This paper proposes a systematic method to identify the joint zero offset of industrial robot. Small offset always exist in robot joint, which affect the precision in kinematic equations leading to calculate wrong joint angle values. To solve these problems, the proposed method employs a portable dual Position Sensitive Detector (PSD) device and a focusable laser point (FLP). The portable dual ...

Today’s developments in industrial robots focus on aims like gain of flexibility, improvement of the interaction between robots and reduction of down-times. A very important method to achieve these goals are off-line programming techniques. In contrast to conventional teach-in robot programming techniques, where sequences of actions are defined step-by-step via remote control on the real object...

New manufacturing technologies are developed fast in order to keep up with the market demands, both in the field of metal cutting and metal forming. The Asymmetric single point incremental forming (ASPIF) is a manufacturing technology with a high degree of novelty, which allows the user to manufacture complex parts by metal forming, using only a punch and an active plate without the need of usi...

This paper proposes a fuzzy PID control method for deburring industrial robots. The adaptive fuzzy PID controller relates to the trajectory and joint angular parameters of the end-effector on a robot. The PID controller parameters update online at each sampling time to guarantee trajectory accuracy of the end-effector. The simulation of the fuzzy PID control is provided based on the 6-DOF debur...

In conventional automated assembly, a robot is used to pick up parts and assemble them under some pre-taught paths. Yet for tight-tolerance assemblies, slight position errors and disturbances will often hamper the reliability and quality of the operation. A possible advancement to such problem is to enhance the intelligence of the robot by introducing the sense of the environment in which the r...

Modern production plants are highly automated complex systems consisting of several robots and other working machines. Errors leading to damage and stop of production are extremely expensive and must be avoided by all means. Hence, the state of practice is to test control programs in advance which implies high effort and comes with high costs. To increase the confidence into the control systems...