"Industrial Robots: Design, Applications and Technology is an essential reference source that explores the fundamentals of kinematics, dynamics and industrial robot control as well as a new generation of industrial robots, the collaborative robots or cobots. The tendency in Industry 4.0 towards the mass customisation of products, shorter product cycles and quality demands has led to the introduction of collaborative robot's systems capable of learning and working hand-in-hand with humans. Collaborative robots in the industry target the enhancement of production efficiency by combining the best of human operators and the industrial robots' accuracy, speed and reliability. The advances in smart sensors, artificial intelligence, digital twin, cyber-physicalsystems and the adoption of exoskeletons in industrial applications have opened new possibilities for technological progress in manufacturing, which led to efficient and flexible factories. This requires individuals to be educated in trends that are now focused on the design, monitoring and control of smart production processes. Featuring coverage on a wide range of topics such as new trends in human-robot collaboration, advanced vision technology and artificial intelligence, as well as application of industry robots in metal and wood industry, this book is ideally designed for electrical engineers, mechanical engineers, manufacturers, supply chain managers, logistics specialists, investors, managers, policymakers, production scientists, researchers, academicians and students at the postgraduate level"--
Author(s): Isak Karabegović, Lejla Banjanović-Mehmedović
Series: Robotics Research and Technology
Publisher: Nova Science Publishers
Year: 2020
Language: English
Pages: 461
City: New York
Contents
Preface
Historical Development Of Robots
Robots: Today And Tomorrow
Chapter 1
The Application of Robots in the Industry
Abstract
Introduction
The Classification of Robotic Systems
The Application of Industrial Robots in the World
The Application of Industrial Robots in Top Five Countries in The world
The Application of Industrial Robots in China
The Application of Industrial Robots in Japan
The Application of Industrial Robots in the Republic of Korea
The Application of Industrial Robots in the USA
The Application of Industrial Robots in Germany
Conclusion
References
Chapter 2
Industrial Robot Systems and Classifications
Abstract
Introduction
Mechanical Arm
End Effector
Teaching Pendant
Controller
Actuators
Sensors
Industrial Robot Specification and Terms
Work Space
Number of Axes
Payload
Coordinate Systems
Tool Center Point (TCP)
Accuracy
Repeatability
Velocity
Mechanical Structures of Robots
Cartesian Structure
Cylindrical Structure
Spherical Structure
Articulated Structure
Selective Compliance Articulated Robot Arm – SCARA
Parallel Robots (Delta)
Conclusion
References
Chapter 3
Sensors in Robotics
Abstract
Introduction
Division of Sensors
Sensors of Internal State
Sensors of Position and Movement
Incremental Measuring Encoders
Sensors of Speed
Tachogenerator
Sensors of Deflection
Piezoelectric Sensor
INS (Inertial Navigation System)
Geomagnetic Sensors
Sensors of External State
Tactile Sensors
Magneto-Resistive Touch Sensor
Sensors of Force and Moment
Application of Strain Gauges with Sensors of Moment/Force
Six-Component Hand Force Sensors
Proximity Sensors
Inductive Proximity Sensors
Ultrasonic Proximity Sensors
Optoelectronic Sensors
Sensors of Vision
Application of Vision Sensors in Robotics
3D-Vision Sensors
Conclusion
References
Chapter 4
Robotic Vision
Abstract
Introduction
History of Robotic Vision
Basic Elements of Machine Vision System
Lenses
Deriving the Lens Equation
Image Construction
Lighting
Diffuse Front Lighting
Directional Front Lighting
Polarized Lighting
Coaxial Lighting
Structural Lighting
Backlighting
Cameras
CCD (Charge Coupled Devices) Sensors
CMOS (Complementary Metal Oxide Semiconductor) Sensors
Frame Grabbers
Conclusion
References
Chapter 5
3D Robot Vision in Industrial Applications
Abstract
Introduction
Sensors for 3D Vision
Pinhole Camera
Pinhole CameraCalibration
Depth Perception Camera
Time-of-Flight Camera
Projected-Light Camera
2D and 3D LiDAR Sensors
Stereo-Vision Camera Systems
Applications of Depth Sensing in Robotics
Volume Measurement
Path Planning for Industrial Robots
Fusion of Depth Cameras and Other Sensors
Conclusion
References
Chapter 6
Robot Actuators
Abstract
Introduction
Pneumatic Actuators
Hydraulic Actuators
Linear Cylinders
Rotary Engine
Manifolds
Servo Valves
Servo-Regulated Hydraulic Systems
Electric Actuators
DC Engines
AC Engines
Stepper Engine
Solenoids
Harmonic actuator
Conclusion
References
Chapter 7
Kinematics and Dynamics of Robots
Abstract
Introduction to Kinematics of Robots
Matrix of Transformations
Point Coordinates Transformation from One Coordinate System to Another
Special Cases of Transformation
Translation Matrix
Matrices of Rotation and Extended Matrices Of Rotation
Free Vector Transformation From One To Another System
Inner and Outer Coordinates
Inner and Outer Coordinates Relation
Direct Kinematic Problem Solution
Inverse Kinematic Problem Solution
Analytic Methods Procedures
Introduction to Dynamics of Robots
Kinematics Prerequsites for Newton-Euler Method
Newton – Euler Method
Outer Iteration
Inner Iteration
References
Chapter 8
Collaborative Robots: Overview and Future Trends
Abstract
Introduction
Collaborative Robots
The Cobot Big Challenges
Flexibility and Adaptability
Dexterity and Task Complexity
Sensitivity and Practical Experience
Types of Collaborations with Humans
Interaction Implementations Modes with Cobots
Safety Guidelines for Cobots
Safety vs Performance
Design Considerations for Future Cobots
Weight Reduction
Sensitive Joints Design
Dual Encoder Design
2.2. Joint Motor Current Monitoring
Force/Torque Feedback Sensors
Mechanical PFL
Sensoric System
Sensitive Skin
Capacitive Skin
Vision System
Safety Cameras
Multi-Purpose Cameras
Programming Modes
Hand Guiding and Teaching
The Security Concern
The Cybersecurity Solution for Collaborative Robots
Artificial Intelligence in Cobots
Industrial Applications
Use Case 1 – Electronic Panels Assembly
Description
Challenges
Adopted Solution
Outcome
Use Case 2 – Domestic Appliances Assembly
Description
Challenges
Adopted Solution
Outcome
Use Case 3 – Food Products Packaging
Description
Challenges
Adopted Solution
Outcome
Acknowledgments
Conclusion
References
Chapter 9
Artificial Intelligence Drives Advances in Human-Robot Collaboration
Abstract
Introduction
Advanced Forms of Human Robot Collaboration Applications
Assembly Applications
Picking and Packaging
Lifting and Transportation of Heavy Parts Using Industrial Exoskeleton
Other Applications
Digital Twin for Human Robot Collaboration
Artificial Intelligence in Human-Robot Interaction
AI in Decision Making and Control for Human Robot Collaboration
Fuzzy Logic Decision Making and Control
AI Algortihmsfor Classificationin Human-Robot Collaboration
Optimization Techniques in Human Robot Collaboration
Genetic Algorithm (GA)
Particle Swarm Optimization (PSO)
Multi-Objective Optimization
Conclusion
References
Chapter 10
The Study on Key Technologies of Collaborative Robot, Sensorless Applications and Extenstions
Abstract
Introduction
Related Work
Study of Friction Model
Study of Collision Detection
Study of Kinesthetic Teaching
Study of Compliant Behavior and Force Control
Robotic Dynamic Model and Parameter Identification
Robotic Dynamic Model
Output Torque Estimation
Current-Based Torque Estimation
Double Encoders-Based Torque Estimation
Friction Model for Collaborative Robot
Friction Model for Current-Based Torque Estimation
Velocity Dependence of Friction Model
Temperature Dependence of Friction Model
Load Dependence of Friction Model
Comprehensive Friction Model
Double Encoder-Based Estimation
Basic Applications of Dynamic Control
Collision Detection
Study of Collision Process
Principle of Collision Detection
Validation Experiments
Kinesthetic Teaching
Principle of Kinesthetic Teaching
Improvement Strategies
Under-Compensation of Friction
Smooth Transition of Coulomb Friction
Fast Deceleration
Motion Limits
1) Fusion with Friction Model for Double-Encoder Based Method
Validation Experiment
Cartesian Teaching
Basic Principle of Cartesian Teaching
Orientation Deviation Represented by Euler angles
Orientation Deviation Represented by Unit Quaternion
Experiments
Advanced Dynamic Control
Dynamic Model in Cartesian Space
Properties of Constant Force Tracking
Impedance Model in Cartesian Space
Position-Based Hybrid Control
Prediction of Shape Profile
Prediction of Normal Direction
Validation Experiments
Collaborative Application of Industrial Robots
Conclusion
References
Chapter 11
The Application of Robots in the Metal Industry
Abstract
Introduction
The Application of Industrial Robots in the Metalworking Industry
The Application of Industrial Robots in the Production Processes of the Metal Industry
The Application of Industrial Robots in Material Transport
The Application of Industrial Robots in Machine Handling
The Application of Robots in Welding Processes
The Application of Robots in Cutting Processes
The Application of Robots in Metal Sheet Cutting Processes
The Application of Robots in the Deformation Processes
The Application of Robots in the Foundries
The Application of Robots in the Painting Processes
The Application of Robots in Palletizing and Packaging Processes
The Application of Robots in the Assembly Processes
The Application of Robots in the Control Processes
The Application of Robots in the Product Storage
Conclusion
References
Chapter 12
The Implementation of Robots in Wood Industry
Abstract
Introduction
Robot Usage In Logs Storage Yard
Robots in Preparation of Logs For Processing
Robots in Primary Log Sawing Phase
Robots in Secondary Sawing Phase
Robots in External Inbetween Processing Phases
Robots in Veneer Processing
Robots in Plywood Curveplywood Processing
Robots in Woodbased Boards Production
Robots in Furniture Production
Robots in Storaging Phases
Conclusion
References
Chapter 13
Human Grasping as an Archetype of Grasping in Robotics: New Contributions in Premises, Experimentation and Mathematical Modeling
Abstract
Introduction
Historical References
Structural and Functional Characteristics of the Human Hand
Human Hand Biomechanism Actuation
Human Hand Protection and Sensitivity
Case Study
Minimum Mathematical Conditions of Static Grasping with the Human Hand
Mechanical Contact Modeling by Torsors
Preliminary Notions
A Vector’s Torsor
Matrix Expression of the Torsor
Torsors’ Vector Space Dimension
Static Torsor
Mechanical Contacts Types
Mechanical Frictionless Contact between Two Non-Deformable Entities
Mechanical Contact between Two Non-Deformable Solids, with Friction
Mechanical Contact between Two Deformable Solids with Friction
Equilibrium of a Solid Body
Minimum Mathematical Conditions for Static Grasping
Micromanipulation with Human Hand - Premises and Mathematical Modeling
Micromanipulation
Minimum Mathematical Conditions for the Stability of Micromanipulation
Conclusion
References
Chapter 14
Application of Industrial Robots for Robotic Machining
Abstract
Introduction
Robotic Machining
Kinematic Performance of Robots
Static Performance of Robots
Dynamic Performance of Robots
Modeling and Optimization of Robotic
Conclusion
References
About the Editors
Index
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