENDS TO ASSESS THEIR CAPABILITY AND ACCURACY THROUGH CHARACTERISTIC FEATURES AND TO SHOW THE WAYS TO FURTHER DEVELOPMENT AND CONSTRUCTIONAL IMPROVEMENT. VARIOUS METROLOGICAL EXAMINATIONS ARE SURVEYED. MEASUREMENT UF STATIC BEHAVIOUR OF GRIP MECHANISM IS OUTLINED AND THE EVALUATION OF STATIC BENDING AND TORSIONAL FORCES IS OUTLINED. MEASUREMENT OF DISPLACEMENTS AS FUNCTION OF TEMPERATURE IS SHOWN. THE GEOMETRIC BEHAVIOUR IS DESCRIBED BY TWO QUALITIES: POSITIONAL ACCURACY IN CASE OF NUMERICALLY CONTROLLED MACHINES AND REPEATA~ILITY OF POSITION IN MANUALLY CONTROLLED MACHINES Descriptors:.MACKINE TQOLS; RllBO~ IdentLfiers: MtlKOLUtilCAL ANALYSIS; CONSTRUCTIONAL IMPROVEMENT; GRIP MECHANISM; STATIC BENDING; TORSIONAL FORCES; TEMPERATURE; GEOMETRIC BEHAV lOUR; POSI TIONAj. Af'(JJJie.~y; NUP1ER ICALL Y CONTROLLED MACHINES; rlANUALtt ~ CON i ROLCED (~ACHrNrs; l::!e.t:tQLUIG (1ACHINES BEHAI.HOU,B) ,,_TNDUSTIUAL ROBOTS BEHAVrOUR1_QJ2bA..~tIIENTS l'iEASUREj\'~ENTS; POSITION REPEArABILITr CQljes: C33..:JvE; B,3620
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IMAGE-BASEr VISUAL SERve CONT~OI OF RO~CTS StH~DEHSON, A.C.; WEISS. L.~. ELECTRICAL B~GNG. DEFT., CARNEGT3-MSLI0N UNIV., PITTSB1RGE. PA, "SA ?ROC. SPI£ INT. SOC OF':'. E"lG. (USA) VOL.06V 164--S lS82 r.:'oQE'n: FSIStG ISSN' 0277-786Y ROBOTICS ANr INDCSTRIAL I~SPECTIO~ 24-27 AUG. iSH: SP~ DI~CO, CA. USA 'Treat~ent: PRACTIC4.I; THEORSTICAL Document Type: GONF EliCE FAPER Languages: E~GLISu (7 Refs' VISUAL SS~J{VO CO~I'I~OL OVFERS ADVA'lTACFS FOR vLEXI3ILI':'Y Af:r- I:;T1P.ftC':'IVi=' F3?.FORi'l.ANCE OE "o"O"o:rc SYSTF;i-:S. DESIGi\ OF SUC!l S!S7:S:V:S RF!QUlftES FORi'~}~1 ANAI:{SI S OF 30TH T:i B H-:A GB F"1I)CE3 ~ HG RECUI?.Et-:E N'i:S HlD TRE COi:TRC I. ST::P-T 'f:GY FU? ~ULTI-DEGRE~-CF-FRE~LOM SISTZ~S. IMA~E F~ATU~BS MAv 3E ?X?1~CT~D A~r IN!f'ERPRErr'ED
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C83041260
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ISTITUTG tI M?CCA~ICA 'fORINO.IT.HY HARtT, D .E. (Editors \ SPONSO~'
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INFORf'lATION CO~TROL PRO~LEMS TN MA~UFACTURIN~ TECHNOLOGY 1982. FROCEEDINGS OF TH: 4TH IFAC.IFIP SY~POSIrM 91-6 1983 26-28 OCT. 1£82 GAITHERSBURG. ~D, USA Publ: PERGAMON, OlFORD. ENGLAND VIII~21? p~ IS3~ ~ 08 029946 6 ':'reatment: THEORvTI~AI Document Type: CO~FERENCE PAPER Languages: ENGLISF (7 Refs~ ROBOTS P~QUIRE FAST RESPONSE AND 3IGH POSITIONI~G ACCURACY. PARTICULARLY WREN PERFO~KING JOBS LIYE ASSEMBLY OR SPRAY FAINTING. TH~ SPEED OF MOTrO~ IS OFTtN QUITE HIGE AND THE STRUCTURE IS INHERENTLY LESS STIFF T~AN IN CONV"ENTIONAL OPERA.TIt\G !,'iACHINES. A V;RY PR3:GISE ANAI,ISIS OF THE DYt~At'lIC BEHAVIOUR OF THE· ROBOTIC SYSTBil: IS TP:EREFOR~· NF.CESSARY. FLUID PO\'!ERf:D PO]OTS ARE BXJI t":INEt IN THIS PAP~R. TH;:;Y ARE MAD"F. 3I FLUID CONTROL ELEMENTS. FLUrD TRANSMISSION DUCTS AND ACTUATORS. A~D BY THE MECHANICAL COMPONEMTS OF THE ST~UCTURE. IF ONE TRIES TO WqITE tOWN THE MODELLING EQUATIONS OF THE SYSTE~. ONE HAS TO FACE A STRONGLY NCNLINEAR PRC]LE~. LINEARIZATION PItO CKBURES CAN BE US'gD ON LI 't/I TR lOSS OF SIGN IFI CANT eR ft RAGTEPS OF T!f£ OPERA!ING DYNAMICS. A METHOD FOR SYSTE~ MODELLING AND ANALYZING IS SHOWN IN Tn IS FA PER Descriptors: INLUSTRIAL ROBOTS Identifiers: FLUIt PCWERED ROBOTSi SP:lAY PAIt{Tlr..JG; FLUID CONTROL ZLEMENTS FLUID TRANS1"1ISSIO~1 DUCTS; ACTUATORS; MODELLING EQUATIONS Class Codes: C33eeE; C7420
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C2303373A
CONTROL CF A ROBOT ~RM USI i~G n CROCOt"lPTJTERS FUNG, ~.L.; l~~IS. P.E. ELECTRICAL ~r.!GNG. D":F'I.. MICFIGA:J TECn;~OL. UNIV., HOUGHTON, MI, USA STUFFLE, R.E.; IE\~~fISf P.H. (Ec1itors\ SPO~lSOR: PT. ~IECT? ENG. AND DIV. EtUe. PUBLIC SERVICES: MICEIGAN T"ECE~JCL. Ut~rv.: IEEE 2:TE MID1,.rEST SY~POS IU1v' ON cr ::ten ITS A. ND SYST~i"'S 1882 431-4 30-~1 AUG. 1982 HGUG~TON. ~I. USA Publ: ~EST3R~ PERIODrCALS. ~ORTH HOLLYWOOD, Cft, USA V"S pp.
Treatment: TEEORrTIC~1 Document Tyre: CONFBRE~CE PAPER Languages: ENGLISH (1 Ref s ' P.ND PEHFORMANCE C:-iAR.~CTERISTICS OF A ROBOT ARM ARE TEE SY~TEM IS CONTROLLED USING A MICROCOMPUTER SYSTEM TEfl'! FROV~DES 'PIC~ ANt PLAr~' OPERATION WITH S~OOTH VARIATIONS IN VELOCITY rescriftors: POROTS; POSITION CONT~OL; COMPUTERISED CONTROL ARM; ROEOT Identifiers: POSITIOt: CONTROl.; PICK ANTI PLACE OPERATION; tESIG~; PERFOR~ANCE; vIC30COMPUT SYSTEM Class Codes: C33S~; C3120C; C7420
VARIOUS DESIGN
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ZUR 'LAGEREGEIUi-TG VON INDUSTRIEROBOTERN AUF DEB. GRUNDL.AGE DES INVERSEr~ SYSTEMS. $left bracket$ Position Control of Industrial Robots on the Basis of the Inverse System $right bracket$ . Karlsruhe, Werner Patzelt Fr~unhofer Inst fuer Informationsverarbeitung, Karlsruhe, West Ger F,,1\'t<:,chr "Rer VDI Z Reihe 8 pt 8 n 57 1983 11Sp CODEN: F3SRB2 ISSN: 034.L-J..b'?2 Language s: GERM! N The purpose of this pafer is to design a servosyst~m for an industrial robot which enables the robot to grip an object undergoing accelerated motion. The pOSition of the object in space is regarded as known at all times. First, the structure of a servosystem with ideal guidance behavior is given for'a class of nonlinear systems. The servosystem is based on the inverse system a~d exhibits control and freely selectable adjustment. By choosing an overshoot~free time-suboptimal position control, the ability of the gri~per to achieve a collision-free approach to the object is achieved. An integral component in the sl!fall;"'signal" range greatly improves the control quality~ A servosystem'realized on an industrial robot proves to be superior to the usual cascade control and is useful ~or gripping parts moving. on a conveyor belt. 34 refs. In German. Descriptors:" *"INDUSTRIAL !?,C]OTS-~{Control Systems; SERVOMECHANISMS-Design; CONTROL SYSTEMS, OPTIMAL Classification Codes: 7~1; 705; 732
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$left bracket$ Selection of Characteristics of thr> Elastic Element of a Robot Assembly Head Srigh t , bracket$ . Kolpashnikov. S. f\;.; Sto~anov, V. M.i Chelpanov, r. B. Tr Leningradskii Polltekh lnst l~ Y I Kalinina n 382 1982 P CODEN: TLPIAD ISSN: 0~?e-1304 Languages: RUSSIAN 9/3/3
1377==1 EIR305?;~7=~1 BEITRPG ZUi{ ~IE:CTF.CrJlSCHLN STEUERUi\G VON ROBCTERN - 2. VERU.GEPUNG Vat·l EREIHEITSC'RArEN AUF CIIS ',V~F.KSTU.EC'K. $left bracket$ Contribution to the Electronic Regulation of Robots 2. Distribution of the Degrees of Freedom sri,::;ht bracket $ . Duelen, G.; Hannakam, L. Arch Elektrotech (Berlin~ v Ef n 1 1983 P 57-61 CODEN: A~LTAe ISS~: ;;l\vW:;-9039
Languages: GERMAN £/3/4 1374'765
EI8305~Z47f):
UK FIRM LAUNCHES HEAVY DUTY ROBOTS. Astrop, Arthur Mach Prod En~ v 140 n 3617 Dec 1-15 1982 P 53
CODEN:
MPREAU
15SN:
CODEN:
?D~NA9
ISSN:
0024-919X
Languages: ENGLISH S/3/5 13E7114
EI8~04027114
ROBOTS IN THE US - HOW THEY WILL AFFECT INDUSTRY. Smi th, Donald Univ of Mich. Ann Arbor. USA Prod Eng (London) v 61 n 12 tec lq82 p 22-23 0032-S8:1
languages: ENGLISH
T10/3/1-5 10/3/1
1104289
EI810104289
10/3/2 995723
3179129=723
CO~PARATIVE BVAIU~TION
OF INDnSTRIAL ROBOT ACCURACY. Warnecke. R. J.; Brodeck, B.; Schiele, G. Fraunhofer-Inst for Prod & Auto~. Stuttgart, Ger Precis En6 v 2 n 2 Apr 1~80 p 8£:-92 CODEN: PREGDL ISSN: 0141-6359
M~TROrS
FOR CHECKING THE OFERATING ACCURACY OF INDUSTRIAL ROBOTS. Koliskor, A. Sh.; Kochenov, M. IMach !ool v 49 n 8 1978 P 8-11 CODEN: MCTOAD ISSN: 0024-922X
10/:;/3 EI790643523 INDUSTRIAL ANTEROMCRPHIC ~ANIPULATOR FOR HIGH POSITIONING ACCURACY REQUIREMENTS. Hristic. D.; Vukobratovic, r..; Dzigurski. o. Mihailo Pu~in Inst, 3elsradp, Yugosl Int Symp, on Iod Robots. 8th; Inst for Prod and Autom OPAl Conf. 10th; Int Conf on Ind Robot Technol. 4th. Proe, Stuttgart, Ger. May 30-Jun 1 1978 Publ by Int Fluid Serv ltd, ~empston. Bedford. Engl. 1978 v 1 p 478-486 943e23
H~/2/4
710466 EI7702104EE THREE DIMENSION ACCURACY ~EASUREMENT METHODS FOR ROBOTS. McEntire, R. H. Utah State Univ, lo~an Ind Robot v 'Z n :: Sep 1976 H~5-112 COtEN~ leHBAT 10/2/::
638240 EI7e06~8840 POSITIONING ACCURACY CF PARALI~LOGRAM CHAINS FOR MANIPULATORS. TConstantinov,:-1. S.; Genova, P. I.; Galabov, IN.; Berov, G.; Pavlov, SL Higher Inst of ~ech & Electr Eng, ~ofia. Bulg World Congr on the Theory of ~ach and Mech, 4th. Univ of Newcastle upon Tyne, Engl. Sep 8-12 157:: ~ 1163-1168. Publ by Mech Eng Publ Ltd. London, Engl, 1575 ?~Bl4:
$1:1.62 $3.120 $1 E. 62
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25 1*(2'-'3+4) '] T7/3l1-2 7/3/1 156953 D83014004 Apflication of laser interferometry to robotics Anderson. R.H.; Gillard, C.W.; Euang, C.-c. S:pace Syst., Lockheed Miss1les and Space Co., Inc., P.O. Box'504, Sunnyvale, CA 94086, USA IN "R0i30TICS ... INtUS'T'. 'INSPECTION", VOL. 360 pp. 207-213 1983 SPI! Sem. Rob'otics.j. Indust. Insfectlon 24-27 Aug 82 San Diego,' CA (USA) Publ: SPIE, P.O. BOX 10, BELLINGHAM, WA 98227-0010, USA, Availability: SUMMARY LANGUAG! - ENGLISH
7/3/2 114434
r81001427
A system for stabilizing the co-ordinate of an industrial robot at a specified value ~~ 0 r 1 ya kov. V. K. Vestnik Mashinostroeriya Vol. 59, No. 11 7- 0 1979 Coden: VMASAV Trans in:?ussian Bngineering Journal 'lTol. 59, No. 11 3-5 Coden: RENJA3
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C8304t852
INDUSTRIAL MANIPULATOR CONTROL USING kALMAN FILTER AND ADAPTIVE CONTROLLER .
KOIVO. A.J.: OUAN ZHANG; GUO. T.H. DEPT. OF ELECTRICAL ENGNG .. PURDUE UNIV., WEST LAFAYETTE, IN, USA BEKEY, G.A.: SARIDtS, G.N. (Edttors) SPONSOR: IFAC IDENTIFICATION AND SYSTEM PARAMETER ESTIMATION 1982. PROCEEDINGS OF THE SIXTH IFAC SYMPOSIUM 265-70 VOL. 1 1983 7-11 JUNE 1982 WASHINGTON. DC, USA Pub): PERGAMON. OXFORD. ENGLAND 2 VOL. XVII+1709 pp. ISBN 0 08 029344 1 Treatment: THEORETICAL Document Type: CONFERENCE PAPER Languages: ENGLISH (12 Refs) THE USE OF A KALMAN FILTER IN CONJUNCTION WITH AN ADAPTIVE CONTROLLER IS PROPOSED TO CONTROL THE POSITIONS AND VELOCITIES Of THE JOINTS.IN A MANIPULATOR. THE DYNAMICS OF A JOINT Of A ROBOTIC MANIPULATOR ARE MODELLED BV USING A SET OF DIFFERENCE EQUATIONS. THE PARAMETERS OF THE MODEL fOR THE MOTION Of A JOINT ARE ESTIMATEO ONLINE BY USING A KALMAN fILTER. AN ADAPTIVE CONTROLLER IS DESIGNEO fOR EACH .JOINT SO AS TO MAKE THE POSITION AND VELOCITIES Of THE JOINT FOLLOW A PRESPECIFIED PATH IN THE JOINT COOROINATE,SYSTEM. THE ALGORITHMS FOR THE PARAMETER ESTIMATION AND COMPUTATION OF THE CONTROLLER GAINS ARE PRESENTED. DIGITAL SIMULATION RESULTS DEMONSTRATE THE APPLICABILITY OF THE APPROACH TO CONTROL THE MOTION OF A MANIPULATOR Descriptors: INDUSTRIAL ROBOTS. ADAPTIVE CONTROL; POSITION CONTROL, KALMAN FILTERS; VELOCITY CONTROL, PARAMETER ESTIMATION. CONTROL SYSTEM SYNTHESIS; DIGITAL SIMULATION Identifiers: POSITION CONTROL; VELOCITY CONTROL; CONTROL SYSTEM SYNTHESIS;' DIGITAL SIMULATION: INDUSTRIAL ROBOTS; ADAPTIVE CONTROLLER; KALMAN FILTER; ROBOTIC MANIPULATOR; DIFFERENCE EQUATIONS; PARAMETER ESTIMATION Class Codes: C3350E; C1340£; C312OC: C3t20E; C7420: CI310, C1220; C1260
t15t655
10"
50) User 6443 16dec83
CONVERGENCE. IS PRESENTED AND THE EXPERIMENTAL APPARATUS IS DESCRIBED. EXPERIMENTAL RESULTS USING.A~tOO W SERVO-MOTOR WITH 408:1 REDUCTION TO THE ARM ARE PRESENTED FOR LOADS UP TO 1682 GRAMS ON A 705 MM LONG ARM. THE SAMPLING TIME IS 200 MILLISECONDS USING A NOVA 4/C MINICOMP~TER Descriptors: INDUSTRIAL ROBOTS: MODEL REfERENCE ADAPTIVE CONTROL SYSTEMS; STATE ESTIMATION: . COMPUTERISED CONTROL; POSITrON CONTROL Identltlers: STATE ~STIMATION; POS(TION CONTROL; ANGULAR DISPLACEMENT; INDUSTRIAL ROBOT ARM: INDIRECT MODEL REFERENCE ADAPTIVE CO"TROL SYSTEM, OISCRETE-TIME ADAPTIVE OBSERVER: NOVA 4/C MINICOMPUTER Cia •• Codes: C3350E: C1340E; C1220; C~420: C3t2OC
1133504
C830379to
~INEMATJCS
OF MANIPULATOR ROBOTS
MADRIGAL. R.I.; ANGULO. ~.M. MUNDO ELECTRON. (SPAIN) Coden: MUELC" ISSN: 0300-3787 Treatment: THEORETICAL Document Tvpe: JOURNAL ,PAPER languag•• : SPANISH
~.130
99-105
JULY 19B3
(4 R.fs)
THE PAPER COVtRS THE STUDY Of KINEMATICS OF MANIPULATOR ROBOTS ANO DYNAMICS OF THE SYSTEM· THE LATTER AS TO DETERMINE THE WEIGHT LIFTING CAPABILITY. OPERATION SPEED ANO SYSTEM STABILITY. IT IS THEN POSSIBLE TO PROGRAM THE MINI OR MICROCOMPUTER FOR CONTROL PURPOSES . DescrIptors: ROBOTS: KINEMATICS; POStTION CONTROL ldent'ttera: MICROCOMPUTER CONTROL; KINEMATICS: MANIPULATOR ROBOTS; DYNAMICS: WEIGHT LIFTING CAPABILITY; OPERATION SPEED: SYSTEM STABILITY Class Code.: Cl3SS; C3120E ,
.
C8304t833
ONlINE ADAPTIVE CONTROL Of THE ANGULAR DISPLACEMENT Of AN INDUSTRIAL ROBOT ARM USING A MINICOMPUTER
INOUE. A.; IWAI. Z.; HIRAND. 5.; WAKAMIYA. R.; NAKAMURA. ~.; UEDA. H. TECH. REP. KUMAMOTO ONIV. (~APAN) VOl.3t. NO.2 73-8' SEPT. 1982 Coden: KUDKAP ISSN: 0023-5296 Treatment: PRACTICAL; THEORETICAL Document Type: ~OURNAL PAPER Languages: JAPANESE (7 Ref.) CONSIDERS THE CONTROL OF THE ~OINT ANGLE OF AN INDUSTRIAL ROBOT ARM USING AN INDIRECT MODEL REFERENCE ADAPTIVE CONTROL SYSTEM. THE CONTROL ALGORITHM. INCORPORATING A DISCRETE-TIME ADAPTIVE OBSERVER WITH A SPECIFIED RATE OF EXPONENTIAL
- - - - - - , - - - - ~rn
1115178
C83033738
CONTROL OF A ROBOT ARM USING MICROCOMPUTERS
FUNG. K.L.: LEWIS. P.H. ELECTRICAL ENGNG. DEPT .• MICHIGAN TECHNOL. UNIV .•. HOUGHTON. MI. USA STUFFLE. R.E.; LEWIS. P.H. (Editors) SPONSOR: DEPT. ELECTR. ENG. ANO DIV. EDUC. PUBLIC SERVICES; MICHIGAN TECHNOL. UNIV.: IEEE • 25TH MIDWEST SYMPOSIUM ON CIRCUITS ANO SYSTEMS 431-4 1982 30-31 AUG. 1982 HOUGHTON. MI. USA Publ: WESTERN PERIODICALS. NORTH HOLLYWOOD. CA. USA V+539 pp. Treatment: THEORETICAL Document Type: CONFERENCE PAPER Languages: ENGLISH (1 Refs) VARIOUS DESIGN AND PERFORMANCE CHARACTERISTICS OF A ROBOT ARM ARE CONSIDERED. THE SYSTEM IS CONTROLLED USING A MICROCOMPUTER SYSTEM THAT PROVIDES 'PICK AND PLACE' OPERATION WITH SMOOTH VARIATIONS IN vELOCITY DescrIptors: ROBOTS; POSITION CONTROL:, COMPUTERISED CONTROL Identifiers: POSITION CONTROL: PICK AND PLACE OPERATION: ROBOT ARM; DESIGN; PERFORMANCE; MICROCOMPUTER SYSTEM Class Code~: C3395; C312OC; C7420 .
1070168
C83023826
DEVELOPMENT Of A DIRECT-DRIVE ROBOT AND EVALUATION Of ITS CONTROL PERfORMANCE ASADA. H. DEPT. OF MECH. ENGNG .• MIT. CAMBRIDGE. MA. USA TRANS. SOC. INSTRUM. AND CONTROL ENG. (JAPAN) VOL.19. ND.1 77-84 JAN. 1983 Coden: TSICA9 ISSN: 0453-4654 Treatment: PRACTICAL; THEORETICAL Document Type: JOURNAL PAPER languages: JAPANESE (1 Refs) A DIRECT-DRIVE ARM IS A NEW MECHANICAL ARM IN WHICH THE SHAFTS OF ARTICULATED JOINTS ARE DIRECTLY COUPLED TO THE ROTORS OF MOTORS WITH HIGH TORQUE. THE PAPER FIRST DESCRIBES THE PROTOTYPE ROBOT. AND THE CHARACTERISTICS OF THE ARM ARE COMPARED WITH CONVENTIONAL INDIRECT-DRIVE ARMS. SECOND. A BASIC FEEDBACK CONTROL FOR SINGLE-LINK DRIVE SYSTEMS. 'IN THE FREQUENCY DOMAIN. IS DISCUSSED. THIRD. A FEEDFORWARD COMPENSATION IS APPLIED TO THE CONTROL OF MOOF MOTION IN ORDER TO COMPENSATE INTERACTIONS AMONG MULTIPLE LINKS. AND CORIOLIS. CENTRIFUGAL AND GRAVITY FORCES ARE DISCUSSED WITH RESPECT TO SERVO STIFFNESS AND POSITIONING ACCURACY DescrIptors: ROBOTS; FEEDBACK; COMPENSATION; FREQUENCY-DOMAIN SYNTHESIS; POSITION CONTROL Identifiers: CORIOLIS FORCE; CENTRIFUGAL FORCE; DIRECT-ORIVE ROBOT; MECHANICAL ARM; ARTICULATED JOINTS; ROTORS; FEEDBACK CONTROL; FREQUENCY OOMAIN; FEEDFORWARD COMPENSATION: MULTIPLE LINKS; GRAVITY FORCES; SERVO STIFFNESS; POSITIONING ACCURACY Class Codes: C3395; C312OC; C1310; C3350E
1055334
C83020687
ON THE fORCE fEEDBACK CONTROL Of' A MANIPULATOR WITH A COMPLIANT WRIST fORCE SENSOR
OZAKI. H.; MOHRI. A.: TAKATA. M. PRODUCTION DIV .• DEPT. OF MECH. ENGNG .• KYUSHU UNIV .• FUKUOKA. JAPAN MECH. ANO MACH. THEORY (Ga) VOl. 18. NO.1 57:-62 1983 Coden: MHMTAS ISSN: 0094-114X Treatment: THEORETICAL Document Type: JOURNAL PAPER Languages: ENGLISH (8 Refs) THE FORCE FEEOBACK ALGORITHM IS PRESENTED FOR THE MANIPULATOR. WHICH CONSISTS OF A HIGH STIFF~ESS POSITION SERVO SYSTEM WITH SIX-DEGREES OF FREEOOM ANO HAS A COMPLIANT SIX-COMPONENT FORCE SENSOR AT ITS WRIST. THE ALGORITHM HAS THE FOLLOWING THREE FEATURES. FIRST. THIS ALGORITHM GIVES THE RELATION BETWEEN THE POSITION AND ORIENTATION OF THE WRIST AT THE CURRENT STEP AND THAT OF THE WRIST TQ BE ATTAINED AT THE NEXT STEP. SECOND. AN EFFICIENT CALCULATION METHOD TO OBTAIN EACH JOINT MOVEMENT SATISFYING THIS ~ELATION IS PROPOSED. THIRD. THIS ALGORITHM REDUCES THE fORCE FEEDBACK CONTROL TO THE POSITION FEEDBACK CONTROL OF EACH JOINT IN CASE THE FORCE SENSOR IS SUFFICIENTLY COMPLIANT COMPARED WITH ITS ENVIRONMENT Descriptors: ROBOTS; FEEDBACK; DETECTORS; POSITION CONTROL Identifiers: COMPLIANT FORCE SENSOR: POSITION CONTROL: HIGH-STIFFNESS SERVO SYSTEM; MANIPULATOR;' WRIST: FORCE .FEEDBACK ALGORITHM: ~IX-COMPONENT FORCE SENSOR; ORIENTATION Class Codes: C3395: C3120C; C3240
DIALOG Fllel3: INSPEC - 11-83/15524
(Copr. lEE)
,
See File 1211969 thru 1916) lItem
1 of
50) User'64:fii6deC83
Class Codes: C3395: C3120C: C1250 1055222
C83020488
,.0,
.
•
MODELLING AND TEACHING OF ROBOTS UNDER CARTESIAN PATH CONTROL ' , " , " TRA~ECTORY
MARKOV, M.D,; ZAMANOV. V.B.; NENCHEV, O.~. tNT. .J. PROD. RES: (GB) VOL.21,' NO,2 173-82 MARCH-APRIL 1983 Coden: I.JPRB8 ISSN: 0020-1543 ,Treatment: THEORETICAL ' Document Type: .JOURNAL PAPER Languages: ENGLISH (8 Refs) GIVES A~ APPROACH TO THE DESCRIPTION AND MODELLING OF THE MOST WIDELY SPREAD TRA.JECTORIES IN MODERN TECHNOLOGY BY· MEANS OF MINIMUM NUMBER OF STORED BASE POSITIONS AND ORIENTATIONS. THE TEACHING PROCESS OF ROBOTS UNDER CARTESIAN PATH CONtROL IS DISCUSSED AND INPUT DATA FOR THE, SUCCESSION DFACTION, FOR POSITION, ORIENTATION AND VELOCITY OF THE END LINK (TOOL OR GRIPPER) IS SPECIFIED. . AN ATTEMpT' TO' CONSTRUCT A CLASSIFICATION OF THE DIFFERENT KiNos Of BASE POINTS H*S BEEN MADE. A REAL-TIME CONTROL METHOD OF, TOOL MOTION IN VARIOUS COORDINATE SYSTEMS IN TEACHING MODE IS DESCRIBED' ' Descriptors: INDUSTRIAL ROBOTS; , POSITION CONTROL; COMPUTERISED CONTROL; VELOCITY CONTROL' . Identifiers: TRAJECTORY MODELLING; POSITION CONTROL; VELOCITY CONTROL: COMPUTERISED CONTROL; TEACHING; CARTESIAN PATH CONTROL; MODERN TECHNOLOGY: POSITION: 'ORIENT~TION: REAL-TIME CONTROL: TOOL MOTION . , Class Codes: C3350E: C312OC': C3120E; C7420
1038853
C83011082
SIX~DIMENSIDNAL
,
VISION SYSTEM
ALBUS, .J.; KENT. E.: NASHMAN, M.: MANSBACH. P.:' PALOMBO. l . : SHNUER. M. NBS, WASHINGTON. DC, USA SPONSOR:' SPI E . PROC. SPIE tNT. SOC. OPT. EN~. (USA) VOL.33S 142-53 1982 Coden: PSISDG ROBOT VISION 6-7 MAY 1~82 ARLINGTON, VA. USA Treatment: PRACTICAL; THEORETICAL Document Type: CONFERENCE PAPER Languages: ENGLISH ' . (10 *efs) , THERE ARE SIX DEGREES OF FREEDOM THAT DEFINE THE POSITION ANO ORIENTATION OF ANY OBJECT RELATIVE TO A ROBOT GRIPPER. ALL SIX NEEO TO BE DETERMINED FOR THE ROBOT TO GRASP THE OB.JECT IN A UNIQUELY SPECIFIED MANNER. ' THE AUTHORS DESCRIBE A ROBOT VISION SYSTEM UNDER DEVELOPMENT AT THE NATIONAL BUREAU OF STANDARDS WHICH IS DESIGNED TO MEASURE ALL 'SIX Of THESE DEGREES OF FREEDOM USING TWO FRAMES OF VIDEO DATA TAKEN SEQUENTIALLY FROM THE SAME CAMERA POSITION. THE SYSTEM EMPLOYS STRUCTURED LIGHT TECHNIQUES; IN THE FIRST FRAME. THE SCENE IS ILLUMINATED BY TWO PARALLEL PLANES OF LIGHT. ANO IN THE SECOND FRAME BY A POINT SOURCE OF LIGHT " . Descriptors: ROBOTS: POSiTION CONTROL; PICTURE PROCESSING Iaentl'lers: PICTURE PROCESSING; ROBOT GRIPPER; ROBOT VISION SYSTEM; NATIONAL BUREAU Of STANDARDS; DEGREES OF FREEDOM: VIDEO DATA: STRUCTURED LIGHT TECHNIaUES
1038662
C83016131
ADAPTIVE LINEAR CONTROLLER fOR ROBOr.tC"MANIPULATORS
KOIVO. A.\J.; TEN-HUE! GUO' .',. , SCHOOL OF ELECTRICAl ENGNG .. PURDlJE UN~V .• WEST .LAFAYETTE. IN. USA ' IEEE TRANS. AUTON. CONTROL (USA) VOk.AC-2a, NO.2 162-11 FEB. 1983 Coden: IETAA9 ISSN: 0018-9286 . , Treatmeht: PRACTICAL; THEORETiCAL Document Type: .JOURNAL PAPER Languages: ENGLI~H ' ' (20 RefS) PRESENTS A NEW APPROACH TO THE POSITION AND VELOCITY CONTROL OF A MANIPULATOR BY USING AN ADAPTIVE' CONTROllER OF THE SElf:'TUNING TYPE FOR EACH JOINT. ' THE COMPLICATED MANIPULATOR SYSTEM' IS MODElED BY A SET Of TIME SERlES DIFFERENCE, EQUATIONS~ THE PARAMETERS OF THE MODELS AREPETERMINED BY ONLINE RECURSIVE ALGORITHMS, WHICH 'RESULT fROM MINIMIZING THE SUM'OF TJiE SQUARED EQUATION ERRORS; THE 'ADAPTIVE CONTROLLER Of EACH .JOINT IS DESIGNED ON THE BASIS OF THEDIFFERfNCE EQUATION MODEL AND A CHOSEN PERFORMANCE CRITERION. 'THE CONTROLLER GAINS ARE CALCULATED ON-LINE USING THE MODEL WITH THE ESTIMATED VALUES Of SYSTEM PARAMETERS. SIMULATION RESULTS ARE PRESENTED TO DEMONSTRATE THE APPLICABILITV OF THE APPROACH. SOME ASPECTS OF TtIE IMPLEMENTATlO~ ARE ALSO DISCUSSED ' Descriptors: INDUSTRIAL ROBOTS; ADAPTIVE '.CONTROl; POSITION CONTROL; VELOCITY CONTROL: OIFFERENCE E"QUA,TtONS; TIME SERIES Identifiers: POSITION CONTROL; SELF TUNING· CONTROL: ADAPTIVE LINEAR CONTROLLER; ROBOTIC MANIPULATORS; VELOCITY CONTROL; TIME SERIES OIFfERENCE EQUATIONS: ONLINE RECURSIVE ALGORITHMS Class Coaes: C3350E: C1340E; C312OC: C3,20E
.
DIALOG Fllel3: INSPEC
~
77-83/IsI24
(Copr. lEE)
See File 12(1969 thru 1976) (IteM
10 of
Class Codes: C3395; C312OC; Ct230 1038612
C83016663
CONTRIBUTION TO THE ELECTRONIC REGULATION OF ROBOTS. DISTRIBUTION DF THE DEGREES OF FREEDOM
C83012972
CONTROLLING THE NETWORK
MOTION OF
I.
927
'.
II.
DUELEN. G.; HANNAkAM. L. ARCH. ELEKTROTECH. (GERMANV) VOL.66. NO.1 57-61 1983 Coden: AELTA6 ISSN: 0003-9039 U. S. Copyright Clearance Center Code: 0003-9039/83/0066/0057/1.00 Treatment: APPLIC; THEORETICAL Document Type: JOURNAL PAPER Languages: GERMAN FOR PT.I SEE IBID .• VOL.64. ND.3-4. P.237-44 (1981). IN ORDER TO IMPROVE POSITIONING ACCURACY ONE TRANSLATORY AND TWO ROTARY OF SIX DEGREES OF FREEDOM ARE SHIFTED FROM THE MANIPULATOR TO THE WORKPIECE. THUS. THE COMPLETE FORMULA PLAN FOR CONTINUOUS PATH CONTROL BECOMES SIMPLER; IN ADDITION TO THIS THE WORKPIECE CAN BE HELD IN A HORIZONTAL PLANE. TO ILLUSTRATE THIS MANIPULATOR CONCEPT THE CONTROL DATA SET ·FOR A SEAM-WELDING OPERATION OF TWO TUBES HAVING DIFFERENT DIAMETERS IS COMPUTED AND PLOTTED IN THE FORM OF UNIVERSAL DIAGRAMS DescrIptors: INDUSTRIAL ROBOTS; INDUSTRIAL CONTROL; REGULATION; POSITION CONTROL; ., MATERIALS HANDLING; CONTROLLABILITY; WELDING EQUIPMENT IdentIfIers: ELECTRONIC REGULATION; ROBOTS; DEGREES OF FREEDOM; POSITIONING ACCURACY; TRANSLATORY; ROTARY; MANIPULATOR: WORKPIECE; CONTINUOUS PATH CONTROL; HORIZONTAL PLANE; CONTROL DATA SET; SEAM-WELDING OPERATION: TUBES; UNIVERSAL DIAGRAMS Class Codes: C3350E; C3320
1023067
._. •
50' User 6443 16dec83
A MOVING ROBOT USING A NEUROID
GOL'TSEV. A.D:; ·KUSSUL'. E.M. AVTOM. AND TELEMEKH. (USSR) VOL.43. NO.5 44-51 MAY 1982 Coden: AVTEAI ISSN: 0005-2310 Trans In: AUTOM. AND REMOTE CONTROL (USA) VOL.43. NO.5.PT.I 606-11 MAY 1982 Coden: AURCAT ISSN: 0005-1179 U. S. CopyrIght Clearance Center Code: 0005-1179/82/4305-0606$07.50 Treatment: PRACTICAL; THEORETICAL Document Type: JOURNAL PAPER Languages: ENGLISH (7 Refs) THE PROBLEM OF CONTROLLING A MOVING ROBOT IN AN ENVIRONMENT WITH OBSTACLES IS EXAMINED. THE ROBOT HAS A NAVIGATION SYSTEM THAT ALLOWS IT TO CONTINUOUSLY DETERMINE ITS COORDINATES; THE COORDINATES OF THE DESTINATION ARE SET BY THE OPERATOR. THE CONTROL SYSTEM IS MODELED ON A NEUROID NETWORK. THE STRUCTURE OF SUCH A NETWORK IS DESCRIBED BRIEFLY AND RESULTS OF EXPERIMENTS USING A LABORATORY PROTOTYPE ROBOT ARE PRESENTED Descriptors: ROBOTS; NAVIGATION; POSITION CONTROL; NEURAL NETS Identifiers: MOTION CONTROL; NEUROID NETWORK; MOVING ROBOT; OBSTACLES; NAVIGATION SYSTEM, CONTROL SYSTEM
1022987
C83012797
APPLICATION OF A SELF-TUNING POLE-PtACEMENT REGULATOR TO AN INDUSTRIAL MANIPULATOR ' . WALTERS. R.G.; BAYOUMI. M.M. DEPT. OF ELECTRICAL ENGNG .• QUEEN'S UNIV .. KINGSTON. ONTARIO, CANADA PROCEEDINGS OF THE 21ST IEEE CONFERENCE ON DECISION AND CONTROL 323-9 1982 '. 8-10 DEC. 1982 ORLANDO. FL. USA Publ: IEEE. NEW YORK. USA 3 VOL. XXXI+1386 pp. U. S. Copyright Clearance Center Code: CHI788-9/82/0000-0323$00.75 Treatment: PRACTICAL; THEORETICAL Document Type: CONFERENCE PAPER Languages: ENGLISH (16 Refs) INVESTIGATES THE ABILITV OF A SELFTUNING POLE-PLACEMENT REGULATOR TO CONTROL THE POSITION OF AN INDUSTRIA~ MANIPULATOR. THE COUPLED. NONLINEAR EQUATIONS DESCRIBING MANIPULATOR MOTION ARE MODELLEO BY INDEPENDENT DIFFERENCE EQUATIONS. THE DIFFERENCE EQUATION PARAMETERS ARE ESTIMATED USING A RECURSIVE LEAST SQUARES SCHEME. USING THESE ESTIMATES THE CONTROLLER ITERATIVELY CALCULATES THE CONTROL SIGNALS SUCH THAT EACH MANIPULATnR JOINT WILL BEHAVE AS A SECOND ORDER SYSTEM. THE POLES OF THE MODEL CAN BE CHOSEN BY THE DESIGNER TO REFLECT THE DESIRED SPECIFICATION.S. SIMULATION RESULTS DEMONSTRATE THE EFFECTIVENESS OF THIS APPROACH FOR THE HIGH SPEE.D CONTROL OF A MANIPULATOR DescrIptors: INDUSTRIAL ROBOTS; SELF-ADJUSTING SYSTEMS; ADAPTIVE CONTROL; POSITION CONTROL; PARAMETER ESTIMATION; POLES AND ZEROS IdentifIers: PARAMETER . ESTIMATION; POSITION CONTROL; SELF-TUNING POLE-PLACEMENT REGULATOR; INDUSTRIAL MANlPULATOR; NDNLINEAR EQUATIONS; DIFFERENCE EQUATIONS: RECURSIVE LEAST SQUARES SCHEME Class Codes: C3350E; C1340E; C3t2OC; CI310
DIALOG Fllel3: INSPEC - 77-83/1&$24
1022977
(Copr. lEE)
See FIl. 12(1969 thru 1916) Utelll
C83012695
UNIFYING ROaOT ARM CONTROL
MUOGE. T.N.; TURNEY. J.L, DEPT. OF ELECTRICAL AND COMPUTE~ ENGNG .. UNIY. OF MICHIGAN. ANN ARBOR, MI. USA SPONSOR: IEEE CONFERENCE ~ECORD OF THE INDUSTRV APPLICATIONS SOCIETV IEEE-IAS-t982 ANNUAL MEETING 1315-24 1982 4-7 OCT. 1982 SAN fRANCISCO. CA. USA Pub1: IEEE. NEW YORK, USA 1405 pp. U. S. Copyright Clearance Center Code: CH1S17-6/82/0000-1315$00.75 . Treatment: THEORETICAL Document Type: CONFERENCE PAPER Languages: 'ENGLISH (19 Re's) PRESENTS A UNifIED APPROACH TO THREE STAGfS Of ROBOT ARM CONTROL BASED ON THE NEWTON-EULER EQUATIONS OF MOTION. THE STAGES UNIfIED ARE: RESOLVED MOTION. GROSS MOTION. AND FINE MOTION. APART FROM THE CONCEPTUAL ADVANTAGE THIS UNIfICATION CAN REQUIRE LESS COMPUTATION THAN IF THE THREE STAGES ARE COMPUTED SEPARATELY. IN PARTICULAR, LESS COMPUTATIONS ARE REQUIRED FOR ARMS WITH NO MORE THAN A80UT A DOZEN JOINTS (A NUMBER UNLIKELV TO BE EXCEEDED fOR MOST ARMS, AT LEAST IN THE NEAR fUTURE). COMPUTATION TIMES ARE ESTIMATED ASSUMING THE COMPUTING ELEMENTS ARE FABRICATED fROM CURRENT YLSI TECHNOLOGY. IT IS ALSO SHOWN HOW FRICTION ~AN BE INCORPORATED INTO THE UNIfIED APPROACH. THE CONCEPT Of 'PSEUDO-fORCE' IS INTRODUCED TO RELATE fINE MOTION TO THe NEWTON-EULER EQUATIONS Descriptors: ROBOTS: POSITION CONTROL Identtfiers: PSEUOOFORCE; ROBOT ARM CONTROL: UNIFIEO APPROACH: NEWTON-EULER EQUATIONS OF MOTION: RESOLVED MOTION: GROSS MOTION: fiNE MOTION: FRICTION Class Codes: C3350E: C312OC; C3320; C3395
B83016834, C83OO8590 Of THE AXIAL ARM MOVEMENT OF AN AUTONOMOUS ROBOT IN MULTIPOINT POSITIONAL CONTROL AfONIN. A.A.; BILOZOR, R.R.: GREBENIKOV, V.V. TEKH. ELEKTRODIN. (USSR} ND.5 57-63 SEPT.-OCT. 1982 Coden: TEKEOW ISSN: 0204-3599 Treatment: THEORETICAL Document Type: JOURNAL PAPER Languages: RUSSIAN (8 Refs) DESCRIBES THE CHARACTERISTICS Of A LINEAR ELECTROMAGNETIC DRIVE. fOR THE ADVANCEMENT OF THE ARM OF AN AUTONOMOUS DRIVE. A CIRCUIT WITH A FIXED LEVEL Of CONTROL, SUPPLIED FROM A SOURCE WITH A SINGLE VOLTAGE LEVEl. IS GIVEN. OSCILLOGRAPHIC RESULTS ARE PRESENTED FOR THE ELECTRO MECHANICAL PROCESSES IN THE ORIVE OF THE ROBOT ARM. WITH BOOSTING Of THE TRANSIENTS IN THE MOTOR WINDINGS AND WITHOUT IT. RECOMMENDATIONS _RE GIVEN fOR THE SELECTION OF PARAMETERS OF THE CONTROL CIRCUIT Descriptors: ROBOTS; POSITION CONTROL; LINEAR MOTORS; TRANSIENTS tOt30S1 STUDY
13
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64'4.1
50) U ..... /
t6deca3
928
Identifiers: POSITION CONTROL: A~IAL ARM MOVEMENT: ROBOT:. LINEAR ELECTROMAGNETIC DRIVE; El6CTAO ,MECHANICAL PROCESSES; TRANSIENTS; MOTOR WINDINGS; SELECTION OF PARAMETERS; CONTROL CIRCUIT Class Codes: B8620: BS5tO; C3350E; C3320
990709
C83OO504D
MOTION CONTROL IN ROBOTS
UCHIVAMA, M. DEPT. OF PRECISION ENGNG., fACULTY O~ ENGNG., TOHOKU UNIY., SENDA!. JAPAN OYO BUTORI (JAPAN) VOL.5t. 666-71 NO.6 ,JUNE 19S2 Coden: OYBSA9 ISSN: 0369-8009 Treatment: PRACTICAL; THEORETICAL Oocument Type: JOURNAL PAPER L&nguag.s: ~APANESE (36 Rets) THE ORBIT Of THE ROBOT ARM MOTIQN IN THE WORKING SPACE IS NONLiNEARLY TRANSfORMEO INTO THE ARTICULAR SPACE REPRESENTED BY THE ARTICULAR ANGLES. THE ARTICULAR DRIVE TORQUES FOR THIS ORBIT ARE OBTAINED BY OPEN LOOP CONTROL. CLOSEO LOOP CONTROL ON THE BASIS OF fEEDBACK SIGNALS FROM SENSORS IS ALSO USED FOR THE CONTROL OF MOTION. A KALMAN fILTER OR OBSERVER is EMPLOYED FQR THE PROCESSING Of THESE SIGNALS. THE PROBLEM OF THE REAL-TIME CALCULATION Of' THE EQUATIONS OF MOTION HAS ALMOST BEEN SOLVEO BY THE SOLUTION OF THE INYERS'E PROBLEM. BASED UPON THE NEWTON-EULER EQUATIONS OF MOTION . . HOWEVER, THE RESEARCH ANO DEVELOPMENT Of CONTROL METHOOS FOR FLEXIBLY STRUCTURED ARMS. AS WELL AS COORDINATION CONTROL FQR DOUBLE ARMS. WHICH MIGHT PROVIDE IMPROVED WORKING CAPABILITIES. WOULD BE OESIR~BLE FOR THE REALIZATION Of HIGH~SPEED HIGH-PRECISION ROBOT ARMS Oescriptors: ROBOTS; POSITION CONTROL; VELOCITY CONTROL: KALMAN FILTERS; CLOSEO LOOP SYSTEMS; FEEDBACK ldentlflerSI NONLINEAR TRANSfORMATION: CLOSEO LOOP CONTROL: " SIGNAL PROCESSING; RDBOT ARM MOTION: ARTICULAR . SPACE; ARTICULAR DRIVE TOROUES; OPEN LOOP CONTROL: FEEDBACK SIGNALS; KALMAN FILTER; NEWTON~EULER EQUATIONS OF MOTION: flEXIBLY STRUCTUREO ARMS; COORDINATION CONTROL: DOUBLE ARMS: IMPROVEO WORKING CAPABILUIES: HIGH-SPEED HIGH-PRECISION R080T ARMS Class Codes: C3395: Ct260; C312OC: C3S20E
DIALOG FlIel3: INSPEC - 77-83/15524
(Copr. lEE)
See
FHe 12( 1969 th.'u 19761 (Item
16 of
50 I U5./ '6.(,,3 16dee83
teO 1\/0. A. J.; GUO, T. H.
945880 882057430, C82037750 WAYS FOR IMPROVING THE DYNAMIC AND STATIC CHARACTERISTICS Of ELECTROHYORAUllC ROBOT QRIVES ALEKSEEV. A.P.; ZHITKDV. V.B.: CHElYSHEV. V.A. SOV. ENG. RES. (GB) VOl. I. NO.8 9-12 AUG.198t Coden: SORSDW 9-11 Treatment: THEORETICAL Document Type: JOURNAL PAPER Languages: ENGLISH (5 Refs) THE PROBLEMS OF IMPROVING THE STATIC AND DYNAMIC CHARACTERISTICS OF HIGH-SPEED ELECTROHVDRAULIC DRIVES FOR INDUSTRIAL ROBOTS WITH THE AID OF NONLINEAR CORRECTING (COMPENSATING) DEVICES ARE ANALYSED; THE DEVICES ARE A THREE-CHANNEL PSEUOOLINEAR TYPE AND A RELAY TYPE. THE USE OF THESE CAN MORE THAN DOUBLE THE PASS BANDWIOTH OF THE DRIVE AND ENSURE STATIC ACCURACY OF ONE MINUTE OF AN ARC Descriptors: INDUSTRIAL ROBOTS: DRIVES; COMPENSATION Identtfters: NONLINEAR COMPENSATORS: NDNLINEAR CORRECTING DEVICES; ELECTROHVDRAUllC DRIVES: INDUSTRIAL ROBOTS: THREE-CHANNEL PSEUDOLINEAR TYPE; RELA~ TYPE: PASS BANDWIDTH; STATIC ACCURACY , Class Codes: B8510; C3350E; C3320; C326OB: C3260F
915908
C82034117
RESOLVID MOTION fORCE CONTROL Of ROBOT MANIPULATOR CHI-HAUR WU; PAUL, A.P. UNIMATION INC., DANBURY, CT, USA IEEE TRANS. SYST., MAN AND CYBERN. (USA) VOL.SMC-12, ND.3 266-75 MAY-JUNE 1982 Coden: ISYMAW Treatment: PRACTICAL, THEORETICAL Document Type: JOURNAL PAPER Languages: ENGLISH (.SReh) A NEW CARTESIAN POSITION CONTROL CALLED RESOLVED MOTION FORCE CONTROL (RMFC) IS DEVELOPED FOR ROBOT MANIPULATOR. IT ADAPTS THE FORCE CONVERGENCE CONCEPT TO CONTROL THE CARTESIAN FORCE AND POSITION INSTEAD OF CLASSICAL JOINT CONTROL. IN THIS WAY, THE CHANGING CONFIGURATIONS, GRAVITY LOADING. AND INTERNAL FRICTION OF THE MANIPULATOR CAN BE AUTOMATICALLY COMPENSATED. ALSO. THE METHOD ONLY USES THE JACOBIAN TRANSPOSE MATRIX SUCH THAT IT IS APPLICABLE TO MORE THAN SIX DEGREES-OF-FREEDOM MANIPULATOR WITHOUT INCREASING THE COMPUTATIONAL BURDEN Descriptors: ROBOTS; POSITION CONTROL; FORCE CONTROL Identifiers: CARTESIAN POSITION CONTROL: RESOLVED MOTION FORCE CONTROL; ROBOT MANIPULATOR; FORCE CONVERGENCE; GRAVITY LOADING; INTERNAL FRICTION; JACOBIAN TRANSPOSE MATRIX: SIX DEGREES-Of-FREEDOM MANIPULATOR Class Codes: C3395: C312OC; C3t20F
897584 C82026118 CONTROL 0' ROIOTIC MANIPlA.ATOR WITH ADAPTIVE CONTROLLER
929
',_
SCHOOL OF ELECTRICAL ENGNG., PU~~E-UNIV., WEST LAFAYETTE, tN. USA SPONSOR: IEEE PROCEEDINGS OF THE 20TH IEEE CONFERENCE ON DECISION ANO CONTROL INCLUDING THE SYMPOSIUM ~eAPTIVE PROCESSES 271-6 VOL. I 198t .' 16-'8 DEC. 1981 SAN DIEGO, CA, USA Pub1: IEEE. NEW YORK, USA 3 VOL . • 502 pp. Treatment: APPLIC; THEORETICAL Document Tvpe: CONfERENCE PAPER Languages: ENGLISH (13 Refs) PRESENTS A NEW APPROACH TO THE POSITION AND VELOCITY CONTROL OF A MANIPULATOR BY USING THE ADAPTIVE (SELF-TUNING) CONTROLLERS, THE COMPLICATED MODEL OF A MANIPULATOR SYSTEM IS MODElED BY A SET OF TIME VARYING DIFFERENCE EQUATIONS, THE PARAMETERS OF THE SYSTEM ARe DETERMINED BY AN ON-LINE RECURSIVE ALGORITHM BASED ON THE LEAST SQUARES ERROR CRITERION, AN ADAPTIVE CONTROLLER is DESIGNED ON THE BASIS OF THE DIFfERENCE EQUATION MODEL ANO A CHOSEN PERfORMANCE CRITERION. THE CONTROLLERS ARE CALCULATED ON-LINE USING THE MODEL WITH THE ESTIMATED VALUES OF SYSTEM PARAMETERS. SIMULATION RESULTS ARE PRESENTED TO DEMONSTRATE THE APPLICABILITY Of THE APPROACH TO THE CONTROL OF A MANIPULATOR Descriptors: INDUSTRIAL ROBOTS; ADAPTIVE CONTROL; POSITION CONTROL: VELOCITY CONTROL; TIME-VARYING SYSTEMS Identifiers: POSIJION CONTROL: SELF TUNING CONTROL; ROBOTIC MANIPULATOR; ADAPTIVE CONTROLLER: VELOCITY CONTROL; TIME VARYING DifFERENCE EQUATIONS; ON-LINE RECURSIVE ALGORITHM; LEAST SQUARES ERROR CRITERION; PERFORMANCE CRITERION Class Codes: C3350E; Ct340E; C3120C: C3t20E
0"
--.. ----,--- tM!n.t...rn
DIALOG flle.3: JNSPEC - 11-83/15824
89751.
(Copr. lEE)
C82026102
ON POSITION CONTROL OF INDUSTRIAL ROBOTS WITH DECOUPLING BY THE INVERSE SYSTEM
PATZELT, .W. FRAUNHOfER-INST. fUR INFORMATIONS- UNO DATENVERARBEITUNG. IIT8. KARLSRUHE. GERMANY REGELUNGSTECHNIK (GERMANY) VOL.29. NO.12 411-22 DEC. 1981 Coden: RlSTA5 Treatment: APPLIC; THEORETICAL Document Tvpe: vOURNAL PAPER Languages: ENGLISH (10 Refs) IDEAL TRACKING PERFORMANCE IS ACHIEVED BY COMPENSATION WITH THE INVERSE SYSTEM ANO WITH A CONTROLLER STRUCTURE PRESENTED WITH ARBITRARilY SELECTA8LE CONTROL RESPONSE. A NONLINEAR CONTROL DYNAMIC IS CHOSEN FOR THE APPLICATION OF THIS PRINCIPLE TO THE POSITION CONTROL OF AN INOUSTRIAl ROBOT (IR). THIS CAUSES THE fR TO APPROACH AN ACCELERATED REFERENCE TRAJECTORY, WITHOUT OVERSHOOT (GRIPPING) ANO TO FOLLOW THIS TRAJECTORY (TRACKING) BETTER THAN THE USUAL CASCADED CONTROL. THIS CONTROL SCHEME WAS IMPLEMENTED AT AN IR AND THE STATED PROPERTIES ARE PROVED BY GRIPPING OF P~ODUCTION PARTS. WHICH ARE MOVED BY A CONVEYER BELT Descriptors: POSITION CONTROL; INDUSTRIAL ROBOTS: TRACKING; COMPENSATION: NONLINEAR CONTROL SYSTEMS Identifiers: POSITION CONTROL; INOUSTRIAL ROBOTS; DECOUPLING ; INVERSE SYSTEM; TRACKING; COMPENSATION: CONTROLLER STRUCTURE ; ARBITRARILY SELECTABLE CONTROL RESPONSE: NONLINEAR CONTROL DYNAMIC; GRIPPING: CONVEYER BELT Class Codes: C3350E; C312OC; Ct340K
855322
C820t7817
ROBOT CONTROL AND ITS OYNAMIC STRESS SUVA. S.; NEUMAN. P.
19 of
See file 1211969 thru 19761 (Item
VOt...24, NO.8-9 222-4 AUTOMATIZACE (CZECHOSLOVAKIA) AUG.-SEPT. 19a1 Coden: AUTMAZ Treatment: APPLIC: THEORETICAL DocUlllent Type: \JOURNAl.. PAPER Languages: CZECH (J Refs) DEALS WITH KINEMATIC ANO OVNAMIC ANALYSES OF INDUSTRIAL ROBOTS WITH ELECTRIC SERVOMOTORS. IN PARTICULAR. EVALUATION OF lHE REOUIRED MOMENTS fOR THE MOVEMENT OF INDIVIDUAL DEGREES Of FREEDOM AND DERIVATION Of THE DESIRED VALUES Of THE POSITION Of THESE DEGREES Of FREEDOM FOR A PERMISSIBLE MOMENT ARE PRESENTEO. fOR A PARTICULAR KINEMATIC STRUCTURE. THE STRESS IS INVESTIGATED AND AN OPTIMAL METHOD Of SETTING THE REQUIRED POSITIONS IS DERIVED. FOR THE ANALYSIS. THE R080TRON COMPUTER AND THE CSMP lt30 SIMULATION PROGRAM HAVE BEEN USED . . THE RESULTS CAN BE USED FOR DESIGNING ROBOTS AND THEIR CONTROL SYSTEMS AS WELL AS fOR DIMENSIONING THE DRIVES Descrfptors: INDUSTRIAL ROBOTS; POSITION CONTROL: DIGITAL SI-..UTION Identifiers: POSITION CONTROL; DRIVE DIMENSIONING; DYNAMIC STRESS; DYNAMIC ANALYSES; INDUSTRIAL ROBOTS; ELECTRIC SERVOMOTORS: DEGREES OF FREEDOM: KINEMATIC STRUCTURE: ROBOTRON
50)
.
'
US.~·~443
.6deca3
930
COMPUTER; CSMP '.30 SIMULATION PROGRA~ Class Codes: C3350E; C3t2OC: C7420:' 07440
824184
C820t.OO8
ON A METHOD MANIPULATORS
Of
...
SOLVING THE INOIRECT POSITION PROBLEMS Of
ZHANG Q f X IAN CHIN. J. MECH. ENG. (CHINA) VQt... 17. ND.1 8t-8 19a, Coden: CHHKA2 Treatment: THEORETICAL Document Tvpe: \JOURNAL PAPER Languages: CHINESE (5 Refs) EXTENDS THE USE OF IDENTITY CONOITIONS FOR MOTIONS OF CLOSEO-LOOP MECHANISMS AND SUGGESTS A RATHER SIMPLIFIED METHOD OF SOLVING THE INDIRECT POSITION PROBLEMS OF MANIPULATORS. IN ORDER TO ILLUSTRATE THIS METHOD. RRRRR AND SR MANIPULATORS ARE GIVEN AS TWO EXAMPLES Descriptors; ROBOTS; POSITION CONTROL Identifiers: RRRRR MANIPULATORS; IDENTITY CONOITIONS; MOTIONS; CLOSED-LOOP MECHANISMS: INOIRECT POSITION PROBLEMS; MANIPULATORS; 6R MANIPULATORS Class Codes: e33iS: C3120C
174114
C81035323
DiffERENTIAL MANIPULATORS
K~EMATIC
CONTROL
EQUATIDN$
fOR
SIMPLE
PAUL, R.P.; SHIMANO. B.; MAYER, G.E. ADVANCED TECHNOL. LAB., GTE LABS. INC .• WALTHAM. MA. USA IEEE TRANS .. SVST .• MAN AND CYBERN. (USA) VOLSMC-l1, NO.6 456-60 JUNE t98t Coden; ISYMAW Treatment: APPLJC: THEORETICAL Document Type: JOURNAL PAPER Languages: ENGLISH (4 Refs) THE JACOBIAN REPRESENTING THE OIFFERENTIAL CHANGE IN POSITION ANO ORIENTATIO~ Of THE MANIPULATOR END-EFFECTOR IN TERMS OF DIFFERENTIAL CHANGES IN JOINT COORDINATES IS PRESENTED TOGETHER WITH THE INVERSE \JACOBIAN Oescriptors; ROBOTS: POSITION CONTROL; DIFFERENTIAL EQUATIONS Identifiers: JACOBIAN; MANIPULATOR END-EFFECTOR; JOINT COORDINATES; DIFfERENTIAL KINEMATIC CONTROL EQUATIONS Class Codes: C3395: C312OC: Ct120
DIALOG fllel3: INSPEC - 77-S3/1ss24
114713
C81035322
COMPLIANCE MANIPULATORS
AND
FORCE CONTROL
(Copr. lEE'
FOR
See File 12(1969 thru 1976) (Item
COMPUTER CONTROLLED
MASON, M. T. ARTIFICIAL INTELLIGENCE LAB .• MIT. CAMBRIDGE, MA. USA IEEE TRANS. SYST., MAN AND CVBERN. (USA) VOL.SMC-tl. NO.6 418-32 VUNE 1981 Coden: ISYMAW Treatment: APPLIC; BIBLIOGRAPHY; THEORETICAL Document Type: JOuRNAL PAPER Language.: ENGLISH (66 Refs) COMPLIANT MOTION OF A MANIPULATOR OCCURS WHEN THE MANIPULATOR POSITION IS CONSTRAINED BY THE TASK GEOMETRY. COMPLIANT MOTtON MAY BE PRODUCED EITHER BY A PASSIVE MECHANICAL COMPLIANCE BUILT IN TO THE MANIPULATOR. OR BY AN ACTIVE COMPLIANCE IMPLEMENTED IN THE CONTROL SERVO LOOP, THE SECOND METHOD. CALLED FORCE CONTROL, IS THE SUBJECT OF THE PAPER, IN PARTICULAR A THEORY OF FORCE CONTROL BASED ON fORMAL MOOELS OF THE MANIPULATOR AND THE TASK GEOMETRY IS PRESENTED. .THE IDEAL EFFECTOR IS USED TO MODEL THE MANIPULATOR. THE IDEAL SURFACE IS USED TO MODEL THE TASK GEOMETRY. ANO THE GOAL TRAJECTORY IS USED TO MODEL THE TASK GEOMETRY, AND THE GOAL TRAJECTORY IS USED TO MODEL THE DEStRED BEHAVIOR OF THE MANIPULATOR, MODELS ARE ALSO DEFINED FOR POSITION CONTROL AND FORCE CONTROL. PROVIDING A PRECISE SEMANTICS FOR COMPLIANT MOTION PRIMITIVES IN MANIPULATION PROGRAMMING LANGUAGES. THE FORMALISM SERVES AS A SIMPLE INTERFACE BETWEEN THE MANIPULATOR AND THE PROGRAMMER. ISOLATING THE PROGRAMMER FROM THE FUNDAMENTAL COMPLEXITV OF LOW-LEVEL MANIPULATOR CONTROL. A METHOD OF AUTOMATICAlLV SYNTHESIZING A RESTRICTED CLASS OF MANIPULATOR PROGRAMS BASED ON THE FORMAL MODELS OF TASK AND GOAL TRAJECTORY IS ALSO PROVIDED BV THE FORMALISM Oescrtptors: FORCE CONTROL: ROBOTS; COMPUTERISED CONTROL; POSITION CONTROL: CONTROL SYSTEM SYNTHESIS Identlfters: COMPUTER CONTROLLED MANIPULATORS; ACTIVE COMPLIANCE: CONTROL SERVO··LOOP. fORCE CONTROL; TASK GEOMETRY: IDEAL EFFECTOR: IDEAL SURFACE: GOAL TRAJECTORY; GOAL TRAJECTORY; POSITION CONTROL; PRECISE SEMANTICS; COMPLIANT MOTION; MANIPULATION PROGRAMMING LANGUAGES Class Codes: C3395; C3120F; C3120C: ·C7420 ,
774505
B81052582. C81035109
SEQUENTIAL ALGORITHMS RELATED TO OPTICAL PROXIMITY SENSORS ESPIAU, B.; ANDRE. G, IRISA. RENNES. FRANCE SPONSOR: IFS (CONFERENCES) LTD PROCEEDINGS OF THE 1ST INTERNATIONAL CONFERENCE ON ROBOT VISION AND SENSORY CONTROLS 223-32 1981 1-3 APRIL 1981 STRATFORD-UPON-AVON. ENGLAND Pub': IFS (CONFERENCES) LTD. KEMPSTON. BEDFORO. ENGLAND IV+347 pp. ISBN 0 903608 15 4 Treatment: THEORETICAL Document Type: CONFERENCE PAPER Languages: ENGLISH (8 Ref.) IT IS WELL KNOWN THAT OPTICAL PROXIMITY SENSORS ARE VERY
23
of
50) User:~4~3 16deca3
931
SENSITIVE TO THE NATURE OF TARGETS 'AND TO ENVIRONMENTAL DISTURBANCES. THE PAPER IS DEVOTED",,)' THE PRESENTATION OF A SET OF ALGORITHMS ALLOWING IMPROvEME~T OF THE ACCURACY OF SUCH SYSTEMS, FIRST, USING SEQUENTIAL STATISTICAL METHODS. A HARDWARE SYSTEM ALLOWING DETECTION' FOR. LOWSJGNAL-TO-NDISE RATIOS IS PRESENTED: THEN. A RECURSIVE-METHOD USING EXTENDED KALMAN FILTER IS STUDIED IN A PROBLEM'OF DISTANCE ESTIMATION WITH UNKNOWN ALBEDO. NEXT. ALGORITHMS FOR TRACKING MOVING PIECES ARE ANALYSED, EVENTUALLY. TECHN1QUE S ALLOWING FORCE FEE08ACK CONTROL HAVE BEEN USED FOR VARIOUS OBJECTS. EXPERIMENTAL OR SIMULATIONS RESULTS RELATED TO INFRARED SENSORS ARE PRESENTED IN ALL CASES Descriptor.: KALMAN FILTERS; NONELECTRIC SENSING DEvICES; INFRARED DETECTORS; TRACKING; FORCE CONTROL; STATISTICAL ANALYSIS; DISTANCE MEASUREMENT: INDUST~IAL ROBOTS IdentifIers: OPTICAL PROXIMITY SENSORS; ACCURACV; SEQUENTIAL STATISTICAL METHODS; SIGNAL-TO-NOISE RATIOS: RECURSIVE METHOD; EXTENOED KALMAN FILTER; DISTANCE ESTIMATION; TRACKING; FORCE FEEDBACK CONTROL; INFRARED SENSORS Class Codes: B73lOC: B723OC; B0240Z~ C3350E; C1260; C3240F; C3120F: C 1140l
"
DIALOG Fllet3: {NSPEC - 77-83/lss24
774472
(Cop"', lEE)
See File 121 1969
C8t035076
A MATHEMATICAL MODEL OF HAND TRANSfER MOTION fOR APPLICATION TO MANIPULATOR CONTROL
TOTANI. T.; MIYAKAWA. S. DEPT. OF MECH. ENGNG .• CHIBA UNIV .• CHIBA. JAPAN TRANS. ASME. J. DYN. SYST. MEAS. ANO CONTROL (USA) 152-7 vUNE 1981 Coden: JDSMAA VOL.t03, NO.2 Treatment: APPLIC; THEORETICAL Document Type: JOURNAL PAPER Languages: ENGLISH (6 Refs) THE HAND MOT-IONS WHICH ARE OBSERVED WHEN ONE HOLDS AN OBvECT ANO TRANSFERS IT TO A SPECIFIED POSITION ARE ANALYZED ANO A PROPOSED MATHEMATICAL MODEL IS COMPARED WITH THE REAL MOVEMENTS. THE FUNCTIONS OF TIME OF WHICH THE SPACE TRAJECTORIES OF THE HANO ARE CONSTRUCTED ARE CLASSIFIED INTO FIVE MODES AND ARE EXPRESSED AS A GROUP OF STATIONARY FUNCTIONS IN A VARIATIONAL PROBLEM IN WHICH A QUADRATIC INTEGRAL COST FUNCTION IS TO BE MINIMIZED. SOME RELATIONS BETWEEN THE MODEL PARAMETERS AND THE KINEMATIC FEATURES OF THE MOTION PATTERNS ARE SHOWN. A WAY OF DESIGNATING THE DESIRED INPUTS FOR THE JOINT ANGLE SERVOSYSTEMS qF A MANIPULATOR IS ALSO SHOWN Oescrlptors: INDUSTRIAL ROBOTS: VARIATIONAL TECHNIOUES; OPTIMAL CONTROL; POSITION CONTROL Identifiers: MATHEMATICAL MODEL: HAND TRANSFER MOTION; MANIPULATOR CONTROL: STATIONARV FUNCTIONS; VARIATIONAL PROBLEM : QUADRATIC INTEGRAL COST FUNCTION; KINEMATIC FEATURES; MOTION PATTERNS; JOINT ANGLE SERVOSYSTEMS Class Codes: Cl350E; CtllO; CttSO; C3120C; C3395
774410
C81035074
HYBRID POSITION/FORC! CONTROL OF MANIPULATORS
RAIHERT, M.H.·; CRAIG, v·.J. JET PROPULSION LAB .• CALIFORNIA INST. OF TECHNOL., PASADENA. CA. USA TRANS. ASME. J. OYN. SYST. MEAS. AND CONTROL (USA) VOl.fOl. NO.2 126-33 JUNE 1981 Coden: JDSMAA Treatment: APPLIC: THEORETICAL Document Type: JOURNAL PAPER languages: ENGLISH (t:I Refs) A NEW CONCEPTUALLY SIMPLE APPROACH TO CONTROLLING COMPLIANT MOTIONS OF A ROBOT MANIPULATOR IS PRESENTED. THE HYBRID TECHNIQUE DESCRIBED COMBINES FORCE ANO TORQUE INFORMATION WITH POSITIONAL DATA TO SATISFY SIMULTANEOUS POSITION ANO FORCE TRAJECTORV CONSTRAINTS SPECIFIED IN A CONVENIENT TASK RELATED COORDINATE SYSTEM. ANALVSIS. SIMULATION. ANO EXPERIMENTS ARE USED TO EVALUATE THE CONTROLLER'S ABILITY TO EXECUTE TRAJECTORIES USING FEEDBACK FROM A FORCE SENSING WRIST AND FROM POSITION SENSORS FOUND IN THE MANIPULATOR JOINTS. THE RESULTS SHOW THAT THE METHOD ACHIEVES STABLE. ACCURATE CONTROL OF FORCE A~ POSITION TRAJECTORIES FOR A VARIETY OF TEST CONDITIONS Descriptors: I NOUSTRIAL ROBOTS: POSITION CONTROL; FORCE CONTROL: FEEDBACK
thr~
1976) (Item
25 of
,... .
50) U9.r··614441· t6dec83
932
Ident., lers: ROBOT MANIPULATOR: . T4SKo· RELATED COORDINATE SYSTEM: FEEDBACK: FORCE SENSING ~Af5T; POSITION SENSORS; COMPLIANT MOTION CONTROL: POSITION CONTROL; FORCE CONTROL Class Codes: C3350E; C3120C; CJ120F; ~3395
174469
C81035073
A NEW 'EEDBACK METHOD fOR OYNAMIC CONtROL 0' MANIPULATORS
TAKEGAKI. M.: ARIMOTO. S. • DEPT. OF MECH. ENGNG .• OSAKA UNIV., TOYONAKA. OSAKA, JAPAN TRANS. A5ME. J. DYN. SYST. MeAS. ANO CONTROL (USA) VOL.f03, NO.2 1t9-25 JUNE f98~ c~~n: vDSMAA Treatment: APPLIC; THEORETICAL Document Type: JOURNAL PAPER Languages: ENGLISH t 12 Refs) A NEW APPROACH TO THE DYNAMIC CONTROL OF MANIPULATORS IS DEVELOPED FROM THE VIEWPOINT OF MECHANI£S. IT IS FIRST SHOWN THAT A LINEAR FEEDBACK OF GENERALIZED COORDINATES ANO THEIR DERIVATIVES ARE EfFECTIVE FOR MOTION CONTROL IN THE LARGE. NEXT. A METHOD IS PROPOSED fOR TASK-ORIENTED COORDINATE CONTROL WHICH CAN BE EASilY IMPLEMENTED BY'A MICROCOMPUTER AND IS SUITED TO SENtOR fEEDBACK CONTROl- . THE PROPOSED METHOD IS APPLICABLE EVEN WHEN HOLDNOMIC CONSTRAINTS ARE AOoEO TO THE SYSTEM. EFFECTIVENESS Of THE PROPOSED METHOD IS VERIFIED BV COMPUTER SIMULATION Descriptors: INDUSTRIAL ROBOTS: FEEDBAC~: POSITION CONTROL; CONTROL SYSTEM SVNTHESIS Identt'lers: DYNAMIC CONTROL: MANIPULATORS; MECHANICS; LINEAR FEEDBACK: MOTION CONTROL; TASK-ORIENTED COORDINATE CONTROL: MICROCOMPUTER; SENSOR FEEDBACK C.ONTROL; HOLONOMIC CONSTRAINTS Class Codes: C3350E; Ct3tO; C312OC: C3395
DIALOG Fllel3: IN5PEC • 77-83/15s24
762229
(Cop;. lEE)
See File '2(i969 thru 1976) (Item
C81032134
KINEMATIC CONTROL EQUATIONS FOR SIMPLE MANIPULATORS
PAUL. R.P.; SHIMANO. B.; MAYER. G.E. . ADVANCED TECHNOL. LAB .• GTE LA~S. INC .. WALTHAM. MA. USA IEEE TRANS. SVST., MAN ANO CYBERN. (USA) VOL.SMC-lt. NO.6 449-55 JUNE 1981 Coden: ISYMAW Treatment: APPLIC; THEORETICAL Document Type: JOURNAL PAPER Languages: ENGLISH (10 Refs) THE BASIS FOR ALL ADVANCED MANIPULATOR CONTROL IS A RELATIONSHIP BETWEEN THE CARTESIAN COORDINATES OF THE END-EFFECTOR AND THE MANIPULATOR JOINT COORDINATES. A DIRECT METHOD FOR ASSIGNING LINK COORDINATE SYSTEMS AND OBTAINING THE END-EFFECTOR POSITION IN TERMS OF JOINT COORDINATES IS REVIEWED. TECHNIQUES FOR OBTAINING THE SOLUTION TO THESE EQUATIONS FOR KINEMATICALLY SIMPLE MANIPULATORS. WHICH INCLUDES ALL COMMERCIALLV AVAILABLE MANIPULATORS. ARE PRESENTED Descriptors: ROBOTS; POSITION CONTROL Identifiers: MANIPULATOR CONTROL; CARTESIAN COORDINATES; END-EFFECTOR: JOINT COORDINATES; LINK COORDINATE SYSTEMS; KINEMATICALLV SIMPLE MANIPULATORS; KINEMATIC CONTROL EQUATIONS Class Codes: C3395; Clt20C
"
761415
ON THE PROPERTIES)
C81031290
THEORY
OF
MANIPULATlat.l
SYSTEMS
(MECHANICAL
KOBRINSKIV. A.A. TEKH. KIBERN. (USSR) VOL.t8. NO.l 42-50 MAY-JUNE 1980 Coden: TEKIB8 Trans 1n: ENG. CYBERN. (USA) VOL.t8. NO.3 36 MAV-JUNE 1980 Coden: ENcYAF Treatment: THEORETICAL Document Type: JOURNAL PAPER Languages: ENGLISH SUMMARY FORM ONLY GIVEN. AS FOLLOWS. CONCEPTS INVOLVING ELEMENTARY OPERATIONS AND THE MECHANICAL PROPERTIES OF MANIPULATION SYSTEMS ASSOCIATED WITH THEM (ATTAINABILITY. MANIPULABILITY, MOBILITY. FLEXIBILITY. CARRYING POWER, AND ACCURACV) ARE INTRODUCED. QUANTITATIVE ESTIMATES OF THESE PROPERTIES. WHICH ARE STATISTICAL CHARACTERISTICS OF THE RESULTS OF PERFORMING THE CORRESPONDING ELEMENTARY OPERATIONS. ARE MAOE ANO ANALYZED Descriptors: ROBOTS Identifiers: MANIPULATION SYSTEMS; MECHANICAL PROPERTIES; ATTAINABILITy: MANIPULABILITY; MOBILITY; fLEXIBILITY; CARRYING POWER; ACCURACV Class Codes: C1230
720464
28 of
50) User 6443 16dec83
933
IZV. VUZ MASHINOSTR. (USSR) ND.1t 118-21 1980 Coden: IVUSAH Treatment: APPLIC; THEORETICAL Document Type: JOURNAL PAPER Languages: RUSSIAN (3 Refs» INVESTIGATES PROBLEMS ASSOCIATED WITH COMPUTER-CONTROLLED DISPLACEMENT OF THE MANIPULATOR FINGERS INTO A DESIRED POSITION IN THE WORKING SPACE. AN ANALYSIS OF THE LINEARISED EQUATIONS FOR THE DVNAMICS OF THE MANIPULATOR. AND THE CONTROL SYSTEM, VIELOS CONDITIONS FOR THE STABILITY AND THE REQUIRED QUALITY OF THE CONTROL PROCESS Descriptors: COMPUTERISED CONTROL; ROBOTS; POSITION CONTROL Identifiers: SMALL OSCILLATIONS; COMPUTER-CONTROLLED MANIPULATOR: COMPUTER-CONTROLLED DISPLACEMENT: MANIPULATOR FINGERS; LINEARISED EQUATIONS; DYNAMICS; CONTROL SYSTEM; STABILITY Class Codes: C3395; C3120C: C7420
701230
C81019925
ACTIVE STIfFNESS CONTROL OF COORDINATES
A MANIPULATOR
IN.CARTESJAN
SALI SHURY, J.I<. DEPT. OF COMPUTER SCI .• STANFORD UNIV .• STANFORD. CA. USA SPONSOR: IEEE PROCEEDINGS OF THE 19TH IEEE ·CONFERENCE ON DECISION AND CONTROL INCLUDING THE SyMPOSIUM ON ADAPTIVE PROCESSES 95-100 1980 . 10-12 DEC. 1980 ALBUQUERQUE. NM. USA Pub': [EEE, NEW YORK. USA 2 VOL. XL+1254 pp. Treatment: APPLIC; THEORETICAL Document Type: CONFERENCE PAPER Languages: ENGLISH (11 Refs) . A METHOD OF ACTIVELY CONTROLLING THE APPARENT SIfFN~SS OF A MANIPULATOR END EFFECTOR IS PRESENTED. THE APPROACH ALLOWS THE PROGRAMMER TO SPECIFY THE THREE TRANSLATIONAL ANO THREE ROTATIONAL STIFFNESS OF A FRAME LOCATED ARBITRARILY IN HAND COOROINATES. CONTROL OF THE NOMINAL POSITION OF THE HANO THEN PERMITS SIMULTANEOUS POSITION AND fORCE CONTROL. STIFFNESS MAY BE CHANGED UNDER PROGRAM CONTROL TO MATCH VARYING TASK REQUIREMENTS. A RAPID SERVO ALGORITHM IS MADE POSSIBLE BY TRANSFORMATION OF THE PROBLEM INTO JOINT SPACE AT RUN TIME. APPLICATIONS EXAMPLES ARE GIVEN Oescrlptors: FORCE CONTAOL: POSITION CONTROL: INDUSTRIAL ROBOTS: ASSEMBLING Identifiers: MANIPULATOR; EFFECTOR; ROTATIONAL STIFFNESS; TRANSLATIONAL STIFFNESS; ACTIVE STIFFNESS CONTROL Class Codes: C3350E: ClI2OC; C3120f
C81023094
INVESTIGATION Of SMALL OSCILLATIONS 0' A COMPUTER-CONTROLLED MANIPULATOR YUSHCHENKO. A.S.
-------------------------~oQ
DIALOG Ftlet3: INSPEC - 77-83/15524
706954
(Copr. lEE)
See File 12(1969 thru 1976) (Item
C81019630
POSITION CONTROL OF OSCILLATORY SERVO-SYSTEMS EXEMPLifiED 8Y MEANS OF AN INDUSTRIAL ROBOT . . HOPFENGARTNER, H. UNIV. ERLANGEN-NURNBERG. ERlANGEN. GERMANY REGELUNGSTECHNIK (GERMANY) VOl.29. NO. t 3-10 dAN. 1981 Coden: RLSTA5 Treatment: THEORETICAL Document Type: dOURNAl PAPER Languages: GERMAN ( I 1 Refs) THE CONCEPT OF STATE fEEDBACK CONTROL PERMITS THE SPECIFIC DESIGN OF A FAST AND YET WELL DAMPED POSITION CONTROL EVEN FOR OSCILLATORY MECHANICAL SYSTEMS. THE DESIGN AND EXPERIMENTAL EVALUATION OF SUCH A CONTROL IS REPORTED. THE IMPLEMENTATION OF AN OBSERVER IS REQUIRED, SINCE NOT ALL STATE VARIABLES MAY BE CALCULATED fROM MEASURED VALUES. THE DESIGN Of CONTROLLER AND OBSERVER IS CARRIED OUT IN THE FREQUENCY DOMAIN. THE STRUCTURE Of THE CONTROLLER IS ADAPTED TO THE SPECIFIC REQUIREMENT Of A POSITION CONTROL LOOP. A COMPARISON WITH CONVENTIONAL POSITION CONTROL SHOWS A SIGNIFICANTLY IMPROVED CONTROL RESPONSE Descriptors: POSITION CONTROL: SERVOMECHANISMS: INOUSTRIAL ROBOTS: FREQUENCY-DOMAIN SYNTHESIS; STATE ESTIMATION; DAMPING Identifiers: OSCILLATORY SERVO-SYSTEMS; INDUSTRIAL ROBOT; STATE FEEDBACK CONTROL; POSITION CONTROL; OSCILLATORY MECHANICAL SYSTEMS; OBSERVER; DESIGN; FREQUENCV DOMAIN; CONTROL RESPONSE Class Codes: C312OC; C1310; C1220
667164
C81011255
ON A MANIPULATOR WITH DISCRETE CONTROL ELEMENTS
SHISHIGIN. M.I.; KHOMERIKI. T.l. ' TEKH. KIBERN. (USSA) VOL. 17. NO.6 46-52 NOV.-DEC. 1919 Coden: TEKIB8 Trans In: ENG. CYBERN. (USA) VOL.17. NO.6 26-3t NOV.-OEC. 1979 Coden: ENCYAF Treatment; APPLIC; THEORETICAL Document Type: JOURNAL PAPER Languages: ENGLISH (4 R.,.,
THE SCHEME OF DISCRETE MANIPULATOR IS DISCUSSED IN WHICH THE JOINTS ARE CONSTRUCTED ON THE BASIS OF THE HDOK-KAROAN SCHEME AND THE INTERNAL END OF THE DRIVING LINK IS THE ARMATURE OF AN ELECTROMAGNET, WHOSE CORE IS DISCRETELY DISTRIBUTED ON THE INTERIOR SURFACE OF A HEMISPHERE. SPECIFYING AN INTEGER SYSTEM OF COORDINATES. FORMULAS ARE GIVEN. DESCRIBING THE POSITIONS OF dOINTS IN VARIOUS SYSTEMS OF COORDINATES ANO RELATIONSHIPS BETWEEN THEM Oescrlptors: ROBOTS; ELECTROMAGNETS: POSITION CONTROL Identifiers: DISCRETE CONTROL ELEMENTS; DISCRETE MANIPULATOR ; JOINTS: HDOK-KAROAN SCHEME: DRIVING LINK; ARMATURE; ELECTROMAGNET; HEMISPHERE Class Codes: C3395; Cll20C
667163
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C81011254
ALGORITHMS FOR REALIZATION OF SPECIfiED MOTION OF MANIPULATING ROBOTS
KRUPKa, P.O. TEKH. KIBERN. (USSR) VOL. n. NO.6 Coden: TEKIB8 Trans In: ENG. CYBERN. (USA) NOV.-DEC. 1979 Coden: ENCYAF Treatment: APPLIC: THEORETICAL Document Type: JOURNAL PAPER Languages; ENGLISH
28-45 VOl.
n.
T~ECTORIES
OF. .
NOV. -DEC. 1979 NO.6
18-25
(2 Reh)
A GENERAL APPROACH IS DISCUSSED WHICH ALLOWS ONE TO SVNTHESIZE KINETMATIC ALGORITHMS OF CONTROL OF SPECIFIEP TRAJECTORIES OF MOTION OF THE GRIP OF A MANIPULATING ROBOT. THE SYNTHESIS METHOD IS BASED ON THE CONCEPT OF SOLUTION OF INVERSE PROBLEMS OF DYNAMICS OF THE CONTROL SYSTEMS. THE ALGORITHMS ARE CONSTRUCTED IN TWO STEPS: FIRST THE PROGRAM CONTROL IS DETERMINED AND THEN USED TO CONSTRUCT THE CONTROL WITH FEEDBACK. PROBLEMS Of CONSTRUCTION ARE DISCUSSED FOR ALGORITHMS WHICH REALIZE RECTILINEAR AND CURVILINEAR TRAJECTORIES OF MOTION. TAKING INTO, ACCOUNT THE BOUNDARY CONOITIONS PERTAINING TO THE BEGINNING AND THE END OF A TRAdEeToRY. STRUCTURAL DIAGRAMS Of CONTROL CIRCUITS ARE GIVEN. THE METHOD OF ALGORITHM CONSTRUCTION IS DEVELOPED FOR CONTROLLING THE MOTION OF A GRIP. BUT CAN SE DEVELOPED FURTHER TO INCLUDE OTHER PROBLEMS OF CONTROL OF MANIPULATING ROBOTS Descrtptors: RQBOTS: CONTROL SYSTEM SYNTHESIS: FEEDBACK; PROGRAMMED CONTROL; POSITION CONTROL Identtfiers: MANIPULATING ROBOTS: KINETMATIC ALGORITHMS: SVNTHESIS; PROGRAM CONTROL; FEEDBACK: CURVILINEAR TRAdECTDRIES ; GRIP MOTION CONTROL: CONTROL SYSTEM DYNAMICS: RECTILINEAR TRAJECTORIES Class Codes: C3395; C1310: C3120C
DIALOG Fllel3: INSPEC • 77-83/Iss24
667162
(Copr. lEE)
See File 12Ct969 thru 1916) (Item
C81011253
DESIGN OF SERVOMECHANISMS Of MANIPULATING ROaOT FOR PRECISE REALIZATION
TRA~ECTORY
LAKOTA. N.A.; LISENKO. S.4.: RAKHMANOV. YE.V.; SHVEOOV. V.N. TEKH. KIBERN. (USSR) VOL. 17. NO.5 45-50 SEPT.-OCT. 1979 Coden: TEKIB8 Trans In: ENG. CYBERN. (USA) VOL.17. NO.5 32-7 SEPT. -OCT. 1919 Coden: 'ENCYAf Treatment: APPLIC; THEORETICAL Document Type: JOURNAL PAPER Languages: ENGLISH (2 Refs) THE PROBLEM UNOER INVESTIGATION IS THE POSSIBILITY TO DESIGN THE NONLINEAR SERVOMECHANISM FOR MANIPULATOR SECURING PRECISE MOVEMENT ALONO LINEAR TRAJECTORIES. THE DESIGN OF THE SERVOMECHANISM CAN BE PERFORMED ANALYTICALLY. THE BLOCK DIAGRAM OF SERVOMECHANISM WITH TWO DEGREES OF FREEDOM ANO RESULTS OF SYSTEMS SIMULATION ARE PRESENTED . Descriptors: ROBOTS: SERVOMECHANISMS; NONLINEAR CONTROL SYSTEMS; CONTROL SYSTEM SYNTHESES; POSITION CONTROL IdentIfIers: MANIPULATING ROBOT'J PRECISE TRAJECTORY REALIZATION; NONLINEAR SERVOMECHANISM OtSIGN Class Codes: C339S; C312OC:CI34OK; Ct3tO
667161
C81011252
ALGORITHMS
FOR
DIRECT
CONTROL
OF
35 of
935
KRUT'KO. P.O.: POPOV. YE.P. TEKH. KIBERN. (USSR) VOL-11. NO.4···:,77-S6 JULY-AUG. 1919 Coden: TEI
MANIPULATING ROBOT
MOVEMENTS
KRUT'KO. P.O.; POPOV. YE.P. TEKH. KIBERN. (USSR) VOL.17. NO.S 34·45 SEPT.-OCT. 1979 Coden: TEKIB8 Trans In: ENG. CVBERN. (USA) VOL.'7. NO.5 23-32 SEPT.·OCT . • 919 Coden: ENCYAF Treatment: APPLIC: THEORETICAL Document Tvpe: JOURNAL PAPER Languages: ENGLISH (2 Re's) THE PROCEDURE IS DeVELOPED FOR THE DESIGN OF ALGORITHMS FOR CONTROL OF OPERATIVE MECHANISMS OF MANIPULATING AOBOTS. THE PROBLEMS OF CONTROL ACCOROING TO INDEPENOENT AND COOADINATED PROGRAMS OF MOVEMENT ARE INVESTIGATED AND ALGORITHMS FOR CONTINUOUS. CONTINUOUS·DISCRETE AND DISCRETE CONTROLS ARE DESIGNED. THE STRATEGY OF ALGORITHM DESIGN IS DEVelOPED FOR PROBLEMS OF THE MANIPULATOR GRIP POSITION CONTROL; HOWEVER. IT CAN BE GENERALIZED TO OTHER PROBLEMS OF MANIPULATING ROBOT MOVEMENT CONTROL Descriptors: ROBOTS; POSITION CONTROL; CONTROL SYSTEM SYNTHESIS Identifiers: DIRECT CONTROL; MANIPULATING ROBOTS; ALGORITHM DESIGN; MANIPULATOR GRIP POSITION CONTROL; ROBOT MOVEMENT CONTROL; CONTINUOUS CONTROLS; DISCRETE CONTROLS e'ass Codes: C339S; C312OC; CI310
652309
C81OO7885
KINEMATIC AlGORlnetS FOR MANIPULATING ROBOT MOVEMENT CONTROL
..
DIALOG Ftle13: INSPEC • 77-83/15,24
651419
(Copr. lEE)
See File 1211969 thru 1976'
C81OO6965
HIERARCHICAL CONTROL AND MAN-ROIQT STRUCTURE
, VIDAL. P.; JOLLY. 0.: AUTECHAUD. P.: DESOOT. P.; HA6CHI. A.: EDEl. M. . UNIV. DES SCI. ET TECH. DE LILLE t. VILLENEUVE D'ASCQ, fRANCE HSU. t .• BHATTACHARYYA. S.P.; DEL NERO GOMES. A.C.; KASZKUREWICZ. E.; KU6RUSLY. C.S. (Editors) SPONSOR: NAT. COUNCIL FOR SCI. ANO TECH. DEVELOPMENT 3 CONGRESSO 6RASILEIRO DE AUTOMATICA (JRD BRAZILIAN CONGRESS ON AUTOMATIC CONTROL) 55-64 1980 16-19 SEPT. 1980 RIO DE JANEIRO. BRAZIL Publ: SOCIEDADE BRASILEIRO DE AUTOMATICA. RIO DE JANEIRO. BRAZIL XIV+552 pp. Treatment; THEORETICAL; EXPERIMENTAL Oocument Type: CONFERENCE PAPER Language.: ENGLISH (t5 Refs) DISCUSSES THE INTEGRATION OF THE HUMAN OPERATOR IN A HIERARCHICAL ROBOT CONTROL SYSTEM. IN THIS SYSTEM. THE HUMAN OPERATOR ACTS EITHER AS A SENSOR ,IN THE USUAL SENSE (TELEMANIPULATOR) OR A SUPERVISOR (SUPERVISION ANO DECISION). THE TELEMANIPULATION OF A ROBOT WITH FIVE DEGREES OF fREEDOM CAN BE EXECUTED BY MANUAL CONTROL Of POSITION AND SPEED OR BY A CEPHALIC CONTROL (SENSOR fOR TRANSDUCING MOVEMENTS HIGH/LOW. LEfT/RIGHT). THE CHOICE Of THE INTERACTION PHASE BY A HUMAN WITH A ROBOT DURING THE EXECUTION OF A TASK WILL BE OECIDED fROM A MULTI-CRITERIA DECISION. THIS IS BASED ON A DYNAMICAL MODELLING Of MAN TOGETHER WITH AN ESTIMATION OF THE CAPACITY OF THE ROBOT USED FOR THE REALIZATION OF THE TASK. THIS ESTIMATION IS COMPUTED OR DETERMINED EITHER EXPERIMENTALLY OR IN AN AUTOADAPTIVE WAY . Descrtptors: MAN-MACHINE SYSTEMS. HUMAN fACTORS: ROBOTS: .HI ERARCHICAL SYSTEMS: TELECONTROL·; POSITION CONTROL Identifiers: HUMAN OPERATOR: HIERARCHICAL ROBOT CONTROL SYSTEM: SENSOR; TELEMANIPULATOR; SUPERVISOR: MANUAL CONTROL: CEPHALIC CONTROL; DYNAMICAL MODELLING; POSITION CONTROL; SPEED CONTROL Class Codes: C1270; C1340B: C3120C
623555
C81oot470
MANIPULATOR WITH SELf-TUNING CONTROLLER
KOIVO. A.J.: PAUL. R.P. SCHOOL OF ELECTRICAL ENGNG .. PURDUE UNIV .. USA SPONSOR: IEE£ PROCEEDINGS OF THE INTERNATIONAL CONfERENCE AND SOCIETY 1085-9 1980 8-10 OCT. 1980 BOSTON. MA. USA Publ: IEEE. NEW YORK. USA t 140 pp. Treatment: THEORETICAL Document Type: CONFERENCE PAPER Languages: ENGLISH (17 Refsl
LAFAYETTE, ON
IN,
CYBERNETICS
llte~
38 of
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PRESENTS A NEW APPROACH TO POSITION:A~ VELOCITY CONTROL OF A MANIPULATOR BY USING THE SELF·TUNING 'CONTROL TECHNIQUE. BASED ON THE Off-LINE COMPUTATIONAL Ot1A OF THE MANIPULATOR DYNAMIC EQUATIONS. THE COMPLICATED SYSTEM HAS BEEN MODELED BY DIFfERENCE EQUATIONS. THE PARAMETERS 'Of THE SYSTEM ARE DETERMINED BY AN ON-LINE RECURSIVE ALGOR1THM BASED ON THE LEAST SQUARED ERROR CRITERION. A SELr-lUNING CONTROLLER IS THEN DESIGNED ON THE BASIS Of THE DIffERENCE EQUATION MODEL. AND THE CHOSEN PERfORMANCE CRITERION. THE PARAMETERS FOR THE CONTROLLER ARE CALCULATED USING THE MOQEl 'WITH THE ESTIMATED VALUES OF SYSTEM PARAMETERS Descriptors: SELF-ADJUSTING SYSTEMS;. ADAPTIVE CONTROL; CONTROL SYSTEM SVNTHESIS; ROBOTS; POSITION CONTROL; VELOCITY CONTROL: DIfFERENCE EQUATIONS . Identifiers: VElOCIrV CONTROL; ~ANIPULATOR; DIFFERENCE EQUATIONS; LEAST SQUARED ERROR CRITERIQN: POSITION CONTROL; SELF TUNING CONTROL; ONLINE RECURSIVE ALGORITHM; CONTROLLER DESIGN Class Codes: C3395; C1340E: Ci310; C3120E; C3120C
600136
C8oo32106
CONTROLLER FOR A MEatAHlCAL MANIPULATOR
LUH. J.Y.S.; WALKER. M.W. SCHOOL OF ELECTRICAL ENaNG., PURDUE UNIV., LAFAYETTE. IN. USA AUTOM. CONTROL THEORY AND APPl. (CANADA) VOL.8, NO.t 24-9 JAN. 1980 Coden: ACTACB Treatment: APPLIC; 'THEORETICAL .• Document Tvpe: JOURNAL PAPER Languages: ENGLISH (5 Ref.) POSITION CONTROL OF A MANIPULATOR IS A PRACTICAL PROBLEM IN SOLVING FOR THE CORRECT INPUT TORQUES OR FORCES TO APPLY TO THE ARM ~OINTS FOR A SET Of SPECIfIED POSITIONS. VELOCITIES AND ACCELERATIONS. THE AUTHORS PRESENT A TECHNIQUE fOR POSITION CONTROL OF THE MANIPULATOR IN TERMS OF THE POSITION AND ORIENTATION OF THE HAND. THERE IS NO FEEDBACK CDNT~OL AT THE JOINT LEVEL; ALL FEEDBACK IS DONE ~T THE HANO LEVEL. THE BASIC CONTROL SCHEME IS BASED ON THE 'INVERSE PROBLEM' OR THE 'COMPUTED TORQUE JOINT SERVO TECHNIQUE' WHICH WAS INTRODUCED BY p.c. PAUL (1972) ANO B.R. MARKIEWICZ (1973) Descriptors: CONTROLLERS; POSITION CONTROL; ROBOTS Identifiers: MECHANICAL MANIPULATOR; INPUT TORQUES: FORCES; ARM JOINTS: FEEDBACK CONTROL: POSITION CONTROL; INVERSE PROBLEM; CONTROLLER; COMPUTED TORQUE JOINT SERVO TECHNIQUE Class Code,: C3395; C3220; C3t2OC
DIALOG Ftlel3: INSPEC
342674
~
77-83/lss24
(Copr. lEE)
See File 1211969 thru 1976) (Item
C79012285
AN OPfRATOR-AIOING MANIPULATOR CONTROL SYSTEM
MERJANtAN. S.V.; KLINGER. A.; LYMAN . .,. SEVERE ENVIRONMENT SYSTEMS CO .. CHATSWORTH. CA, USA SPONSOR: I fEE PROCEEDINGS OF THE 1978 IEEE CONfERENCE ON OECISION AND CONTROL INCLUDING THE 17TH SYMPOSIUM ON ADAPTIVE PROCESSES 1418~22 1979 10-12 vAN. 1979 SAN DIEGO. CA .. USA Publ: IEEE. NEW YORK. USA 1461 pp. Treatment: THEORETICAL Document Type: CONFERENCE PAPER Languages: ENGLISH (1 Refs) POSITION INFORMATION HAS BEEN DESIGNATED BY A MULTI-DIMENSIONAL VECTOR. THESE VECTORS COMPRISE A PATTERN SPACE. THE ORIENTATION INFORMATION HAS BEEN DESIGNATED pY A FINITE SET OF PRERECORDED TRA.JECTDRIES. THESE REPRESENT PARTICULAR MACHINE· STATES. A ONE-TO-ONE CORRESPONDENCE HAS BEEN ESTABLISHED BETWEEN THE CATEGORIES OF THE POSITION VECTORS AND THE ORIENTATION STATES. 4 CONTROLLER MODEL IS ORGANIZED IN WHICH THE CLASSIFICATION OF AN OPERATOR~SUPPLIED POSITION VECTOR EFFECTS AN ORIENTATION STATE TRANSFER. THE CONTROLLER IS SYNTHESIZED BY DEFINING A PATTERN SPACE. A DISCRIMINANT FUNCTION. AND BY DEVELOPING A TRAINING/TESTING ALGORITHM. THE SYSTEM WAS TESTED BY PROGRAMMING A 3-DIMENSIONAL COMPUTER-CONTROLLED MANIPULATOR. WHICH AFTER TRAINING REQUIRED 2-DIMENSIONAL CONTROL INPUT Descriptors: ROBOTS; POSITION CONTROL Identifiers: PATTERN SPACE: POSITION VECTORS: CONTROLLER MODEL; ORIENTATION STATE TRANSFER; DISCRIMINANT FUNCTION; TRAINING/TESTING ALGORITHM; MULTIDIMENSIONAL VECTOR; THREE DIMENSIONAL COMPUTER CONTROLLED MANIPULATOR Class Codes: C3395: C3120C
268705
C78027115
STABILITY OF THE SYSTEM OF AUTOMATIC MANIPULATOR
MAIN DRIVES IN AN INDUSTRIAL
BARANDV. M.V. IZV. VUl MASHINOSTR. (USSR) NO.2 60-5 1978 Coden: IVUSAH . Treatment: THEORETICAL Document Tvpe: JOURNAL PAPER Languages: RUSSIAN (3 Refs) A MATHEMATICAL MODEL IS PROPOSED FOR A SINGLE MANIPULATOR AUTOMATON. IN WHICH THE MANIPULATOR (S MOUNT EO ON A HORIZONTAL ARM, CAPABLE OF HORIZONTAL MOTION. IN A CENTRAL COLUMN CAPABLE OF VERTICAL AND ROTARY MOTION. SUBJECT TO THE ASSUMPTION Of LINEARITV. TRANSFER FUNCTIONS ARE OERIVED RELATING THE DYNAMICS OF POSITIONING WITH THE POWER INPUT. INERTIA AND GEOMETRIC PARAMETERS OF THE DRIVES. THE TRANSFER FUNCTIONAL MODEL IS USED TO OBTAIN TRANSIENT RESPONSES FOR A TYPICAL POINT-TO-POINT MANIPULATOR WITH THREE DEGREES OF FREEDOM SHOWING. FOR INSTANCE. HOW SETTINGS Of HVDRAUlIC VAlVe
41 of
50) User 64'13 'l'6dec83
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OPENINGS MUST BE LIMITED TO AVOID INSTABILITY Descriptors: INDUSTRIAL CONTROL; POSI~I~N CONTROL: TRANSIENT RESPONSE; ROBOTS; DRIVES: STABILITY; TRANSFER FUNCTIONS Identifiers: INDUSTRIAL AUTOMATIC MANIP~LATOR; MATHEMATICAL MODEL: TRANSFER FUNCTIONS: POSITIONING;•• DRIVES: TRANSIENT RESPONSES: HYDRAULIC VALVE OPENINGS; INSTABILITY Class Codes: C3320: C3120C ~
232281
C780i9063
SOME ALGORITHMS FOR POSITION CONTROL.Or MANIPULATOR
KUlESHDV. V.S.; YUSHCHENKO. A.S. ' TEKH. KI8ERN. (USSR) VOL. 15. NO.1 6.1-7.1 JAN. -FEB. 1977 Coden: TEKIBS (USA) Trans tn: ENG. CYBERN. 'VOL.15. NO.1 55-8 ~AN.-fEB. 1977 Coden: ENCVAF Tr.at~ent: THEORETICAL Document Type: JJURNAL PAPER languages: ENGLISH (4 Refs) ALGORITHMS ARE PROPOSEO FOR A SEMI,AUTOMATIC CONTROL OF MANIPULATORS WITH THE HELP OF COMPUTERS. T~t ALGORITHMS INSURE THAT THE GRIP OF A MANIPULATOR WILL REPRODUCE THE MOTIONS OF THE OPERATOR'S WRIST. IN CONTRAST TO THE COPYING METHOD OF CONTROL. THIS METHOO OOES NOT REQUIRE A KINEMATIC SIMILARITY BETWEEN SLAVE ANO MASTER ORGANS OF THE MANIPULATOR. SOME SCHEMES OF SEMI~AUTOMATIC. TWO-SIOED' SYSTEMS ARE ALSO CONSIDERED IN WHICH THE OPERATOR OBTAINS ~ORMATION ON FORCES AND MOMENTS ACTING IN'THE MANIPULATOR D~~ING ITS OPERATIONS Descriptors: ROBOTS; POSITION CONTROL Identifiers: POSITION CONTROL; MANIPULATOR; GRIP; SEMI AUTOMATIC CONTROL Class Codes: C1230: C3120C
.
DIALOG fllelJ: INSPEC - 17-83/18824
220433
(Copr. lEE)
Se. file 12(1969 thru 1976) (Item
C78017269
A SINGLE MASTER-MULTIPLE SLAVES MANIPULATOR WITH PENALTY INVARIANCE
PETTERNELlA, M.: SAlINARI. S. ISTlTUTO DI AUTOMATICA, UNIV. Dl ROMA, ROMA, ITALY MORECKI. A.; KEDZIOR, K. (Editors) SPONSOR: CISM; IFTOMM SECOND CISM/IFTOMM INTERNATIONAL SYMPOSIUM ON THE THEORY AND PRACTICE OF ROBOTS AND MANIPULATORS 265-72 1977 14-17 SEPT. 1976 WARSAW. POLAND Pub1: ELSEVIER, AMSTERDAM, NETHERLANDS X+500 pp. Treatment: THEORETICAL Document Type: CONFERENCE PAPER Languages: ENGLISH (2 Refs) IT IS VERIFIED THAT THE TRANSFERENCE CONNECTIONS REALIZED AMONG THE ERROR NODES OF THE POSITION SERVOMECHANISMS ALLOW ONE TO OaTAIN NDT ONLY EQUALITY OF THE POSITION OUTPUTS BUT ALSO EQUALITY OF THE FORCE fEEDBACKS. HENCE IT IS POSSIBLE TO CONTROL SOME SLAVES WORKING IN THE SAME WAY WITH A SINGLE MASTER. THE EXPERIMENTAL RESULTS OBTAINED AGREE ~ITH THEORETICAL HYPOTHESES Oescriptors: SERVOMECHANISMS; POSITION CONTROL; ROBOTS IdentIfiers: MANIPULATOR;' PENALTY INVARIANCE; ERROR NDDES; POSITION SERVOMECHANISMS; SINGLE MASTER; MULTIPLE SLAVES Class Codes: C3395; C3120C
220430
44 of
50)
Use~ J
6443 16dec83 •
938
POSITION CONTROL; TORQUE CONTROL; ST~BILITY Identifiers: MATHEMATICAL PROGR.~NG TECHNIQUES: ~OINT ANGLES; TORQUES; LEGGED VEHICLE; .GAIT; VEHICLE STABILITY; VEHICLE POWER REQUIREMENTS; CONTROL COMPUTER S~FTWARE Class COdes: C3395: C7420; C61S0: Cl1,0
182238
C78009978
UNIVERSAL ALGORITHM OF A COMPUTER 'OR EXTREMAL CONTROl 0' A HIGH-PRECISION POSITIONING DRIVE KOZHEVNIKOV. K.J.
ElEKTRICHESTVO (USSR) ND.3 8~92 MARCH 1977 Coden: ELEKA3 Treatment: APPlIC: THEORETICAL Document Type: ~URNAl PAPER Languages: RUSSIAN (3 Rets) A METHOD Of COMPUTER CONTROL IS DESCRIBED FOR THE ELECTRIC DRIVE OF MACHINE-TOOLS. MANIPULATORS, ROBOTS ETC. COMPUTER SIGNALS ARRANGE SETTINGS fOR MAXIMOM 'PRODUCTIVITY fOR OESIRED ACCURACY Of TRAVEL. THE ALGORITHM IS'CONFINED TO NON~REVERSING DRIVES AND INTRODUCTION Of THE PLANT . DescrIptors; INDUSTRIAL COMPUTER CONTROL; POSITION CONTROL; MACHINE TOOLS; ROBOTS Identifiers: ALGORITHM; COMPUTER; MANIPULATORS; ROBOTS: HIGH PRECISION POSITIONING DRIVE CONTROL; ,M'ACHINE TOOLS Class Codes: C7420; C3350; C3120C; C7440
C78017266
A MATHEMATICAL PRClGRAMING APPROACH TO CONTROL OF .JOINT POSITIONS AND TORQUES IN LEGGED LOCOMOTION SYSTEMS MCGHEE. R.B.: ORIN. O.E. DEPT. OF ELECTRICAL ENGNG .• OHIO STATE UNIV., COLUMBUS. OH. USA MORECKI, A.-; KEDZIOR, K. (EdHors) SPONSOR: CISM; IFTOMM SECOND CISM/lfTOMM INTERNATIONAL SYMPOSIUM ON THE THEORY AND PRACTICE OF ROBOTS AND MANIPULATORS 225-32 1977 14-17 SEPT. 1976 WARSAW, POLAND Pub1: ELSEVIER. AMSTEROAM. NETHERLANDS X+500 pp. Treatment: APPLIC; THEORETICAL Document Type: CONFERENCE PAPER Languages: ENGLISH (13 Refs) THIS PAPER IS CONCERNED WITH THE APPLICATION OF MATHEMATICAL PROGRAMMING TECHNIQUES TO THE PROBLEM OF DETERMINING AT EACH INSTANT THE JOINT ANGLES AND TORQUeS NEEDEO TO MOVE A LEGGED VEHICLE ALONG A PRESCRIBED aODY TRA~ECTORY. UNIQUE SOLUTIONS ARE FOUND BY FIRST DETERMINING A GAIT WHICH MAXIMIZES VEHICLE STABILITV AND THEN DISTRIBUTING JOINT TORQUES SO AS TO MINIMIZE VEHICLE POWER REQUIREMENTS. WHILE THE APPROACH PRESENTED IS GENERAL. THIS WORK HAS aEEN CARRIED OUT IN THE CONTEXT OF THE DEVELOPMENT OF CONTROL COMPUTER SOFTWARE FOR A SPECIFIC SIX-LEGGED ELECTRICALLY POWERED VEHICLE Descriptors: MATHEMATICAL PROGRAMMING: VEHICLES; ROBOTS: ~~~----~-------------------------------------------------
DIALOG Fllel;): INSPfC - 77-83/15$24
167446
C78oo5012
POSITIONING METHOD DIMENSIONAL SPACE
(Copr. lEE)
See File 12( 1969 thru 1976) (Item
FOR A ROBOT WITH TV CAMERA IN THE THREE
TSUBOI. V.; INOUE. T. RES. PLANNING ANO COORDINATION DEPT., MITSUBISHI ELECTRIC CORP:. AMAGASAKI. JAPAN TRANS. INST. ELECTRON. ANO COMMON. ENG. JPN. SECT. E (JAPAN) 44t-2 AUG. 1977 VOL.E60. NO.8 Treatment: THEORETICAL; EXPERIMENTAL Document Type: JOURNAL PAPER Languages: ENGLISH (1 Re's) AODITION OF VISION TO INOUSTRIAL ROBOT HAS BEEN STUDIED ANO A NEW ROBOT HAVING A TV CAMERA IN ITS HAND HAS BEEN DEVELOPED. THIS TIME. AN 'IMPROVED ROBOT WITH SEVEN DEGREES OF FREEDOM HAS BEEN CONSTRUCTED AND APPLIED TO HANDLE OBJECTS IN THE THREE DfMENSIONAL SPACE. IN THlS PAPER. A NEW ALGORITHM HAS QEEN PROPOSED ANO TESTIFIED TO MEASURE THE OBJECT POSITION BY OBSERVING ·fROM DIFFERENT ANGLES. UTILIZING THE FACT THAT THE CAMERA IN THE ROBOT HANO CAN NOVE FREELY IN THE THREE DIMENSIONAL SPACE Descriptors: ROBOTS; TELEVISION APPLICATIONS; MATERIALS HANOLING; POSITION CONTROL '4 Identjfters: TV CAMERA; THREE DIMENSIONAL SPACE; INOUSTRIAL ROBOT; SEVEN DEGREES OF FREEDOM:· POSITION: ORIENTATION MEASUREMENT Class Codes: C3320: C3120C
104633
C11021424,
A SINGLE MASTER-MULTIPLE INVARIANCI
SLAVES MANIPULATOR VITH PENALTY
PETTERNELLA, M.: SALINARI. S. Issued by: UNIV. ROME, ITALY; MARCH 1976 7 pp. Report No.: R16-06 Treatment: THEORETICAL Document Type: REPORT Languages: ENGLISH THE PENALTV INVARIANCE PROPERTV ALLOWS SOME SERVOMECHANISM SYSTEMS TO ,HAVE AN INTERESTING PERFORMANCE WITH THE INTRODUCTION OF APPROPRiATE TRANSFERENCE CONNECTIONS AMONG THE ERROR NODES. EACH DISTURBANCE OR PARAMETRIC VARIATION ACTING ON SUCH A SVSTEM INFLUENCES ALL THE OUTPUTS IN THE SAME WAY. WHILE THE INPUT-OUTPUT TRANSFERENCE OF EACH SERVOMECHANISM IS UNVARIEO. IT IS VERIFIED THAT THE ABOVE-MENTIONED CONNECTIONS REALIZEO AMONG THE ERROR NODES OF THE POSITION SERVOMECHANISMS OF A MASTER SLAVE MANIPULATOR ALLOW NOT ONLV THE EQUAL lTV OF THE POSITION OUTPUTS BUT ALSO THE EQUALITV OF THE FORCE FEEDBACKS TO BE OBTAINED. HENCE IT IS POSSIBLE TO CONTROL SOME $LAVES WORKING IN THE SAME ,WAY WITH A SINGLE MASTER. THEORETICAL ANO EXPERIMENTAL VERIFICATIONS HAVE BEEN CARRIED OUT. FOR THIS PURPOSE A SIMPLE MASTER-TWO SLAVES MANIPULATOR HAS BEEN IMPLEMENTED. THE EXPERIMENTAL RESULTS OBTAINED AGREE WITH THEORETICAL HYPOTHESES • • Desertptors: SERVOMECHANISMS.: ROBOTS; INVARIANCE; POSITION
47 of
939
CONTROL Identifiers: PENALTV INVARIANCE~~SERVOMECHANISM SYSTEMS; TRANSFERENCE CONNECTIONS; ERROR NODES: MASTER SLAVE MANIPULATOR , Class Codes: C3120C; CI310
095126
C77019680
EVALUATION OF THE SPECIfIC SPEED OF POSITIONING MECHANISMS OF MANIPULATORS AND INDUSTRIAL ROBOTS .
VESTN. MASHINOSTR. (USSR) NO.2 50-3 1976 Trans 1n: RUSS. ENG. J. (G8) Vol.56. NO.2 Coden: RENJA3 ' Treatment: APPLIC: THEORETICAL Document Type: JOURNAL PAPER languages: ENGLISH (3 Refs) Oesertptors: ROBOTS: POSITION CONTROL Identtfters: MANIPULATORS; INOUSTRUL, ROBOTS; MECHANISM SPECifIC SPEED EVALUATION . Class Codes: C3320; C3120C
44-6
1976
POSITIONING
DIALOG Fllel3: INSPEC - 77-83/[5524
004437
(Copr. IEEt
See File 12( 1969 thru 19761 (Item
811002423, C770OO929
BEHAVIOUR OF HANDLING MACHINES AND INDUSTRIAL 'ROBOTS ENGEL. G,; D'SOUZA. C. TH AACHEN. AACHEN. GERMANY IND.-ANZ. (GERMANY) VOL.98. ND.73 1294-6 10 SEPT. 1976 Coden: IANZAQ Treatment: THEORETICAL Document Type: ~OURNAL PAPER Languages: GERMAN (2 Refs) THE METROLOGICAL ANALYSIS OF HANDLING MACHINES INTENDS TO ASSESS THEIR CAPABILITY AND ACCURACY THROUGH CHARACTERISTIC FEATURES AND TO SHOW THE WAYS TO FURTHER DEVELOPMENT AND CONSTRUCTIONAL IMPROVEMENT. VARIOUS METROLOGICAL EXAMINATIONS ARE SURVEYED. MEASUREMENT OF STATIC BEHAVIOUR OF GRIP MECHANISM IS OUTLINED AND THE EVALUATION OF STATIC BENDING AND TORSIONAL fORCES IS OUTLINED. MEASUREMENT OF DISPLACEMENTS AS FUNCTION OF TEMPERATURE IS SHOWN. THE GEOMETRIC BEHAVIOUR IS DESCRIBED BY TWO QUALITIES: POSITIONAL ACCURACY IN CASE OF NUMERICALLY CONTROLLED MACHINES AND REPEATABILITY OF POSITION IN MANUALLY CONTROLLED MACHINES DescrIptors: MACHINE TOOLS; ROBOTS Identl'iers: METROLOGICAL ANALYSI~; CONSTRUCTIONAL IMPROVEMENT: GRIP MECHANISM: STATIC BENDING: TORSIONAL fORCES: TEMPERATURE; GEOMETRIC BEHAVIOUR; POSITIONAL ACCURACY: NUMERICALLY CONTROLLED MACHINES; MANUALLY CONTROLLED MACHINES: HANDLING MACHINES BEHAVIOUR: INDUSTRIAL ROBOTS BEHAVIOUR; DISPLACEMENTS MEASUREMENTS; POSITION REPEATABILITY Class Codes: C3350E: 88620
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Time: 6:06:33
ROBOTS/DE ACCURACY/Io,TI REPEATABIlITY/Io.TI POSITION CONTROL/DE TC=THEORETICAl ' 1*(2+3+4)*5
Print 6/5/1-2
Search Time:
0.024
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2
. Oases. :
~
File: 12
5
941
Print 6/5/1-2 DIALOG Fllel2: INSPEC - 1969 thru 1976
971988
(Copr. lEE)
See File 13(Current) (Item
C76026144
OPTIMIZATION ANO CONTROL OF ROBOT ARM
TRA~ECTORIES
YOUNG. K.K. COORDINATED SCI. LAB .• UNIV. OF ILLINOIS. URBANA. IL. USA SPONSOR: IEEE; UNIV. WISCONSIN-MILWAUKEE; ACM PROCEEDINGS OF THE IEEE MILWAUKEE SYMPOSIUM ON AUTOMATIC COMPUTATION ANO CONTROL 175-8 1976 22-24 APRIL 1976 MILWAUKEE, WIS .. USA Publ: IEEE. NEW YORK. USA XIV+468 pp. Treatment: THEORETICAL Document Type: CONfERENCE PAPER Languages: ENGLISH (II Refs) THE AUTHOR INVESTIGATES OPTIMAL MOTIONS FOR A CLASS OF ROBOT ARMS WHICH HAVE SIX OEGREES OF FREEDOM. TRAJECTORIES OPTIMAL WITH RESPECT TO A PERFORMANCE INOEX WHICH IS QUADRATIC IN ACCELERATION ARE OERIVED. IT IS SHOWN THAT FOR THIS TYPE OF PERFORMANCE INDICES. THE TRAJECTORY OPTIMIZATION PROBLEM CAN BE DECOUPLED INTO SIX SECOND ORDER PROBLEMS WHOSE SOLUTIONS ARE WELL KNOWN. OPTIMAL CONTROL ALGORITHMS ARE THEN DERIVED. ATTEMPTS TO CONNECT THIS OPTIMAL CONTROL SCHEME TO THE CONCEPT OF COMPENSATIONS FOR NONLINEARITIES ARE MADE Descriptors: ROBOTS: OPTIMISATION: OPTIMAL CONTROL: POSITION CONTROL Identifiers: OPTIMAL MOTIONS: ROBOT ARMS: SIX DEGREES Of FREEDOM: PERFORMANCE INDEX: TRAJECTORY OPTIMIZATION: OPTIMAL CONTROL Class Codes: 2C7441: 2C6280; 2C6630
882785
C76007359
_
2)
~ser
942 6443 16dec83
SEARCHING TO VERIFY THE THEORETICAL LIMIT, AND THE FUNCTION OF THIS METHOD ARE ALSO SHOWN Descriptors: NONELECTRIC SENSING DEVICES: ROBOTS: POSITION MEASUREMENT; POSITION CONTROL: PNEUMATIC CONTROL EQUIPMENT Identifiers: ROBOT HANO: ADAPTIVE INOUSTRIAL ROBOT: PNEUMATIC PROXIMITY SENSORS: SCANNING SENSORS; CONTROL METHOD: POSITION SEARCHING: POSITIONING ERROR LIMIT Class Codes: 2C7441: 2C7830: 2C7624
POSITION SEARCHING BV ROBOT HAND WITH PNEUMATIC SENSORS HANAFUSA, H.; ASADA. H. FACULTY Of ENGNG .• KYOTO UNIV .. UJI. KYOTO. JAPAN TRANS. SOC. INSTRUM. AND CONTROL ENG. (JAPAN) VOL. It. NO.5 592-9 OCT. 1975 Coden: TSICA9 Treatment: THEORETICAL Document Type: JOURNAL PAPER Languages: JAPANESE (4 Refs) IT [S AN IMPORTANT JOB FOR AN ADAPTIVE INDUSTRIAL ROBOT TO SEARCH THE UNKNOWN POSITION OF AN OBJECT. THE PAPER PROPOSES THE SEARCHING METHOD USING PNEUMATIC PROXIMITY SENSORS. THAT IS. THE ROBOT WITH THE SENSORS AT THE TIPS OF HIS fINGERS CAN DETECT AN OBJECT CONTINUOUSLY WITHOUT CONTACT ANO WITH fLEXIBILITY FOR VARIOUS SIZES Of OBJECTS BY SCANNING SENSORS IN ACCORDANCE WITH A CERTAIN RULE. THE CONTROL METHOO TO ORIVE THE ROBOT HAND EXACTLY TO THE CENTER OF AN OBJECT IS DISCUSSED IN THE CASE OF CYLINORICAL OBJECTS OR ROUNO HOLES WHOSE DIAMETERS ARE UNKNOWN. IN THIS CASE IT IS REQUIRED TO SCAN SENSORS FROM THE CENTER OF THE HAND TO RADIAL DIRECTIONS IN ORDER TO SEARCH THE POSITION REGARDLESS Of THE DIAMETER Of THE OBJECT. THIS SEARCHING PRINCIPLE. AND THE THEORETICAL ANALYSIS ABOUT THE LIMIT OF POSITIONING ERROR FOR ALL OF THE INITIAL CONDITIONS ARE GIVEN. THE EXPERIMENTAL RESULTS POSITION -- •.... OF ..._-
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Set Items Description
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1046 ROBOTS/DE 951 ACCURACV/IO.TI 18 REPEATABILITY/ID.TI 199 POSITION CONTROL/DE 0 TC-THEORETICAL 0 1*(2+3+4)*5
25 ,* (2+3+4 ).
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PI" lot 7/5/1-25
OIALOG Fllet4: ISMEC: Mechanical Engineering - 73-13/Nov
(Copr. Cambridge Set. Abs.) (Item ~'
• 156953
083014004
0'
0'
114434
081001427
•
A syst. . for stabilIzing the co-ordinate of an Industria' robot at .. specified value Korlyakov. V. K. Vestnlk Mashlnostroenlya Vol. 59. No. It 7-9 1979 Coden: VMASAV Trans In: Russian Englneertng Journal Vol. 59, No. 11 3-5 Coden: RENJA3 Journal Addr: USSR Treatment: T: D; P Document Type: 02 (3 Refs) Descriptors: Control systems; Computer-aided control: Drives Position control; RobotS: Mathematical models; Operations Identifiers: electric drIves; reverse Increment counter; drIve servo unit; POSition and speed sensor; digital analogue converter; stabilization systems Class Codes: 02490; 06770
114294
081oot287
Industrial
robots:
a
prl .... , on
the
present technology
25) User 6443 tidec83
(review of operatton. and capabtlUte.) GrOOver. M. 'P. Manu,'acturlng Processes lab .• Lehigh Unlv .• Bethlehe,., PA Industrial Engineering Vol. 12. No. 11 54-61 Nov 1980 Coden: JOUB9 ~ournal Addr: USA Treat.ent: N; P; G OoculIIGnt Type: 02 Descriptors: State of the art; Operations; Control systems; Position control; TechnologIcal foreca.tlng; Robots Identifiers: mot ton freedom; movement speed; movement precision; weight-carrying capactty; ~tlon control systems; memory capacity; programming; programmIng types; application guide; vision systems Class Codes: 01360; 06710
Application of laser Interferometry to robotics
Anderson. R.H.; Gillard. C.W.: Huang, C.-C. Space Syst., Lockheed MissIle. and Space Co .• Inc .• P.O. Box 504, Sunnyvale, CA 94086, USA IN -ROBOTICS + INDUST. INSPECTION-. VOL. 360 pp. 201-213 1983 SPIE Sem. Robotics + Indust. Inspection 24-27 Aug 82 San Otego. CA (USA) Pub1: SPIE. P.O. BOX 10. BELLINGHAM. WA 98221-0010, USA, Availability: SUMMARY LANGUAGE - ENGLISH Languages: ENGLISH The authors have previously reported on the absolute distance measuring systems being developed at Lockheed Missiles and Space Company for use In space on large erectable satellites. One. a two-color CO sub(2) laser system, has a preCision of 0.03 mu m (RMS) for aligning optical elements. The second. a HeNe phase modulated system, has a preCision of 25 mu m for the measurement and control of large antennas. Also. previously reported. a multi-channel relattve distance m~asurement system orlgtnally conceIved as a vibration Sensor for the active (dynamiC) control large space structures. The application these measuring systems to the positioning and control of robots Is discussed. With a stngle laser . measurement system, the control of several robotic stations may be handled and r~al-time POSitioning of both robot arms and workpiece fixtures In three dimensions, with great precision. Is possible. Descriptors: distance measurement; mechanical handling; robots; posltton control; lasers Class Codes: 06770; 08500
t of
/,
t 12139
080014132
The rationalisation of robot prOble.s and possible soluttons)
testing
(review of testing
Morgan. C. Automated Welding Proqucts, B.O.C. Milton Keynes, Bucklnghamshlre. England SPONSOR: Italian Soctety for Industrial Robots; Italian Machine Tool Manufacturers Assn . 10th International Symposium on Industrial Robots. 5th International Conference on Industrial Robot TechnOlogy Proceedings 399-406 1980 lOth International. Symposium on Industria' Robots. 5th In~ernatlonal Conference on IndustrIal Robot Technology Mar 5-7,1980 Milan. Italy Publ: IFS (Conferences) Ltd .. Journa' Addr: Bedford. England Treatment: D; I; P Document Type: 06 Descriptors: Product testing; Measurement standards; Operattons; Performance; Robots Identifiers: robot testfng problems; aCcuracy measurement techniques Class Codes: 03400; 06170: 02100
-
...J::"
DIALOG Fllel4: ISMEC; Mechanical Engineering - 73-83/Nov
111925
(Copr. Cambridge Sci. AbS.) (Item
080013918
COBRA 32: the.new advanced control for pofnt-to-potnt robots R Ichlardt. C. Socleta dl Elettronlca per l'Automazlone. Lungo StUI'. lazlo. 45. Turin. Italy SPONSOR: Italian SOCIety for Industrial Robots; Italian Machine Tool Manufacturers Assn. 10th International SymposIum on Industrial Robots. 5th International Conference on Industrial Robot Technology Proceedings 629-642 1980 10th International Symposium on Industrial Robots. 5th International Conference on Industrial Robot Technology Mar 5-7.1980 Milan. Italy Publ: IFS (Conferences) ltd .. Journal Addr: Bedford. England Treatment: 0; P Document Type: 06 Descriptors: Control systems; Computer-aided control: PosItIon control; Robots; Oeslg~; Operations; Performance Identtfler,: polnt-to-polnt control; microcomputers Class Codes: 02490: 06770
1'1923
080013916
The use of Interpolation routines for path generatton and control of an electro-pnet.llDattc t~strtal IDantpu1ator Orazan, P. J_: Toul's. V. Dept. of Mech. Eng., Un.v. of Surrey. Gu'ldford. England SPONSOR: Italian Society for IndustrIal Robots; Ital'an Machine Tool ManufactUrers As.n. tOth Internat'onal SympOSiUm on Inpustrlal Robots. 5th International Conference on Industrial Robot Technology Proceedings 313-320 1980 10th International SympOSium on IndustrIal Robots. 5th lnternattonal Conference on Industrial Robot Technology Mar 5-7. 1980 MI lan, Italy Publ: IFS (Conferences) Ltd .• Journal Adar: Bedford. Englalld Treatlllent: D; P Document Tvpe: 06 (4 Re,., DescrIptors: Control systems; Position control; Pneumattc control equipment: Manfpulattng devices; Robots Identifiers: Interpolatton routine.; control algorlthllls; algorithmS: smooth motions: accuracy: point generation routfnes Class Codes: 02490; 06770
111922
080013915
A _.suretllent and control 1IIOde1 for adaptive robots Albus. J. 5.: Barbera. A. J.: Fitzgerald. M. L.; Nagel. N.; Vander Brug. G. J.: Wheatley. T. E. National Bureau of StandardS. Washington. DC 20234 SPONSOR: Ita' Ian Society for Industrial Robots: Machine Tool Manufacturers Assn.
R.
Italian
5 of
25) User 6443 t6dGcSl
945
lOth InternatIonal SymposIum on Industrial Robots. 5th International Conference on Industrial Robot Technology Proceedings 303-312 t980 10th (nternatlonal Symposium on Industrial Robots. 5th International Conference on Industrtal Robot TeChnology Mar 5-1. 1980 Nnan, Italy Pub): IfS (Conferences) ltd .• Journal Addr: Bedford. England Treatlllent: D:P Document Type: 06 ft1 Refs) DescrIptors: Mathematical 1II0dels: Modeling; Control systems; Position control; Computer-aided control; Sensing devices; Robots Identifiers; control hierarchy: sensing hierarchy: hierarchIal task pecomposttion; real-time sensory feedback; feedback; vision systems; COllllllon melllory data transfer Class Codes: 02490; 06770
t,1578
080013571
High-Speed accurate posttlontng of robot arlll-Reduction of fts residual vibration (use of sprlng-.... -da~r syst. . ) Kamiya. Y.; Yokoyama. Y•• Takano, M. Faculty of Eng .• Kanazawa Untv., 2-4-20 Kotatsuno. Kanazawa 920. Japan Bulletin of the ~apan Soctety of PreCision Engineering Vol. 14 .. No. 2 91-96 •• 36 ~un 1980 Coden: SKGAAS Journal Addr: Japan Treatment: x: I: P Document Type: 02 (2 Refs) DescrIptors: Supports; Damping devIces; Actuators: Control equipment; VibratIon control; Position control; Robots: DesIgn ; Operations; Testing; Mathematical models Identifiers: elastiC supports: index-cam ~echanism; Intermittent motion: high-speed positioning: re~ldua' vibration; robot arm: pneumatIc actuators Class Codes: 06170; 03740
DIALOG Fllel4: ISMEC; Mechanical Engineering - 73-83/Nov
109458
(Copr. Cambridge Sci. Abs.) lItem
080011451
Application of pneumatic IndUstrial robots for assembly (calculation of design paramaters of pneumattc drives) Korolev. V. A.; Sergeev. S. M.; Jurevlch. E. I. Leningrad Polytechnic. Leningrad. USSR SPONSOR: IFS (Conferences) ltd.. 35-39 High St.. Kempston. Bedford. England . Proceedings of the 1st Internat lonal ·Conference on Assembly Automation 101-114 1980 1st International Conference on Assembly Automation Mar 25-21. 1980 Brighton. England Journal Addr: Bedford. England Treatment: T; M; P Document Type: 04 06 (2 Refs) Descriptors: Computational methods; Mathematical models; Design; Drives; Pneumatic control equipment; Robots; AssemblIng I dent If i ers: pneuma tic Indus tr la I robots; pos It i on I ng errors pneumatic drives; posItioning accuracy; multlposltlonal assembly; moving-conveyor assembly Class Codes: [}26oo; 01360
109332
080011325
Soma possibilities of Increasing the IndUstrial robot application In automatic assembly (photoelectrtc adaptive syst. . and whlrl-ga. stre. . devtce tlllProve accuraCY) Ganovsky. V. S.; Neshkov. T. D.: BoyadJlev. I. K. Higher Inst. of Mech. and Electrical Eng .• Bulgaria SPONSOR: IFS (Conferences) ltd., 35-39 High St .• Kempston. Bedford. England Proceedings of the 1st InternatIonal Conference on ASSembly Automation 281-294 1980 1st International Conference on Assembly Automation Mar 25-21. 1980 Brighton, England Journal Addr: Bedford. England Treatment: 0; P; T Document Type: 04 06 (2 Refs) Descriptors: SensIng devices: Manipulating devices; Position control: Robots: ~utom.t'on; Assembling: Mathematical models Identifiers: accuracy: positioning errors; photoelectric devices; whirl gas heads Class Codes: 01360
107801
080009794
Part mattng research (e.asts on center compltance device for robots)
operations
of reMOte
De Fazio. T. l. C.S. Draper lab. Inc., Cambridge. MA SPONSOR: Computer Aided Manufacturing International Inc .. 611 Ryan Plaza Dr .. Suite 1101. Arlington. TX 76011 152-167 1979 1979 CAM-I International Sprlnq SemInar Apr 10-12. 1979
9 of
25) User 6443 ~6dec83
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Royal Sonesta Hotel, New Orleans, LA Journal Addr; ArlIngton. TX Treatment: D: P: N Document Type: 06 Descriptors; Research and development; Manipulating devices: Pos I t Ion control; Robots; Assembling: Mathemat lea·l. models: DeSIgn; Operations Identifiers; part mating SCience; part mating: peg~hole insertion; jamming: remote center complIance devIce Class Codes: 06770
106582 Calcul
080008575 de la matrtce
coordonee d'un manipulateur
Jacoblenne necessatre a la commande
RenaUd, M. Laboratolre d'automatlque et d'analyse des systemes du C.N.R.S. 7. avenue du Colonel Roche. 3t4oo Toulouse, France Mechanism and MachIne Theory Vol. 15. No.2 81-91 1980 Coden: MHMTAS Journal Addr: England Document Type: 02 Languages: French (15 Refs) Descriptors: Computational methods: POSition control: ManipulatIng devices: Robots IdentIfiers: Jacobian matrix; transformation matrices Class Codes: 06770
DIALOG Flle'4: tSMEC: Mechanical Engineering - 73-S3/Nov
106581
Using float
080008574 c~llanc.
In
ass8llDly-an .,-.gtneerlng
(Copr. Cambridge Sci. Abs.) (lteM
approach to
Drake. S. H.; Spencer, R. M.; SIMUnovlc, S. N. Astek Eng., tnc. Issued by: CQMPUter and AutOMated SysteMs Association, Society of Manufacturing Engineers. One SM£ Drive. P O. Box 930. Dearborn. MI 48128; 1979 12 pp. Journal Addr: Dearborn. Mt Availability: $2.75 Report No.: MS79-873 Treatment: 0; P; A Document Type: 11 (3 Refs) Descriptors: Manipulating devices; Robots; Automation; Position control; Assembling; Design; Operattons Identifiers: compliant devices; compliance; multI-axis compliance; compliance parameters; compliance devices; tooling destgn; applications Class Codes: D6770; 01360
105914
080007907
COMParattve evaluatIon of IndustrIal robot accuracy (use of COMPUter-aided test equipment) Warnecke, H. J.; BrodbeCk, B.; Schiele, G. fraunhofer-Inst. for ProdUctIon and Automation (IPA), Holzgartenstrasse 17. Postfach 951, 7000 Stuttgart t. federal Republic of Germany PreCision Engineering Yol. 2, No.· 2 89-90 Apr 1980 Coden: PREGOL Journal Addr: England Treatment: 0; x: M Document Type: 02 Descriptors: Test equipment; Computer applications; Computer-aided analysts; Measurement; Performance; Testing: Robots: PreciSion engineering Identifiers: accuracy: performance variables; geometriC dimensions; working-space; positioning accuracy; positioning: path-curve accuracy: overshooting; kinematic dimenSions; dynamic dimenSions; thermal dimenSions Class Codes: 03400; 06770
105531 080001530 Applications of thll relllOt. cent.r cOIIIpltance device to asseMbly operations Lane, J. D. Mech. Eng. Dept .• General Motors Corp. Issued by: Computer and Automated Systems Association of SME. One SME Dr .. P.O. Box 930. Dearborn. MI 48128; 1979 28 pp. Journal Addr: Dearborn, NI
13
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25) User 6443 16dec83
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Availability: f2.75 Report No : MS79-872 Treatment: 0; N; A Document Type: II (9 Refs) Descriptors: Sensing devices; POSition control; Robots; Manipulating devices; Assembling; Testing; Design: Performance ; Operations Identifiers: remote center compliance device; accuracy; limitations; advantages: applications Class Codes: 01360: 02420: 06770
095362
079012355
Standardized positioning Industrial robots
syst_s
Andrlanov. V. D.; et al. Stankl I Instrument Yol. 49. No. 8
STINA4
for 17-19
the
control 1978
of
Coden:
Trans In: Machines and Tooling Yol. 49. No. 8 21-23 1978 Coden: MCTOAO USSR Treatment: G.P Document Type: 02 Languages: Engllsn (3 Refs) Descriptors: Standards; Position control; Robots: Control systems: Control equipment Identifiers: cycllc'control systems: closed He systems; UPM systems; components; operations; schematics; circuitry Class Codes: 06170; 02410
095346
079012339
Acceptance tests for IndUstria. robOts Anahln. S. S.
Stankl I instrument
STINA4
Vol. 49. No.
7
8-10
1978
Coden:
Trans In: Machines and Tooling Yol. 49, No. 1 H-13 1918 Coden: MCTOAO USSR Treatment: G.P Document Type: 02 Languages: English (5 Ref.' Descriptors: Testing; Robots: Standards; Quality control Identifiers: test structure; Idle run: work load; accuracy norms Class Codes: 06770: 03400
UIALUl>
094315
lel4;
I:::'MtC: Mecnanlcal EngIneerIng - 'f3-83/Noll
ICopr. CambrIdge !'ICI. Abs.' (Item
079011368
18 of
25) User 6443 16dec83
948,
production expertments; minicomputers; space frame concept Class Codes: 04510; 09700
Design of hydraulic control mechanisms for Industrtal robots Levitsky. N. I.; Tsukhanova. E. A. 1918 Coden: 27-28 Stankl 1 Instrument Vol. 49. Na. 1 STINA4 35-37 Vol. 49. No. 7 Trans In: Machines and Tooling '918 Coden: MCTOAO USSR Treatment: P.T Document Type: 02 Languages: EnglIsh (6 Refs) Descriptors:' HydrauliC control equipment; Robots. Manipulating devices; Valves; Drives: Mathematical models; Control equipment Identifiers: positioning accuracy; deceleration; design; operations Class Codes; 02450; 06770
091588
089096
079006089
High-speed InterMittent motton of • robot ar. Kamlya. Y.; et al. ~ournal of the Japan SOCiety of Precision Engineering Vol. 45. No.2 16t-167 Feb. 1979 Coden: JJPEAO Japan Treatment: X.P Document Type: 02 Languages: Japanese (2 Refs) Descriptors: Robots; Dynamics; Automation; Loading; POsition control; Vlbrattons; Vibration control; Damping; Damping devices; Springs; Numerical analysiS; Manipulating devices; Mechanical handling equipment Identifiers: industrial robots; arms; motion: unloading; elastiC support Class Codes: 06100; 02260: 03740
079008581
Sensltlvlzed robot for operations wttb non-aligned parts (or blanks) Gurflkel. V. S.; at al. Vestnlk Machlnostroenlya Vol. 58. No. 5 10-13 1978 Coden: VMASAV 5-8 Vol. 58. No.5 Trans In: Russian Engineering Journal 1918 Coden: RENJA3 USSR Treatment: P.A Document Type: 02 Languages: English (3 Refs) Descriptors: Robots; Operations; Automation; Sens!ng devices Position control; Manipulating devices; Mechanical handling; Equipment; Mechanical handling Identifiers: machine p~rts; blanks; pick-up; tactile sensors gripping devices Class Codes; 06700; 02420
091278
064624
01104251
FLUIDICALLY ROBOT
CONTROLLED POSITIONING DRIVE FOR AN INDUSTRIAL
IND. - ANZ. (GERMANV) VOL.99. ND.29 519-20 8 APRIL 1977 Coden: IANZAQ Treatment: X . Document Type: 02 Languages: GERMAN Descriptors: ROBOTS: DRIVES; POSITION CONTROL: PNEUMATIC EOUIPMENT; HYDRAULIC EQUIPMENT Identifiers: ARM MOVEMENT CONTROL; fLUIDICALLY CONTROLLED POSITIONING ORIVE; INDUSTRIAL ROBOT; EXPERIMENTAL PNEUMATIC/HYDRAULIC EQUIPMENT Class Codes: 06710; 02600: 05590
079008271
COqNter controlled self progr..... tng welding machine Bollinger. J. G.; Ramsey. P. W. Mech. Eng. Dept .. Untv. Wisconsin. Madison. WI. USA Welding Journal Vol. 58. No.5 15-21 May 1979 Coden: WEJUA3 USA Treatment: P.A Oocument Type: 02 Descriptors: Welding; Welding equipment; Design; Performance Automation: Computer-aided control; Robots; POSition control ArC welding; Computer applications Identifiers: seam welding; lap joint seams; gas metal arc welding; accuracy; welding heads; manipulation; set-up; trace-record mode; spline functions: traCing; playbaCk; pilot
. ------ rM'ntae rn J,,~.. ,~.
,.
DIALOG fjle14: lSMEC: Mechanical Engineering - 73-a3/Nov
060285
lCopr. Cambridge Sci. Abs.) (Item
07101534
EVALUATION Of THE SPECIfIC SPEED Of POSITIONING MECHANISM Of MANIPULATORS AND INDUSTRIAL ROBOTS
NAKHAPETYAN, E.G. VESTN. MASHINOSTR. (USSR) VOL.56, NO.2 50-3 1976 Coden: VMASAV Trans In: RUSS. ENG. J. (GB) VOL. 56, NO.2 44-6 1916 Coden: RENJA3 Treatment: X Document Type: 02 (3 Refs) Descriptors: MANIPULATING DEVICES; ROBOTS; POSITION CONTROL; MECHANISMS Identifiers: SPECIFIC SPEED; POSITIONING MECHANISMS; MANIPULATORS: INDUSTRIAL ROBOTS Class Codes: 06170
054719
01101968
PRECISION INSERTION CONTROL ROBOT AND ITS APPLICATION
TAKEYASU, K.: GOTO, T.; INOVAMA. T. CENTRAL RES. LAB .• HITACHI LTD., KOKUBUNJI, TOKYO, JAPAN· TRANS. ASME SER. B (USA) VOL.98, NO.4 1313-18 NOV. 1976 Coden: JEFIA8 Treatment: P Document Type: 02 (4 Rets) Descriptors; ROBOTS; POSITION CONTROL; CONTROLLERS; DESIGN; AUTOMATION Identifiers: TACTILE CONTROLLED ROBOT: PRECISION INSERTION CONTROL ROBOT; POSITIONING ABILITY; SENSIBILITY; FLEXIBILITY; FLEXIBLE MECHANISM; INSERTION CONTROL ALGORITHM: ADAPTIVE SEARCH METHOD; SEOUENCE CONTROLLER Class Codes: 01360; 02210; 02410; D6770
1\
052054
D1606191
ANALYSIS OF THE INDUSTRIAL ROBOTS
BEHAVIOUR OF
MANIPULATIVE
DEVICES AND
ENGEL. G.: D'SOUZA. C. TH AACHEN. AACHEN. GERMANY IND. - ANZ. (GERMANY) VOL.9S. NO.73 1294-6 10 SEPT. 1976 Coden: IANZAQ Treatment: X 09cument Type: 02 languages: GERMAN (2 Refs) Descriptors: ROBOTS; MANIPULATING DEVICES Identifiers: INDUSTRIAL ROBOTS: MANIPULATIVE DEVICES; PERfORMANCE; ACCURACY; DEVELOPMENT; MEASURING; DYNAMIC; KINEMATIC BEHAVIOUR; STATIC; THERMAL: GEOMETRIC BEHAVIOUR Class Codes: 06770
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