| 1. |
- Andersson, Tomas, et al.
(författare)
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Automating MALDI Sample Plate Loading
- 2007
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Ingår i: Journal of Proteome Research. - : American Chemical Society (ACS). - 1535-3893 .- 1535-3907. ; 6:2, s. 894-896
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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.
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| 2. |
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| 3. |
- Blomdell, Anders, et al.
(författare)
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Extending an Industrial Robot Controller-Implementation and Applications of a Fast Open Sensor Interface
- 2005
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Ingår i: IEEE Robotics & Automation Magazine. - 1070-9932. ; 12:3, s. 85-94
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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.
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| 4. |
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| 5. |
- Bolmsjö, Gunnar, et al.
(författare)
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Robot assisted framing : A concept for securing geometry in flexible production
- 2008
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Rapport (refereegranskat)abstract
- The paper describes a concept for securing the geometry in flexible production based on robot assisted framing. This uses the robot(s) as an active device during change-over between product variants and it is assumed that product variants can be produced in any mixed order. The case under study is cabs for trucks which in traditional production require large and heavy equipment which is above the payload of any robot. The idea within this study is to use carbon fibre composites in the fixtures in order to reduce the weight and through this make it possible to use the robots in assisting the framing process. The current work involves a generalization of the principle both considering the design of the fixtures with respect to issues such as materials properties and design principles, and design of the production system.
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| 6. |
- Bolmsjö, Gunnar, et al.
(författare)
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Robot assisted framing
- 2008
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Rapport (övrigt vetenskapligt/konstnärligt)abstract
- The paper describes a concept for securing the geometry in flexible production based on robot assisted framing. This uses the robot(s) as an active device during change-over between product variants and it is assumed that product variants can be produced in any mixed order. The case under study is cabs for trucks which in traditional production require large and heavy equipment which is above the payload of any robot. The idea within this study is to use carbon fibre composites in the fixtures in order to reduce the weight and through this make it possible to use the robots in assisting the framing process. The current work involves a generalization of the principle both considering the design of the fixtures with respect to issues such as materials properties and design principles, and design of the production system.
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| 7. |
- Bolmsjö, Gunnar, et al.
(författare)
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Sensors in robotic arc welding to support small series production
- 2005
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Ingår i: Industrial Robot. - : Emerald. - 0143-991X. ; 32:4, s. 341-345
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Tidskriftsartikel (refereegranskat)abstract
- Purpose - Aims to present general concepts and framework for increasing the flexibility in robotic arc welding with respect to use of sensors and small series production. Design/methodology/approach - Presents a conceptual model with a framework that integrates existing tools and needed developments and research to increase the usefulness of sensors in robotic arc welding. The conceptual model is based on research within the field which covers supporting tools like robot simulation, sensor modelling and handling and optimization issues with respect to the robot task execution. A descriptive structure and concept is outlined to include welding procedure specifications (WPS) as a key module to provide an integrated and holistic control model of the robotic. Findings - Finds that the outlined conceptual model and architecture supports an increased flexibility of sensor controlled robots for arc welding applications. The arguments are specifically made for small series and one-off production. Research limitations/implications - The paper is limited to arc welding applications and the concept and arguments are made with small series and one-off production in mind. Practical implications - Increased use of sensors and robots in small series production. Originality/value - introduces a holistic approach for task level control of a robot which introduces a structured way for integrated and coordinated control of the arc welding task. The objective is to execute the welding task with maintained robustness with respect to predefined specifications (quality, productivity).
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| 8. |
- Cederberg, Per, et al.
(författare)
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A semiautomatic task-oriented programming system for sensor-controlled robotised small-batch and one-off manufacturing
- 2005
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Ingår i: Robotica. - 0263-5747. ; 23, s. 743-754
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Tidskriftsartikel (refereegranskat)abstract
- A task-oriented system structure has been developed. In normal industrial robot programming, the path is created and the process is based on the path. Here a process-focused method is proposed, where a task can be split in subtasks, one for each part of the process with similar process-characteristics. By carefully encapsulating the information needed to execute a sub-task, this component can be reused whenever the actual sub-task occurs. Applications using system design do not change between simulation and actual shop floor runs and the system allows a mix of real- and simulated components during simulation and run-time.
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| 9. |
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| 10. |
- Hedelind, Mikael, 1981-
(författare)
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Realization of Flexible and Reconfigurable Industrial Robot Automation
- 2008
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Licentiatavhandling (övrigt vetenskapligt/konstnärligt)abstract
- Today’s global market and tough competition between companies requires the development of increasingly productive production systems. Companies, struggling to become more competitive, use different advanced manufacturing technologies, such as industrial robotics. They seek higher productivity, consistent quality, and the removal of ergonomically unsound manual workstations. However, according to the general trends in the manufacturing industry, there is a need to implement production solutions that are flexible enough to handle a business environment exposed to frequent changes in production operations and product designs. The objective of the research presented in this thesis is to analyse how to support the design and implementation of flexible and reconfigurable industrial robot automation.This research is based on three case studies, carried out over a four-year time period. The researcher/author has been a participant in the projects studied. The first case study aimed at developing a flexible robotic working cell, and succeeded. However, although the cell was flexible enough to handle a wide variety of components, there were limitations on how easy it was to reconfigure the cell, i.e. change the operations performed in the cell and the layout of the cell. The second case study investigated how to design robotic working cells so that the cell is easy to reconfigure when there is a need to implement changes. Finally, the third case study focused on software support, with the main focus on enabling the user to rapidly introduce changes into a robotic working cell.As a result of the case studies, enablers for how to realize flexible and reconfigurable robotic working cells have been identified. In addition, the need for software support has been investigated, and a prototype of a supportive software tool has been developed.
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