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Industrial robot path planning for polishing is crucial to improve product quality. Current methods have many disadvantages: a) product quality is not consistent caused by the variations of part dimension, geometry and robot path accuracy; b) robot path planning is very challenging and time consuming. To solve these problems, we propose a polishing path planning method which is easy to use. A complex...
At the present time, industrial robots for assembly tasks only constitute a small portion of the annual robot sales. One of the main reasons is that it is difficult for conventional industrial robots to adapt to the complicity and flexibility of assembly processes. Therefore, intelligent industrial robotic systems are attracting more and more attention. However, because of the modeling difficulty...
The small parts assembly process is a complex but necessary task in the modern manufacturing industry. It is not easy to use industrial robots to afford this task because different control modes and coordination algorithms have to be designed and updated periodically to adapt the rapidly changing products. It is desired to improve the conventional robot programming technology. The concept of Learning...
Endurance is a critical problem that most flying robots will definitely encounter. Inspired by flying animals in nature that take frequent short flights with periods of perching in between, we propose an innovative mechanism with flying and adhesion to solve this problem. Previously, we have developed some prototypes of flying and adhesion robots. However, when the robots switch between flying and...
In the high precision robotic assembly processes, the process parameters have to be tuned in order to adapt to variations and satisfy the performance requirements. However, because of the modeling difficulty and low efficiency of the existing solutions, this task is usually performed offline. In this paper, an online parameter optimization method is developed. Gaussian Process Regression(GPR) is utilized...
High precision assembly processes using industrial robots require the process parameters to be tuned in order to achieve desired performance such as cycle time and First Time Through (FTT) rate. Some researchers proposed methods such as Design-of-Experiment (DOE) to obtain optimal parameters. However, these methods only discuss how to find the optimal parameters if the part and/or workpiece location...
Haptic technology has many real world applications such as rehabilitation robotics, telepresence surgery, gaming, virtual reality and human-robot interaction. Force plays an important role in the above mentioned haptic applications. In this paper, we propose a method to estimate force from surface Electromyography (SEMG) signals using Artificial Neural Network (ANN). The haptic device is modeled to...
In this paper we study the flocking control in the case of a small subset of informed agents. In nature, only few agents in a group have the information of the target, such as knowledge about the location of a food source, or the migration route. However, they can still flock together in a group based on local information. Inspired by this natural phenomenon, a flocking control algorithm is designed...
Industrial robots used to perform assembly tasks are still a small portion of total robot sales each year. One of the main reasons is that it is difficult for conventional industrial robots to adjust to any sort of change. This paper describes the development and implementation of a robotic system to perform an assembly task of inserting a printed circuit board (PCB) into an edge connector socket...
Industrial robots can be made compliant to the environment when the control loop gains are reduced, creating a so-called ??soft servo?? capability. This allows industrial robots to be used for assemblies with limited contact requirements. In this paper, we propose an assembly method using soft servo to perform certain assembly tasks where part location errors typically require the use of force control...
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