In the present work, a methodology based on digraph and matrix methods is developed for evaluation of alternative industrial robots. A robot selection index is proposed that evaluates and ranks robots for a given industrial application. The index is obtained from a robot selection attributes function, obtained from the robot selection attributes digraph. The digraph is developed considering rob...

Laser welding has a quite high demand on trajectory accuracy of articulated robot. To improve dynamic trajectory accuracy of articulated robots for laser welding, a novel 3D seam tracking method is proposed based on stereo visual feedback control. The method constructs a visual feedback control system with two convergent cameras mounted at the end of industrial robot. A tool coordinate system i...

It is important to recall that humanoid robot technology derives from the technology of industrial robots. It is obvious that the developments of bipedal robots such as the integration of robot-upper limbs to complex anthropomorphic structures have benefited from progress in mechanical structures, sensors and actuators used in industrial robot-arms. A direct link is sometimes made between the t...

Purpose – Aims to make an industrial robot work as a telemanipulator with force feedback, in order to carry out various tasks for remote handling in nuclear fuel cycle plants. Design/methodology/approach – The robot STABLI RX170 (used as a slave arm) has been fitted with a force-torque sensor and an electronic system for sensors’ signals multiplexing. The overall system has been made tolerant ...

In many industrial robot applications it is a fact that the robot is programmed to do the same task repeatedly. By observing the control error in the different iterations of the same task it becomes clear that it is actually highly repetitive. Iterative Learning Control (ILC) allows to iteratively compensate for and, hence, remove this repetitive error. In the thesis different aspects of iterat...

Advanced manufacturing technologies, and programmable machines such as industrial robots, are used to increase productivity and quality for competitiveness on a global market. Development of increasingly flexible manufacturing systems has resulted in an increasing importance of software aspects, both on a system level and for efficient interaction with human operators. Trends toward providing c...