The complex working conditions and nonlinear characteristics of the motor drive control system of industrial robots make it difficult to detect faults.In this paper,a deep learning-based observer,which combines the co...The complex working conditions and nonlinear characteristics of the motor drive control system of industrial robots make it difficult to detect faults.In this paper,a deep learning-based observer,which combines the convolutional neural network(CNN)and the long short-term memory network(LSTM),is employed to approximate the nonlinear driving control system.CNN layers are introduced to extract dynamic features of the data,whereas LSTM layers perform time-sequential prediction of the target system.In terms of application,normal samples are fed into the observer to build an offline prediction model for the target system.The trained CNN-LSTM-based observer is then deployed along with the target system to estimate the system outputs.Online fault detection can be realized by analyzing the residuals.Finally,an application of the proposed fault detection method to a brushless DC motor drive system is given to verify the effectiveness of the proposed scheme.Simulation results indicate the impressive fault detection capability of the presented method for driving control systems of industrial robots.展开更多
This paper proposedmethod that combined transmission path analysis(TPA)and empirical mode decomposition(EMD)envelope analysis to solve the vibration problemof an industrial robot.Firstly,the deconvolution filter timed...This paper proposedmethod that combined transmission path analysis(TPA)and empirical mode decomposition(EMD)envelope analysis to solve the vibration problemof an industrial robot.Firstly,the deconvolution filter timedomain TPA method is proposed to trace the source along with the time variation.Secondly,the TPA method positioned themain source of robotic vibration under typically different working conditions.Thirdly,independent vibration testing of the Rotate Vector(RV)reducer is conducted under different loads and speeds,which are key components of an industrial robot.The method of EMD and Hilbert envelope was used to extract the fault feature of the RV reducer.Finally,the structural problems of the RV reducer were summarized.The vibration performance of industrial robots was improved through the RV reducer optimization.From the whole industrial robot to the local RV Reducer and then to the internal microstructure of the reducer,the source of defect information is traced accurately.Experimental results showed that the TPA and EMD hybrid methods were more accurate and efficient than traditional time-frequency analysis methods to solve industrial robot vibration problems.展开更多
With the continuous improvement of automation,industrial robots have become an indispensable part of automated production lines.They widely used in a number of industrial production activities,such as spraying,welding...With the continuous improvement of automation,industrial robots have become an indispensable part of automated production lines.They widely used in a number of industrial production activities,such as spraying,welding,handling,etc.,and have a great role in these sectors.Recently,the robotic technology is developing towards high precision,high intelligence.Robot calibration technology has a great significance to improve the accuracy of robot.However,it has much work to be done in the identification of robot parameters.The parameter identification work of existing serial and parallel robots is introduced.On the one hand,it summarizes the methods for parameter calibration and discusses their advantages and disadvantages.On the other hand,the application of parameter identification is introduced.This overview has a great reference value for robot manufacturers to choose proper identification method,points further research areas for researchers.Finally,this paper analyzes the existing problems in robot calibration,which may be worth researching in the future.展开更多
Industrial robots are increasingly being used in machining tasks because of their high flexibility and intelligence.However,the low structural stiffness of a robot significantly affects its positional accuracy and the...Industrial robots are increasingly being used in machining tasks because of their high flexibility and intelligence.However,the low structural stiffness of a robot significantly affects its positional accuracy and the machining quality of its operation equipment.Studying robot stiffness characteristics and optimization methods is an effective method of improving the stiffness performance of a robot.Accordingly,aiming at the poor accuracy of stiffness modeling caused by approximating the stiffness of each joint as a constant,a variable stiffness identification method is proposed based on space gridding.Subsequently,a task-oriented axial stiffness evaluation index is proposed to quantitatively assess the stiffness performance in the machining direction.In addition,by analyzing the redundant kinematic characteristics of the robot machining system,a configuration optimization method is further developed to maximize the index.For numerous points or trajectory-processing tasks,a configuration smoothing strategy is proposed to rapidly acquire optimized configurations.Finally,experiments on a KR500 robot were conducted to verify the feasibility and validity of the proposed stiffness identification and configuration optimization methods.展开更多
Previously, researchers raised the accuracy for a robot′s hand to track a specified path in Car-tesian space mainly through increasing the number of knots on the path and the number of the path′s segments, which res...Previously, researchers raised the accuracy for a robot′s hand to track a specified path in Car-tesian space mainly through increasing the number of knots on the path and the number of the path′s segments, which results in the heavier online computational burden for the robot controller. Aiming at overcoming this drawback, the authors propose a new kind of real-time accurate hand path tracking and joint trajectory planning method. Through selecting some extra knots on the specified hand path by a certain rule and introducing a sinusoidal function to the joint displacement equation of each segment, this method can greatly raise the path tracking accuracy of robot′s hand and does not change the number of the path′s segments. It also does not increase markedly the computational burden of robot controller. The result of simulation indicates that this method is very effective, and has important value in increasing the application of industrial robots.展开更多
Previously, researchers raised the accuracy for a robot′s hand to track a specified path in Cartesian space mainly through increasing the number of knots on the path and the segments of the path. But, this method res...Previously, researchers raised the accuracy for a robot′s hand to track a specified path in Cartesian space mainly through increasing the number of knots on the path and the segments of the path. But, this method resulted in the heavier on line computational burden for the robot controller. In this paper, aiming at this drawback, the authors propose a new kind of real time accurate hand path tracking and joint trajectory planning method for robots. Through selecting some extra knots on the specified hand path by a certain rule, which enables the number of knots on each segment to increase from two to four, and through introducing a sinusoidal function and a cosinoidal function to the joint displacement equation of each segment, this method can raise the path tracking accuracy of robot′s hand greatly but does not increase the computational burden of robot controller markedly.展开更多
Since the reform and opening up, China's economy has developed rapidly and the society has been continuously improving. At the same time, in order to facilitate people's travel, the automobile industry has eme...Since the reform and opening up, China's economy has developed rapidly and the society has been continuously improving. At the same time, in order to facilitate people's travel, the automobile industry has emerged, which has brought great convenience to people's production and life, and has also promoted the progress of society. In recent years, au-tomation technology has been continuously researched and developed by people, and it has been widely used in people's production and life. In order to improve the efficiency and modernization level of the automobile industry, the paper studies the application of industrial robots in the stamping automation production line, hoping to adapt to the new trend of economic development.展开更多
The main features of morphological model of industrial robots are discussed, such as support system, manipulator and gripping device. These features are presented with the alternatives for their realization as separat...The main features of morphological model of industrial robots are discussed, such as support system, manipulator and gripping device. These features are presented with the alternatives for their realization as separate modules. The examples of synthesis of arrangements of industrial robots are resulted on module principle with writing of their morphological formulas.展开更多
In view of the lack of patent big data in research on technology foresight in the industrial robot field, this paper introduces an improved method based on patent mining and knowledge map. Firstly, SAO structure is ex...In view of the lack of patent big data in research on technology foresight in the industrial robot field, this paper introduces an improved method based on patent mining and knowledge map. Firstly, SAO structure is extracted from selected patents, secondly, the similarity between patents is calculated based on extracted SAO structure, thirdly, patent network and patent map are drawn based on calculated patent similarity matrix, technology evolution process and future trends of industrial robot are summarized from patent network, and future potential technology opportunities are predicted based on technological vacancies identified from patent map. Finally, this paper identifies six key technical areas and four potential technical opportunities in the field of the industrial robot.展开更多
In the context of Industry 4.0,a paradigm shift from traditional industrial manipulators to Collaborative Robots(CRs)is ongoing,with the latter serving ever more closely humans as auxiliary tools in many production pr...In the context of Industry 4.0,a paradigm shift from traditional industrial manipulators to Collaborative Robots(CRs)is ongoing,with the latter serving ever more closely humans as auxiliary tools in many production processes.In this scenario,continuous technological advancements offer new opportunities for further innovating robotics and other areas of next-generation industry.For example,6G could play a prominent role due to its human-centric view of the industrial domains.In particular,its expected dependability features will pave the way for new applications exploiting highly effective Digital Twin(DT)-and eXtended Reality(XR)-based telepresence.In this work,a novel application for the above technologies allowing two distant users to collaborate in the programming of a CR is proposed.The approach encompasses demanding data flows(e.g.,point cloud-based streaming of collaborating users and robotic environment),with network latency and bandwidth constraints.Results obtained by analyzing this approach from the viewpoint of network requirements in a setup designed to emulate 6G connectivity indicate that the expected performance of forthcoming mobile networks will make it fully feasible in principle.展开更多
In order to further improve the serial ports communication mode of the general Flex Pendant for industrial robot,a multiple serial communication mode is put forward. It is used to meet the stability of data transmissi...In order to further improve the serial ports communication mode of the general Flex Pendant for industrial robot,a multiple serial communication mode is put forward. It is used to meet the stability of data transmission,transmission distance,transmission speed,anti-interference and cost-effective. Using ADUM1201 single direction dual channel digital isolator,two pieces of MAX13487 E and a piece of MAX3232 chip to transmit data and files, and to control chip’ s electrical level. Selecting the RS232, RS422 and RS485 communication mode,the serial ports of the general Flex Pendant of industrial robot is optimized.展开更多
基金supported in part by the Natural Science Foundation of the Jiangsu Higher Education Institutions of China under Grant 21KJA470007。
文摘The complex working conditions and nonlinear characteristics of the motor drive control system of industrial robots make it difficult to detect faults.In this paper,a deep learning-based observer,which combines the convolutional neural network(CNN)and the long short-term memory network(LSTM),is employed to approximate the nonlinear driving control system.CNN layers are introduced to extract dynamic features of the data,whereas LSTM layers perform time-sequential prediction of the target system.In terms of application,normal samples are fed into the observer to build an offline prediction model for the target system.The trained CNN-LSTM-based observer is then deployed along with the target system to estimate the system outputs.Online fault detection can be realized by analyzing the residuals.Finally,an application of the proposed fault detection method to a brushless DC motor drive system is given to verify the effectiveness of the proposed scheme.Simulation results indicate the impressive fault detection capability of the presented method for driving control systems of industrial robots.
基金supported by Natural Science Foundation of Hunan Province,(Grant No.2022JJ30147)the National Natural Science Foundation of China (Grant No.51805155)the Foundation for Innovative Research Groups of National Natural Science Foundation of China (Grant No.51621004).
文摘This paper proposedmethod that combined transmission path analysis(TPA)and empirical mode decomposition(EMD)envelope analysis to solve the vibration problemof an industrial robot.Firstly,the deconvolution filter timedomain TPA method is proposed to trace the source along with the time variation.Secondly,the TPA method positioned themain source of robotic vibration under typically different working conditions.Thirdly,independent vibration testing of the Rotate Vector(RV)reducer is conducted under different loads and speeds,which are key components of an industrial robot.The method of EMD and Hilbert envelope was used to extract the fault feature of the RV reducer.Finally,the structural problems of the RV reducer were summarized.The vibration performance of industrial robots was improved through the RV reducer optimization.From the whole industrial robot to the local RV Reducer and then to the internal microstructure of the reducer,the source of defect information is traced accurately.Experimental results showed that the TPA and EMD hybrid methods were more accurate and efficient than traditional time-frequency analysis methods to solve industrial robot vibration problems.
基金supported in part by the National Natural Science Foundation of China(61772493)in part by the Guangdong Province Universities and College Pearl River Scholar Funded Scheme(2019)in part by the Natural Science Foundation of Chongqing(cstc2019jcyjjq X0013)。
文摘With the continuous improvement of automation,industrial robots have become an indispensable part of automated production lines.They widely used in a number of industrial production activities,such as spraying,welding,handling,etc.,and have a great role in these sectors.Recently,the robotic technology is developing towards high precision,high intelligence.Robot calibration technology has a great significance to improve the accuracy of robot.However,it has much work to be done in the identification of robot parameters.The parameter identification work of existing serial and parallel robots is introduced.On the one hand,it summarizes the methods for parameter calibration and discusses their advantages and disadvantages.On the other hand,the application of parameter identification is introduced.This overview has a great reference value for robot manufacturers to choose proper identification method,points further research areas for researchers.Finally,this paper analyzes the existing problems in robot calibration,which may be worth researching in the future.
基金National Natural Science Foundation of China(Grant No.51875287)National Defense Basic Scientific Research Program of China(Grant No.JCKY2018605C002)Jiangsu Provincial Natural Science Foundation of China(Grant No.BK20190417).
文摘Industrial robots are increasingly being used in machining tasks because of their high flexibility and intelligence.However,the low structural stiffness of a robot significantly affects its positional accuracy and the machining quality of its operation equipment.Studying robot stiffness characteristics and optimization methods is an effective method of improving the stiffness performance of a robot.Accordingly,aiming at the poor accuracy of stiffness modeling caused by approximating the stiffness of each joint as a constant,a variable stiffness identification method is proposed based on space gridding.Subsequently,a task-oriented axial stiffness evaluation index is proposed to quantitatively assess the stiffness performance in the machining direction.In addition,by analyzing the redundant kinematic characteristics of the robot machining system,a configuration optimization method is further developed to maximize the index.For numerous points or trajectory-processing tasks,a configuration smoothing strategy is proposed to rapidly acquire optimized configurations.Finally,experiments on a KR500 robot were conducted to verify the feasibility and validity of the proposed stiffness identification and configuration optimization methods.
基金Foundation of the Robotics Laboratory, Chinese Academy of Sciences (No: RL200002)
文摘Previously, researchers raised the accuracy for a robot′s hand to track a specified path in Car-tesian space mainly through increasing the number of knots on the path and the number of the path′s segments, which results in the heavier online computational burden for the robot controller. Aiming at overcoming this drawback, the authors propose a new kind of real-time accurate hand path tracking and joint trajectory planning method. Through selecting some extra knots on the specified hand path by a certain rule and introducing a sinusoidal function to the joint displacement equation of each segment, this method can greatly raise the path tracking accuracy of robot′s hand and does not change the number of the path′s segments. It also does not increase markedly the computational burden of robot controller. The result of simulation indicates that this method is very effective, and has important value in increasing the application of industrial robots.
基金FoundationoftheRoboticsLaboratoryChineseAcademyofSciences (No :RL2 0 0 0 0 2 )
文摘Previously, researchers raised the accuracy for a robot′s hand to track a specified path in Cartesian space mainly through increasing the number of knots on the path and the segments of the path. But, this method resulted in the heavier on line computational burden for the robot controller. In this paper, aiming at this drawback, the authors propose a new kind of real time accurate hand path tracking and joint trajectory planning method for robots. Through selecting some extra knots on the specified hand path by a certain rule, which enables the number of knots on each segment to increase from two to four, and through introducing a sinusoidal function and a cosinoidal function to the joint displacement equation of each segment, this method can raise the path tracking accuracy of robot′s hand greatly but does not increase the computational burden of robot controller markedly.
文摘Since the reform and opening up, China's economy has developed rapidly and the society has been continuously improving. At the same time, in order to facilitate people's travel, the automobile industry has emerged, which has brought great convenience to people's production and life, and has also promoted the progress of society. In recent years, au-tomation technology has been continuously researched and developed by people, and it has been widely used in people's production and life. In order to improve the efficiency and modernization level of the automobile industry, the paper studies the application of industrial robots in the stamping automation production line, hoping to adapt to the new trend of economic development.
文摘The main features of morphological model of industrial robots are discussed, such as support system, manipulator and gripping device. These features are presented with the alternatives for their realization as separate modules. The examples of synthesis of arrangements of industrial robots are resulted on module principle with writing of their morphological formulas.
文摘In view of the lack of patent big data in research on technology foresight in the industrial robot field, this paper introduces an improved method based on patent mining and knowledge map. Firstly, SAO structure is extracted from selected patents, secondly, the similarity between patents is calculated based on extracted SAO structure, thirdly, patent network and patent map are drawn based on calculated patent similarity matrix, technology evolution process and future trends of industrial robot are summarized from patent network, and future potential technology opportunities are predicted based on technological vacancies identified from patent map. Finally, this paper identifies six key technical areas and four potential technical opportunities in the field of the industrial robot.
基金funded by the European Commission through the H2020 project Hexa-X(Grant Agreement no.101015956).
文摘In the context of Industry 4.0,a paradigm shift from traditional industrial manipulators to Collaborative Robots(CRs)is ongoing,with the latter serving ever more closely humans as auxiliary tools in many production processes.In this scenario,continuous technological advancements offer new opportunities for further innovating robotics and other areas of next-generation industry.For example,6G could play a prominent role due to its human-centric view of the industrial domains.In particular,its expected dependability features will pave the way for new applications exploiting highly effective Digital Twin(DT)-and eXtended Reality(XR)-based telepresence.In this work,a novel application for the above technologies allowing two distant users to collaborate in the programming of a CR is proposed.The approach encompasses demanding data flows(e.g.,point cloud-based streaming of collaborating users and robotic environment),with network latency and bandwidth constraints.Results obtained by analyzing this approach from the viewpoint of network requirements in a setup designed to emulate 6G connectivity indicate that the expected performance of forthcoming mobile networks will make it fully feasible in principle.
基金supported by the National Key Technology R&D Program(2015BAK06B04)the key technologies R&D Program of Tianjin(14ZCZDSF00022)
文摘In order to further improve the serial ports communication mode of the general Flex Pendant for industrial robot,a multiple serial communication mode is put forward. It is used to meet the stability of data transmission,transmission distance,transmission speed,anti-interference and cost-effective. Using ADUM1201 single direction dual channel digital isolator,two pieces of MAX13487 E and a piece of MAX3232 chip to transmit data and files, and to control chip’ s electrical level. Selecting the RS232, RS422 and RS485 communication mode,the serial ports of the general Flex Pendant of industrial robot is optimized.