| 1. |
|
|
| 2. |
- Adolfsson, Stefan, et al.
(författare)
-
On-line quality monitoring in short : circuit gas metal arc welding
- 1999
-
Ingår i: Welding Journal. - New York,N.Y. : American welding society. - 0043-2296. ; 78:2, s. 59S-73S
-
Tidskriftsartikel (refereegranskat)abstract
- This paper addresses the problems involved in the automatic monitoring of the weld quality produced by robotized short-arc welding. A simple statistical change detection algorithm for the weld quality, the repeated Sequential Probability Ratio Test (SPRT), was used. The algorithm may similarly be viewed as a cumulative sum (CUSUM) type test, and is well-suited to detecting sudden minor changes in the monitored test statistic. The test statistic is based on the variance of the weld voltage, wherein it will be shown that the variance decreases when the welding process is not operating under optimal conditions. The performance of the algorithm is assessed through the use of experimental data. The results obtained from the algorithm show that it is possible to detect changes in weld quality automatically and on-line.
|
|
| 3. |
- Alhusin Alkhdur, Abdullah, 1980-
(författare)
-
Toward a Sustainable Human-Robot Collaborative Production Environment
- 2017
-
Doktorsavhandling (övrigt vetenskapligt/konstnärligt)abstract
- This PhD study aimed to address the sustainability issues of the robotic systems from the environmental and social aspects. During the research, three approaches were developed: the first one an online programming-free model-driven system that utilises web-based distributed human-robot collaboration architecture to perform distant assembly operations. It uses a robot-mounted camera to capture the silhouettes of the components from different angles. Then the system analyses those silhouettes and constructs the corresponding 3D models.Using the 3D models together with the model of a robotic assembly cell, the system guides a distant human operator to assemble the real components in the actual robotic cell. To satisfy the safety aspect of the human-robot collaboration, a second approach has been developed for effective online collision avoidance in an augmented environment, where virtual three-dimensional (3D) models of robots and real images of human operators from depth cameras are used for monitoring and collision detection. A prototype system is developed and linked to industrial robot controllers for adaptive robot control, without the need of programming by the operators. The result of collision detection reveals four safety strategies: the system can alert an operator, stop a robot, move away the robot, or modify the robot’s trajectory away from an approaching operator. These strategies can be activated based on the operator’s location with respect to the robot. The case study of the research further discusses the possibility of implementing the developed method in realistic applications, for example, collaboration between robots and humans in an assembly line.To tackle the energy aspect of the sustainability for the human-robot production environment, a third approach has been developed which aims to minimise the robot energy consumption during assembly. Given a trajectory and based on the inverse kinematics and dynamics of a robot, a set of attainable configurations for the robot can be determined, perused by calculating the suitable forces and torques on the joints and links of the robot. The energy consumption is then calculated for each configuration and based on the assigned trajectory. The ones with the lowest energy consumption are selected.
|
|
| 4. |
- Andersson, Tomas, et al.
(författare)
-
Automating MALDI Sample Plate Loading
- 2007
-
Ingår i: Journal of Proteome Research. - : American Chemical Society (ACS). - 1535-3893 .- 1535-3907. ; 6:2, s. 894-896
-
Tidskriftsartikel (refereegranskat)abstract
- We describe the design and implementation of a generic robotic solution to automate the loading of MALDI sample plates into a mass spectrometer. The soft- and hardware aspects are described together with the various safety issues that need to be addressed. The automation increases thoughput by a factor of between 5- and 80-fold.
|
|
| 5. |
|
|
| 6. |
- Augustsson, Svante, 1983-, et al.
(författare)
-
How to Transfer Information Between Collaborating Human Operators and Industrial Robots in an Assembly
- 2014
-
Ingår i: Proceedings the NordiCHI 2014: The 8th Nordic Conference on Human-Computer Interaction. - New York, NY, USA : ACM Publications. - 9781450325424 ; , s. 286-294
-
Konferensbidrag (refereegranskat)abstract
- Flexible human-robot industrial coproduction will be important in many small and middle-sized companies in the future. One of the major challenges in a flexible robot cell is how to transfer information between the human and the robot with help of existing and safety approved equipment. In this paper a case study will be presented where the first half focus on data transfer to the robot communicating the human's position and movements forcing the robot to respond to the triggers. The second half focuses on how to visualize information about the settings and assembly order to the human. The outcome was successful and flexible, efficient coproduction could be achieved but also a number of new challenges were found.
|
|
| 7. |
- Augustsson, Svante, 1983-, et al.
(författare)
-
Human and robot interaction based on safety zones in a shared work environment
- 2014
-
Ingår i: HRI '14. - New York : ACM Publications. - 9781450326582 ; , s. 118-119
-
Konferensbidrag (refereegranskat)abstract
- In this paper, early work on how to implement flexible safety zones is presented. In the case study an industrial robot cell emulates the environment at a wall construction site, with a robot performing nailing routines. Tests are performed with humans entering the safety zones of a SafetyEye system. The zone violation is detected, and new warning zones initiated. The robot retracts but continues its work tasks with reduced speed and within a safe distance of the human operator. Interaction is achieved through simultaneous work on the same work piece and the warning zones can be initiated and adjusted in a flexible way.
|
|
| 8. |
- Blomdell, Anders, et al.
(författare)
-
Extending an Industrial Robot Controller-Implementation and Applications of a Fast Open Sensor Interface
- 2005
-
Ingår i: IEEE Robotics & Automation Magazine. - 1070-9932. ; 12:3, s. 85-94
-
Tidskriftsartikel (refereegranskat)abstract
- Many promising robotics research results were obtained during the late 1970s and early 1980s. Some examples include Cartesian force control and advanced motion planning. Now, 20 years and many research projects later, many technologies still have not reached industrial usage. An important question to consider is how this situation can be improved for future deployment of necessary technologies. Today, modern robot control systems used in industry provide highly optimized motion control that works well in a variety of standard applications. To this end, computationally intensive, model-based robot motion control techniques have become standard during the last decade. While the principles employed have been known for many years, deployment in products required affordable computing power, efficientengineering tools, customer needs for productivity/performance, and improved end-user competence in the utilization of performance features. However, applications that are considered nonstandard today motivate a variety of research efforts and system development to package results in a usable form. Actually, robots are not useful for many manufacturing tasks today, in particular those found in small and medium enterprises (SMEs). Reasonsinclude complex configuration, nonintuitive (for the shop floor) programming, and difficulties instructing robots to deal with variations in their environment. The latter challenge includes both task definitions and definition of motion control utilizing external sensors. The key word here is flexibility, and flexible motion control is particularly difficult since the user or system integrator needs to influence the core real-time software functions that are critical for the performance and safe operation of the system. We must find techniques that permit real-time motion controllers to be extended for new, demanding application areas.
|
|
| 9. |
- Bolmsjö, Gunnar, 1955-, et al.
(författare)
-
Collaborative Robots to Support Flexible Operation in a Manufacturing System
- 2012
-
Ingår i: Flexible Automation and Intelligent Manufacturing, FAIM 2012. - Tampere, Finland : Tampere University. - 9789521527838 - 9789521527845 ; , s. 531-538
-
Konferensbidrag (refereegranskat)abstract
- Collaborative robotic systems where human(s) and robot(s) cooperate in performing a common task is an attractive solution to introduce automation combined with high flexibility for tasks that have a high complexity and characterized by low volume or down to one-off. By introducing collaboration in robotics systems, the operator can complement with cognitive capacity and skill in order to gain in flexibility and agility in the task operation. This paper describes on-going work related to work on collaboration between operator and robot. User scenarios are outlined together with methods, software components and hardware to support collaboration, where some of these are under development. As the standards related to collaborative robotic systems are soon to be completed, it is expected that this type of semi-automatic systems will be important for flexible and agile automation of production which otherwise cannot be automated.
|
|
| 10. |
|
|
