Industrial robots : design, applications and technology

"Industrial Robots: Design, Applications and Technology is an essential reference source that explores the fundamentals of kinematics, dynamics and industrial robot control as well as a new generation of industrial robots, the collaborative robots or cobots. The tendency in Industry 4.0 towards the mass customisation of products, shorter product cycles and quality demands has led to the introduction of collaborative robot's systems capable of learning and working hand-in-hand with humans. Collaborative robots in the industry target the enhancement of production efficiency by combining the best of human operators and the industrial robots' accuracy, speed and reliability. The advances in smart sensors, artificial intelligence, digital twin, cyber-physical systems and the adoption of exoskeletons in industrial applications have opened new possibilities for technological progress in manufacturing, which led to efficient and flexible factories. This requires individuals to be educated in trends that are now focused on the design, monitoring and control of smart production processes. Featuring coverage on a wide range of topics such as new trends in human-robot collaboration, advanced vision technology and artificial intelligence, as well as application of industry robots in metal and wood industry, this book is ideally designed for electrical engineers, mechanical engineers, manufacturers, supply chain managers, logistics specialists, investors, managers, policymakers, production scientists, researchers, academicians and students at the postgraduate level"-- Provided by publisher Contents Preface Historical Development Of Robots Robots: Today And Tomorrow Chapter 1 The Application of Robots in the Industry Abstract Introduction The Classification of Robotic Systems The Application of Industrial Robots in the World The Application of Industrial Robots in Top Five Countries in The world The Application of Industrial Robots in China The Application of Industrial Robots in Japan The Application of Industrial Robots in the Republic of Korea The Application of Industrial Robots in the USA The Application of Industrial Robots in Germany Conclusion References Chapter 2 Industrial Robot Systems and Classifications Abstract Introduction Mechanical Arm End Effector Teaching Pendant Controller Actuators Sensors Industrial Robot Specification and Terms Work Space Number of Axes Payload Coordinate Systems Tool Center Point (TCP) Accuracy Repeatability Velocity Mechanical Structures of Robots Cartesian Structure Cylindrical Structure Spherical Structure Articulated Structure Selective Compliance Articulated Robot Arm – SCARA Parallel Robots (Delta) Conclusion References Chapter 3 Sensors in Robotics Abstract Introduction Division of Sensors Sensors of Internal State Sensors of Position and Movement Incremental Measuring Encoders Sensors of Speed Tachogenerator Sensors of Deflection Piezoelectric Sensor INS (Inertial Navigation System) Geomagnetic Sensors Sensors of External State Tactile Sensors Magneto-Resistive Touch Sensor Sensors of Force and Moment Application of Strain Gauges with Sensors of Moment/Force Six-Component Hand Force Sensors Proximity Sensors Inductive Proximity Sensors Ultrasonic Proximity Sensors Optoelectronic Sensors Sensors of Vision Application of Vision Sensors in Robotics 3D-Vision Sensors Conclusion References Chapter 4 Robotic Vision Abstract Introduction History of Robotic Vision Basic Elements of Machine Vision System Lenses Deriving the Lens Equation Image Construction Lighting Diffuse Front Lighting Directional Front Lighting Polarized Lighting Coaxial Lighting Structural Lighting Backlighting Cameras CCD (Charge Coupled Devices) Sensors CMOS (Complementary Metal Oxide Semiconductor) Sensors Frame Grabbers Conclusion References Chapter 5 3D Robot Vision in Industrial Applications Abstract Introduction Sensors for 3D Vision Pinhole Camera Pinhole CameraCalibration Depth Perception Camera Time-of-Flight Camera Projected-Light Camera 2D and 3D LiDAR Sensors Stereo-Vision Camera Systems Applications of Depth Sensing in Robotics Volume Measurement Path Planning for Industrial Robots Fusion of Depth Cameras and Other Sensors Conclusion References Chapter 6 Robot Actuators Abstract Introduction Pneumatic Actuators Hydraulic Actuators Linear Cylinders Rotary Engine Manifolds Servo Valves Servo-Regulated Hydraulic Systems Electric Actuators DC Engines AC Engines Stepper Engine Solenoids Harmonic actuator Conclusion References Chapter 7 Kinematics and Dynamics of Robots Abstract Introduction to Kinematics of Robots Matrix of Transformations Point Coordinates Transformation from One Coordinate System to Another Special Cases of Transformation Translation Matrix Matrices of Rotation and Extended Matrices Of Rotation Free Vector Transformation From One To Another System Inner and Outer Coordinates Inner and Outer Coordinates Relation Direct Kinematic Problem Solution Inverse Kinematic Problem Solution Analytic Methods Procedures Introduction to Dynamics of Robots Kinematics Prerequsites for Newton-Euler Method Newton – Euler Method Outer Iteration Inner Iteration References Chapter 8 Collaborative Robots: Overview and Future Trends Abstract Introduction Collaborative Robots The Cobot Big Challenges Flexibility and Adaptability Dexterity and Task Complexity Sensitivity and Practical Experience Types of Collaborations with Humans Interaction Implementations Modes with Cobots Safety Guidelines for Cobots Safety vs Performance Design Considerations for Future Cobots Weight Reduction Sensitive Joints Design Dual Encoder Design 2.2. Joint Motor Current Monitoring Force/Torque Feedback Sensors Mechanical PFL Sensoric System Sensitive Skin Capacitive Skin Vision System Safety Cameras Multi-Purpose Cameras Programming Modes Hand Guiding and Teaching The Security Concern The Cybersecurity Solution for Collaborative Robots Artificial Intelligence in Cobots Industrial Applications Use Case 1 – Electronic Panels Assembly Description Challenges Adopted Solution Outcome Use Case 2 – Domestic Appliances Assembly Description Challenges Adopted Solution Outcome Use Case 3 – Food Products Packaging Description Challenges Adopted Solution Outcome Acknowledgments Conclusion References Chapter 9 Artificial Intelligence Drives Advances in Human-Robot Collaboration Abstract Introduction Advanced Forms of Human Robot Collaboration Applications Assembly Applications Picking and Packaging Lifting and Transportation of Heavy Parts Using Industrial Exoskeleton Other Applications Digital Twin for Human Robot Collaboration Artificial Intelligence in Human-Robot Interaction AI in Decision Making and Control for Human Robot Collaboration Fuzzy Logic Decision Making and Control AI Algortihmsfor Classificationin Human-Robot Collaboration Optimization Techniques in Human Robot Collaboration Genetic Algorithm (GA) Particle Swarm Optimization (PSO) Multi-Objective Optimization Conclusion References Chapter 10 The Study on Key Technologies of Collaborative Robot, Sensorless Applications and Extenstions Abstract Introduction Related Work Study of Friction Model Study of Collision Detection Study of Kinesthetic Teaching Study of Compliant Behavior and Force Control Robotic Dynamic Model and Parameter Identification Robotic Dynamic Model Output Torque Estimation Current-Based Torque Estimation Double Encoders-Based Torque Estimation Friction Model for Collaborative Robot Friction Model for Current-Based Torque Estimation Velocity Dependence of Friction Model Temperature Dependence of Friction Model Load Dependence of Friction Model Comprehensive Friction Model Double Encoder-Based Estimation Basic Applications of Dynamic Control Collision Detection Study of Collision Process Principle of Collision Detection Validation Experiments Kinesthetic Teaching Principle of Kinesthetic Teaching Improvement Strategies Under-Compensation of Friction Smooth Transition of Coulomb Friction Fast Deceleration Motion Limits 1) Fusion with Friction Model for Double-Encoder Based Method Validation Experiment Cartesian Teaching Basic Principle of Cartesian Teaching Orientation Deviation Represented by Euler angles Orientation Deviation Represented by Unit Quaternion Experiments Advanced Dynamic Control Dynamic Model in Cartesian Space Properties of Constant Force Tracking Impedance Model in Cartesian Space Position-Based Hybrid Control Prediction of Shape Profile Prediction of Normal Direction Validation Experiments Collaborative Application of Industrial Robots Conclusion References Chapter 11 The Application of Robots in the Metal Industry Abstract Introduction The Application of Industrial Robots in the Metalworking Industry The Application of Industrial Robots in the Production Processes of the Metal Industry The Application of Industrial Robots in Material Transport The Application of Industrial Robots in Machine Handling The Application of Robots in Welding Processes The Application of Robots in Cutting Processes The Application of Robots in Metal Sheet Cutting Processes The Application of Robots in the Deformation Processes The Application of Robots in the Foundries The Application of Robots in the Painting Processes The Application of Robots in Palletizing and Packaging Processes The Application of Robots in the Assembly Processes The Application of Robots in the Control Processes The Application of Robots in the Product Storage Conclusion References Chapter 12 The Implementation of Robots in Wood Industry Abstract Introduction Robot Usage In Logs Storage Yard Robots in Preparation of Logs For Processing Robots in Primary Log Sawing Phase Robots in Secondary Sawing Phase Robots in External Inbetween Processing Phases Robots in Veneer Processing Robots in Plywood Curveplywood Processing Robots in Woodbased Boards Production Robots in Furniture Production Robots in Storaging Phases Conclusion References Chapter 13 Human Grasping as an Archetype of Grasping in Robotics: New Contributions in Premises, Experimentation and Mathematical Modeling Abstract Introduction Historical References Structural and Functional Characteristics of the Human Hand Human Hand Biomechanism Actuation Human Hand Protection and Sensitivity Case Study Minimum Mathematical Conditions of Static Grasping with the Human Hand Mechanical Contact Modeling by Torsors Preliminary Notions A Vector’s Torsor Matrix Expression of the Torsor Torsors’ Vector Space Dimension Static Torsor Mechanical Contacts Types Mechanical Frictionless Contact between Two Non-Deformable Entities Mechanical Contact between Two Non-Deformable Solids, with Friction Mechanical Contact between Two Deformable Solids with Friction Equilibrium of a Solid Body Minimum Mathematical Conditions for Static Grasping Micromanipulation with Human Hand - Premises and Mathematical Modeling Micromanipulation Minimum Mathematical Conditions for the Stability of Micromanipulation Conclusion References Chapter 14 Application of Industrial Robots for Robotic Machining Abstract Introduction Robotic Machining Kinematic Performance of Robots Static Performance of Robots Dynamic Performance of Robots Modeling and Optimization of Robotic Conclusion References About the Editors Index Blank Page