Controller Design for Industrial Robots and Machine Tools

Applications to Manufacturing Processes

F Nagata, K Watanabe

• Publisher: Woodhead Publishing
• Year: 2013
• Print ISBN: 9780857094629
• eBook ISBN: 9780857094636
• Topic: Technology & Engineering
• Subtopic: Industrial Engineering
• Index: Technology & Engineering

Advanced manufacturing systems are vital to the manufacturing industry. It is well known that if a target work piece has a curved surface, then automation of the polishing process is difficult. Controller design for industrial robots and machine tools presents results where industrial robots have been successfully applied to such surfaces, presenting up to date information on these advanced manufacturing systems, including key technologies. Chapters cover topics such as velocity-based discrete-time control system for industrial robots; preliminary simulation of intelligent force control; CAM system for an articulated industrial robot; a robot sander for artistic furniture; a machining system for wooden paint rollers; a polishing robot for PET bottle blow moulds; and a desktop orthogonal-type robot for finishing process of LED lens cavity; and concludes with a summary. The book is aimed at professionals with experience in industrial manufacturing, and engineering students at undergraduate and postgraduate level. - Presents results where industrial robots have been used successfully to polish difficult surfaces - Presents the latest technology in the field - Includes key technology such as customized several position and force controllers

1

Velocity-based discrete-time control system with intelligent control concepts for openarchitecture industrial robots

Abstract:

A simulation technique of velocity-based discrete-time control system for open-architecture industrial robots is presented by giving and combining examples of intelligent controls such as genetic algorithms, fuzzy control and neural networks. In order to develop a novel control system for an open-architecture industrial robot, it is required with regard to safety, cost and simplicity to preliminarily examine and evaluate the characteristics and the performance. The proposed simulation technique has a high applicability.

Key words

servo system

dynamic simulation

PUMA560

gain tuning

genetic algorithms

force control

fuzzy control

neural network

1.1 Background

Industrial robots have drastically rationalized many kinds of manufacturing processes in industrial fields. The user interface provided by the robot manufacturer has been almost entirely limited to the so-called teaching pendant. The teaching pendant is a useful and safe tool to obtain positions and orientations at the tip of a robot along a desired trajectory, but the teaching task is very complicated and time-consuming. In particular, when the target trajectory is a free curved line, many through points must be given to acquire a smooth trajectory; the task is therefore not an easy one.

In the past decade, open-architecture industrial robots as shown in Fig. 1 have been produced from several industrial robot makers such as KAWASAKI Heavy Industries, Ltd., MITSUBISHI Heavy Industries, Ltd., YASKAWA Electric Corp., and so on. Open architecture, as described in this book, means that the servo system and kinematics of the robot are technically opened, so that various applications required in industrial fields can be planned and developed at the user side. For example, non-taught operation using a CAD/CAM system can be considered due to the opened accurate kinematics. Also, a force control strategy using a force sensor can easily be implemented due to the technically opened discrete-time servo system.

Figure 1.1 PUMA560 manipulator.

It is now possible to model and simulate many types of robots. For example, Chen et al. presented a new design of an environment for the simulation, animation, and visualization of sensor-driven robots. Conventional computer-graphics-based robot simulation and animation software packages lacked of capabilities for robot sensing simulation, so the system was designed to overcome the deficiency [1]. Benimeli et al. also addressed the implementation and comparison of indirect and direct identification procedures on an industrial robot provided with an open control architecture. The estimation of dynamic parameters in mechanical systems constituted an issue of crucial importance for dynamic simulation applications where high levels of accuracy were required [2].

In this chapter, we present a simulation technique of a velocity-based discrete-time control system for open-architecture industrial robots by giving and combining examples of intelligent control concepts such as genetic algorithms, fuzzy control and neural networks. In order to develop a novel velocity-based control system represented in discrete-time domain for an open-architecture industrial robot, it is required from the points of view of safety, cost and ease to preliminarily examine and evaluate the characteristics and performance. In such a case, the proposed simulation techniques will be useful. The validation and promise are evaluated through simulations, using a dynamic model of a PUMA560 manipulator as shown i...

Table of contents

• Cover image
• Title page
• Table of Contents
• Copyright
• List of figures
• List of tables
• Preface
• About the authors
• Introduction
• Chapter 1: Velocity-based discrete-time control system with intelligent control concepts for openarchitecture industrial robots
• Chapter 2: Preliminary simulation of intelligent force control
• Chapter 3: CAM system for articulated-type industrial robot
• Chapter 4: 3D robot sander for artistically designed furniture
• Chapter 5: 3D machining system for artistic wooden paint rollers
• Chapter 6: Polishing robot for pet bottle blow molds
• Chapter 7: Desktop orthogonal-type robot for LED lens cavities
• Chapter 8: Conclusion
• References
• Index