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  • 1
    Digitale Medien
    Digitale Medien
    Force control for industrial applications using a fuzzy PI controller (2004)
    Bradford : Emerald
    Sensor review 24 (2004), S. 60-67 
    Details
    ISSN: 0260-2288
    Quelle: Emerald Fulltext Archive Database 1994-2005
    Thema: Elektrotechnik, Elektronik, Nachrichtentechnik
    Notizen: In this paper, a small revision on force control strategies is presented, stressing the implementation requirements of each strategy with the objective of clarifying the reasons of their poor practical utilization in industry. Furthermore, recognizing that direct force control approaches require system changes on actual robot control systems, which calls for manufacturer cooperation, an indirect force control approach is presented. The controller is introduced along with implementation description. The system is tested with an industrial deburring application that is also briefly introduced. Research experimental results of the proposed controller obtained in the laboratory, and experimental results obtained with the industrial deburring application are presented and discussed.
    Materialart: Digitale Medien
    URL: http://dx.doi.org/10.1108/02602280410515833
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  • 2
    Digitale Medien
    Digitale Medien
    Force/torque sensing applied to industrial robotic deburring (2002)
    Bradford : Emerald
    Sensor review 22 (2002), S. 232-241 
    Details
    ISSN: 0260-2288
    Quelle: Emerald Fulltext Archive Database 1994-2005
    Thema: Elektrotechnik, Elektronik, Nachrichtentechnik
    Notizen: Force/torque sensing is very important for several automatic and industrial robotic applications. Basically, if precise control of the forces that arise from contact between tools and parts is required to successfully complete the automatic task, then a force/torque sensor is needed along with some force/torque control technique. In this paper we focus on force/torque sensing aspects applied to industrial robotic tasks. Concentrating on a particular type of force/torque sensor, we demonstrate how to use them and how to integrate them into force/torque control applications using robots. Finally, an industrial application is presented where force control was fundamental for the success of the task.
    Materialart: Digitale Medien
    URL: http://dx.doi.org/10.1108/02602280210433070
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  • 3
    Digitale Medien
    Digitale Medien
    Object-oriented and distributed programming of robotic and automation equipment (2000)
    Bradford : Emerald
    Industrial robot 27 (2000), S. 279-287 
    Details
    ISSN: 0143-991X
    Quelle: Emerald Fulltext Archive Database 1994-2005
    Thema: Maschinenbau
    Notizen: This paper addresses some aspects related to Flexible Manufacturing Cell (FMC) programming, and is based on two previously published papers and focuses more on application details. Recognising that one of the major problems of today's Flexible Manufacturing Cells is the diversity of languages and hardware architectures present in the same FMC, we introduce an object-oriented and distributed software architecture that can be used for FMC programming and monitoring. Application examples of an industrial FMC and an R&D/education setup are presented, in which we used an industrial robot and a force/torque/acceleration sensor. In the process some implementation details are presented and discussed.
    Materialart: Digitale Medien
    URL: http://dx.doi.org/10.1108/01439910010372109
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  • 4
    Digitale Medien
    Digitale Medien
    Robotic de-palletizing system for the non-flat ceramic industry (2003)
    Bradford : Emerald
    Industrial robot 30 (2003), S. 152-158 
    Details
    ISSN: 0143-991X
    Quelle: Emerald Fulltext Archive Database 1994-2005
    Thema: Maschinenbau
    Notizen: The paper describes a prototype developed to de-palletize non-flat ceramic pieces in the final stage of production, just after they leave the high temperature oven, feeding the final human operated inspection lines. The prototype is installed at ROCA, a Spanish company operating in Portugal, and works with all their models of toilets and bidets. Special attention is given to human machine interfaces (HMI) and safety. The emphasis is on components and on integration with the environment chosen for operation rather than the specifics of operating system selection.
    Materialart: Digitale Medien
    URL: http://dx.doi.org/10.1108/01439910310464177
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  • 5
    Digitale Medien
    Digitale Medien
    Industrial robotic system programmed from CAD files - an update (2005)
    Bradford : Emerald
    Industrial robot 32 (2005), S. 314-317 
    Details
    ISSN: 0143-991X
    Quelle: Emerald Fulltext Archive Database 1994-2005
    Thema: Maschinenbau
    Notizen: Purpose - In this paper a solution capable of extracting robot motion information from CAD data is briefly presented and explored. Design/methodology/approach - The motion information is added by the user to the CAD file, defining in this way the approach, fly-by and welding trajectories. So the user programs the robot. An application is then used to extract that information and constitute a pre-program, which should be tuned with the real robot using a small set of rules. In this way, versatility of robotic cells is improved and its programming is simplified. Findings - The developed CAD interface is tested using a robot welding experiment on a steel beam used for industrial buildings. Originality/value - This paper builds on work previously described in "CAD interface for automatic robot welding programming" published in Industrial Robot, Vol. 31, No. 1.
    Materialart: Digitale Medien
    URL: http://dx.doi.org/10.1108/01439910510600164
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  • 6
    Digitale Medien
    Digitale Medien
    Object oriented and distributed software applied to industrial robotic welding (2002)
    Bradford : Emerald
    Industrial robot 29 (2002), S. 149-161 
    Details
    ISSN: 0143-991X
    Quelle: Emerald Fulltext Archive Database 1994-2005
    Thema: Maschinenbau
    Notizen: Associating robot manipulators with industrial welding operations is common and maybe one of the most successful applications of industrial robots. Nevertheless, it is far from being a solved technological process, mainly because the welding process is not fully understood but also because robots are still at an early satge of development, being difficult to use and program by regular operators. This is also true for Human Machine Interfaces (HMI), which are not intuitive to use and are therefore unsatisfactory. In this paper we discuss these problems and present a system designed with the double objective of serving our R&D efforts on welding applications, but also our need to assist industrial partners working with welding setups. Frequently industrial partners are not happy with available commercial systems, requiring tailored solutions that could be adapted to several robots and robot controllers. The developed system is explained in some detail, and demonstrated using two test cases which reproduce two situations very common in industry: multi-layer butt welding (used on big structures requiring very strong welds) and multi-point fillet welding (used for example on structural pieces for the construction industry).
    Materialart: Digitale Medien
    URL: http://dx.doi.org/10.1108/01439910210419169
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  • 7
    Digitale Medien
    Digitale Medien
    CAD interface for automatic robot welding programming (2004)
    Bradford : Emerald
    Industrial robot 31 (2004), S. 71-76 
    Details
    ISSN: 0143-991X
    Quelle: Emerald Fulltext Archive Database 1994-2005
    Thema: Maschinenbau
    Notizen: Industrial robots play an important role in industry, due to their flexibility. Many applications (almost all that require human intervention) may be performed with advantages by robots. Nevertheless, set-up operations, necessary when changing production models, are still tricky and time-consuming. It is common to have detailed data of working pieces in computer aided design (CAD) files, resulting from product design and project. This information is not used satisfactorily, or even not used at all, for robot programming. In this paper, we propose a solution capable of extracting robot motion information from the CAD data.
    Materialart: Digitale Medien
    URL: http://dx.doi.org/10.1108/01439910410512028
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  • 8
    Digitale Medien
    Digitale Medien
    Handling production changes online: example using a robotic palletizing system for the automobile glass industry (2004)
    Bradford : Emerald
    Assembly automation 24 (2004), S. 254-263 
    Details
    ISSN: 0144-5154
    Quelle: Emerald Fulltext Archive Database 1994-2005
    Thema: Maschinenbau
    Notizen: In this industrial case study paper the problem of handling production variations online, i.e. during actual production, is addressed. These variations may occur when it is not possible to exactly guarantee working conditions during a production cycle or between two consecutive cycles. These variations are common in some types of industries, like the glass and ceramic industry, where the products may change slightly during the production cycle. Since it is common to have two or more different model campaigns during a working day, it should be possible to easily parameterize the production system when a new campaign is started. This paper uses a highly-efficient robotic palletizing system, developed for the partner company Sekurit Saint Gobain (Portugal), to introduce and explain how these problems may be addressed. The paper includes details about practical implementation, along with discussion of options and obtained operational results, showing it to be a good example of human-machine co-operation.
    Materialart: Digitale Medien
    URL: http://dx.doi.org/10.1108/01445150410549746
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  • 9
    Digitale Medien
    Digitale Medien
    EmailWare: a tool for e-manufacturing (2001)
    Bradford : Emerald
    Assembly automation 21 (2001), S. 129-135 
    Details
    ISSN: 0144-5154
    Quelle: Emerald Fulltext Archive Database 1994-2005
    Thema: Maschinenbau
    Notizen: Presents a monitoring and inspecting tool for manufacturing set-ups. A general software architecture for this type of application, which is distributed, object-oriented and based on a client-server model, is briefly outlined and then applied to an industrial robot. The resulting application, called EmailWare, is then introduced and demonstrated using industrial robot manipulators from ABB Robotics. The application is capable of sending e-mail and SMS messages to selected users when the programmed events occur, and receiving and processing commands from those users. Experience with this application clearly shows its usefulness for the purpose debugging purposes by system developers, but also for monitoring routine tasks by system operators.
    Materialart: Digitale Medien
    URL: http://dx.doi.org/10.1108/01445150110388496
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  • 10
    Digitale Medien
    Digitale Medien
    Interfacing industrial robotic systems with manufacturing tracking and control software: a choice for semi-autonomous manufacturing systems (2005)
    Bradford : Emerald
    Industrial robot 32 (2005), S. 214-219 
    Details
    ISSN: 0143-991X
    Quelle: Emerald Fulltext Archive Database 1994-2005
    Thema: Maschinenbau
    Notizen: Purpose - This technical paper reports the development of an industrial robotic labeling system, designed to insert identification labels on rolls of paper coming from an industrial paper machine. Design/methodology/approach - The system was developed for an existing installation comprising a paper machine, a roll measuring and weighting station and a roll wrapping machine. The labels identify each roll by means of barcodes, which are used internally in the factory to identify and store each roll at the automatic warehouse and by the customer company for similar purposes. Findings - In describing an industrial application designed for labeling applications, this paper discusses and details a software interface designed to command shop-floor manufacturing systems remotely from the manufacturing tracking software. This adds in terms of flexibility and agility, since all available operations were implemented in a very general way requiring only simple parameterization to specify the individual operations. Practical implications - Since the TCP/IP server is a general implementation, using the BSD compatible TCP/IP socket implementation from Microsoft, it can receive commands from virtually any client. This makes this robotic cell interface an interesting way to command shop-floor manufacturing systems. Originality/value - Demonstrates a method for controlling shop-floor manufacturing systems that has broad applications.
    Materialart: Digitale Medien
    URL: http://dx.doi.org/10.1108/01439910510593884
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