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Machines
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Design and Control of Industrial Robots
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Design and Control of Industrial Robots

A special issue of Machines (ISSN 2075-1702). This special issue belongs to the section "Industrial Systems".

Deadline for manuscript submissions: closed (15 February 2023) | Viewed by 15862

Special Issue Editor

Prof. Dr. Sever-Gabriel Racz

E-Mail Website
Guest Editor
Industrial Machines and Equipment Department, Faculty of Engineering, Lucian Blaga University of Sibiu, Sibiu, Romania
Interests: robotics; mechatronics; metal forming; hydraulic and pneumatic driving systems
Special Issues, Collections and Topics in MDPI journals

Special Issue Information

Dear Colleagues,

Industrial robots are used increasingly often for applications which require continuous path control, such as cutting operations (milling sculptural surfaces), deburring complex parts processed by means of other operations (metal forming) or similar applications within other fields. However, the rigidity of the robotic structure is not designed for the technological forces and torques which can appear during these operations, mainly when robotic machining is considered. Consequently, the accuracies which can be achieved by using robots for such operations are still significantly smaller than those obtained on dedicated equipment (for example CNC machine tools). On the other hand, industrial robots are rarely equipped from the design or even delivery phase with neither end-effectors specifically designed for operations requiring continuous path control nor with other auxiliary units for the same tasks; thus, such equipment has to be designed and implemented by the end-user. This Special Issue aims to explore what solutions are currently being studied to overcome this situation. Papers on one or more of the following topics are especially expected:

- Simulation of robotic operations requiring continuous path control taking into consideration both kinematics and dynamics of the robotic structure;

- Robotic machining and other robotic applications requiring continuous path control;

- Design of working units and end-effectors for robotic operations requiring continuous path control;

- Design and implementation of auxiliary units for robotic cells;

- Strategies for reducing forces and torques during robotic operations requiring continuous path control;

- Optimal placement of the processed object (workpiece, part or others) in the robot workspace to reduce energy consumption during the process;

- Control strategies to improve the accuracies of the parts processed by robotic machining;

- New sensor systems to measure forces and torques within the robotic processes requiring continuous path control.

Prof. Dr. Sever-Gabriel Racz
Guest Editor

Manuscript Submission Information

Manuscripts should be submitted online at www.mdpi.com by registering and logging in to this website. Once you are registered, click here to go to the submission form. Manuscripts can be submitted until the deadline. All submissions that pass pre-check are peer-reviewed. Accepted papers will be published continuously in the journal (as soon as accepted) and will be listed together on the special issue website. Research articles, review articles as well as short communications are invited. For planned papers, a title and short abstract (about 100 words) can be sent to the Editorial Office for announcement on this website.

Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-blind peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. Machines is an international peer-reviewed open access monthly journal published by MDPI.

Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 2400 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.

Keywords

  • kinematics and dynamics of robots
  • robotics and automation
  • robotic machining
  • end effectors
  • robotic cells
  • workpiece placement
  • machining accuracy
  • control strategies
  • energy consumption
  • sensors and actuators

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Published Papers (5 papers)

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Research

15 pages, 3174 KiB  
Article
Enhancing Positional Accuracy of the XY-Linear Stage Using Laser Tracker Feedback and IT2FLS
by Mojtaba A. Khanesar, Minrui Yan, Mohammed Isa, Samanta Piano, Mohammad A. Ayoubi and David T. Branson
Machines 2023, 11(4), 497; https://doi.org/10.3390/machines11040497 - 20 Apr 2023
Viewed by 2339
Abstract
This paper proposes a calibration algorithm to improve the positional accuracies of an industrial XY-linear stage. Precision positioning of these linear stages is required to maintain highly accurate object handling and manipulation. However, due to imprecisions in linear motor stages and the gearbox, [...] Read more.
This paper proposes a calibration algorithm to improve the positional accuracies of an industrial XY-linear stage. Precision positioning of these linear stages is required to maintain highly accurate object handling and manipulation. However, due to imprecisions in linear motor stages and the gearbox, static and dynamic errors exist within these manipulators that cannot be adjusted internally. In this paper, to improve the positioning accuracy of these manipulators, measurements from a laser tracker are used within an interval type-2 fuzzy logic system. The laser tracker used in this experiment is an AT960-MR, which is a highly accurate noncontact coordinate metrology equipment capable of performing highly accurate robotic measurements. To perform calibration, we use an IT2FLS to find a nonlinear correcting relationship to compensate for position errors. The IT2FLS acts on the commands given to the move stage to find the accurate position of the move stage. To train the IT2FLS, we use particle swarm optimization (PSO) for the antecedent part parameters and Moore–Penrose generalized inverse to estimate the consequent part parameters. Data are split into train/test data to test the efficacy of the proposed algorithm. It is shown that by using the proposed IT2FLS-based calibration approach, the standard deviation of the position errors can be decreased from 86.1μm to 55.9μm, which is a 35.1% improvement. Comparison results with a multilayer perceptron neural network reveal that the proposed IT2FLS-based calibration algorithm outperforms multilayer perceptron neural network for positional calibration purposes. Full article
(This article belongs to the Special Issue Design and Control of Industrial Robots)
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39 pages, 22173 KiB  
Article
Monitoring the Current Provided by a Hall Sensor Integrated in a Drive Wheel Module of a Mobile Robot
by George Constantin, Iosif-Adrian Maroșan, Mihai Crenganiș, Corina Botez, Claudia-Emilia Gîrjob, Cristina-Maria Biriș, Anca-Lucia Chicea and Alexandru Bârsan
Machines 2023, 11(3), 385; https://doi.org/10.3390/machines11030385 - 15 Mar 2023
Cited by 4 | Viewed by 3635
Abstract
This article describes a method for the real-time monitoring of the current consumed by a Dynamixel MX 64 AT servomotor used in the actuation system of modular mobile robotic platforms having differential locomotion and conventional wheels. The data acquisition method is based on [...] Read more.
This article describes a method for the real-time monitoring of the current consumed by a Dynamixel MX 64 AT servomotor used in the actuation system of modular mobile robotic platforms having differential locomotion and conventional wheels. The data acquisition method is based on an Arduino Mega 2560 development board interfaced with Matlab Simulink and the ASC712-5A hall sensor for current detection. A Simulink model is presented that performs the detection of a sensor reference voltage, which needs to be calibrated for a correct reading of the current. Due to the low resolution of the analog-to-digital converter with which the Arduino Mega is equipped, current monitoring is difficult to achieve, having large fluctuations and a lower resolution than the current absorbed by the servomotor. The solution to this problem is achieved by implementing, in the hardware construction, an ADS115 conversion module with 16-bit resolution, which leads to an increase in the measurement range of the ASC712-5A sensor. The current acquisition model with the Hall sensor is experimentally validated using measurements on the physical model of the drive wheel. This article further deals with the CAD and digital block modeling of mobile platforms with four and two wheels. The dynamic model of the robot is created in the Simulink–Simscape–Multibody environment and is used to determine the servomotor torques when the robot is moving along the predefined path. The torque variations are entered as variables in the Simulink digital block model of the robot. The Simulink model is simulated when moving along a square path, which determines the variation in the current absorbed by the motors. Experimental validation of the model is carried out using measurements on the functional models that operate in real conditions. A power consumption method is further proposed. Full article
(This article belongs to the Special Issue Design and Control of Industrial Robots)
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17 pages, 7398 KiB  
Article
Performance Comparison of Two Architectures of 6R Articulated Robots
by Giovanni Boschetti and Teresa Sinico
Machines 2023, 11(2), 306; https://doi.org/10.3390/machines11020306 - 18 Feb 2023
Cited by 1 | Viewed by 2720
Abstract
This paper presents a comparison between two different 6R articulated robot architectures, one with a spherical wrist and the other with a non-spherical wrist and three consecutive parallel axes, which are found mainly in collaborative arms. The performance of the two architectures has [...] Read more.
This paper presents a comparison between two different 6R articulated robot architectures, one with a spherical wrist and the other with a non-spherical wrist and three consecutive parallel axes, which are found mainly in collaborative arms. The performance of the two architectures has been evaluated in terms of linear and rotational velocity using the Kinematic Directional Index (KDI). The results highlight the relation between the robot’s velocity along a direction and the joint velocities. In this way, the proposed approach allows the evaluation of the best performance in a direction and the joints that limit the considered motion. Full article
(This article belongs to the Special Issue Design and Control of Industrial Robots)
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21 pages, 6812 KiB  
Article
Mobile Robots—AHP-Based Actuation Solution Selection and Comparison between Mecanum Wheel Drive and Differential Drive with Regard to Dynamic Loads
by Sever-Gabriel Racz, Mihai Crenganiș, Radu-Eugen Breaz, Adrian Maroșan, Alexandru Bârsan, Claudia-Emilia Gîrjob, Cristina-Maria Biriș and Melania Tera
Machines 2022, 10(10), 886; https://doi.org/10.3390/machines10100886 - 1 Oct 2022
Cited by 5 | Viewed by 2584
Abstract
Mobile robots are increasingly used in industrial applications. There are many constructive solutions for mobile robots using various variants of actuation and control. The proposed work presents a low-cost variant of a mobile robot equipped with Mecanum wheels, which uses brushed DC motors, [...] Read more.
Mobile robots are increasingly used in industrial applications. There are many constructive solutions for mobile robots using various variants of actuation and control. The proposed work presents a low-cost variant of a mobile robot equipped with Mecanum wheels, which uses brushed DC motors, controlled by the PWM method as the actuation solution. In the first part, a multicriteria analysis based on the AHP method was performed for the selection of the actuation solution. Then, using the software tools Simscape Multibody, Matlab, and Simulink, models were developed that allowed the simulation of the operation of the proposed robot, based both on its kinematics and dynamics. Using these models, both the Mecanum wheel drive version and the differential drive version were studied by means of simulation. The simulations mainly aimed at identifying the way the currents vary through the wheel drive motors, in order to find methods to reduce them. The values obtained by the simulation were later compared with those obtained experimentally, and the corresponding conclusions with regard to the accuracy of the models were drawn. Full article
(This article belongs to the Special Issue Design and Control of Industrial Robots)
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31 pages, 20630 KiB  
Article
Integrating Trajectory Planning with Kinematic Analysis and Joint Torques Estimation for an Industrial Robot Used in Incremental Forming Operations
by Sever-Gabriel Racz, Mihai Crenganiș, Radu-Eugen Breaz, Alexandru Bârsan, Claudia-Emilia Gîrjob, Cristina-Maria Biriș and Melania Tera
Machines 2022, 10(7), 531; https://doi.org/10.3390/machines10070531 - 30 Jun 2022
Cited by 5 | Viewed by 3110
Abstract
Robot manufacturing involves continuous path control, which is now available for both robotic controllers and CAM software packages. However, CAM solutions are focused on generating the code for the robotic structure to follow the toolpath, without taking into consideration the dynamics and energy [...] Read more.
Robot manufacturing involves continuous path control, which is now available for both robotic controllers and CAM software packages. However, CAM solutions are focused on generating the code for the robotic structure to follow the toolpath, without taking into consideration the dynamics and energy consumption. In this study, robot incremental forming was considered as the manufacturing process, and a simulation model, based upon Matlab-Simulink Simscape Multibody technology, was developed. The proposed model was fed with the trajectory information generated by the CAM program, and using an inverse kinematics function, it was able to generate the commands to drive the robotic structure on the technological toolpaths. The model was also used to study the dynamic behavior of the robot; external experimental data from a 3D force sensor were fed to the model to include the influence of the technological forces which appeared during the incremental forming process. Thus, using the proposed model in conjunction with the external CAM software, the influence of the workpiece position upon the joint torques could be estimated, opening the way for future optimization. The shortcomings of the model, mainly involving inaccurate information with regard to the physical properties of the robotic structure, were addressed by subtracting the dry-run joint torques from those obtained from the technological process. Full article
(This article belongs to the Special Issue Design and Control of Industrial Robots)
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