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EUROPEAN ADHESIVE ENGINEER MODULE 5.9
AUTOMATION AND ROBOTICS
I03 – NATIONAL ADAPTATION AND TRANSLATION OF THE CURRICULA
ERASMUS + REFERENCE 2015 -I- PT 01- KA202 - 012915 This project has been co-funded with support from the European Commission. This communication reflects the views only of the author, and the Commission cannot be held responsible for any use which may be made of the information contained therein.
ADHESIVE BONDING ENGINEER | Bonding Process
5.9 Automation and Robotics
Objectives
Gain fundamental knowledge about automated systems, their functionality, limits and their applicability.
Be able to explain ◦ Kinematics ◦ Drives ◦ Sensors ◦ Controllers and systems ◦ Coordinate systems and programming
of an automated system
2
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Contents
3
Introduction
Kinematics
Actors
Sensors
Controllers
Programming
Mechanical system-Kinematics
Actors
Sensors
Controller
Interface to the enviroment
Handheld- unit
Safety features
Programming unit
Basic Components
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Definitions
4
2. Attempt of definition :
a flexible handling unit (together with grippers , sensors)
a reprogrammable, multifunctional handling device to manipulate objects along not determined path for a variety of tasks
a machine with the ability to move itself or objects in space
1. Attempt of definition:
a working machine
an artificial human
a battle- / war machine
or in means of science fiction (I. Asimov): a thinking machine
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Definitions
5
The term robot
I. Asimov (1920-1992): 3 robotlaws (1942)
„Rossums universal robot“ by Karel Capek
In this story the scientist Rossom and his son develop a chemical substance, to produce robots. The aim of was that the robots should serve mankind and to all heavy work. Within the time Rossom created the „perfect“ robot. At the end of the story, the robots did not conform with the serving function, but revolted and killed all human live.
The term robots was created in 1921 by the Czechoslovakian author Karel Capek: [it comes from chech. Robota - „work, forced labour“]
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Definitions
6
1. The possibility to move itself and/or other physical objects. 2. Arms, wrist and an effector, if objects have to be moved. 3. Wheels or legs if the robot is mobile. 4. Drives and controllers for the aimed movement. 5. Computers for decision making and store commands. 6. Sensors, e.g.
for contact, forces, moments, to determine the position of the robot, the bearing of the arm and the wrist to measure distances, to aquire pictures and to recognize form, size, color and movement to measure heat conductance, temperature, current and voltage to realise roughness, hardness and the smell of objects to recognize soundwaves and tones
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Industrial robot - Definition
7
Definition (VDI-version): A universal applicable mechanical device with multiple axes, whose movements are free
programmable in means if direction, path and angles and if necessary sensor guided
Definition (DIN): Industrial robots are all purpose applicable mechanical devices with multiple axes, whose
movements are free programmable in means if direction, path and angles and if necessary sensor guided. They are equipped with grippers, tools or other working facilities (e.g. effectors) and are able to perform hangings and producing tasks.
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Robots - basics
8
Robotic is based on 2 basic techiques: 1. Remote manipulators 2. Numeric control (NC, DNC)
Remote manipulators: machines, manipulators, effectors which are remote controlled by the user (cranes, diggers, ...)
Numerical Controls: The axes of a machine are precisely moved in accordance to a coordinate- system. Trajectories are
determined as a sequence of points in space
Combination: programmable manipulator: mechanical effectors which are programmable
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Robots - basics
9
Moving device
Moving devicewith variable mainfunction
Moving device with fixed mainfunction.Changes of the movements areimpossible
Programcontrolled movingdevice
Hand operated movingdevices teleoperator manipulator
Program controlledmoving deviceChanges of themovementprogrammpartly reachable bymechnical conversion
Free programablemoving device
Without automaticprogram overrideIR with one or morefixed, selectableprograms
With automaticprogram overrideIR with one ormore fixed,selectableprograms, whichcan be chooseautomatically
With automaticprogram adjustmentIR which adjust theirprogramms thru outersensor signals
Moving device
Moving device with variable main function
Moving device with fixed main function. Changes of the movements are impossible
Hand operated moving devices • teleoperator • manipulator
Program controlled moving device
Program controlled moving device Changes of the movement programm partly reachable by mechnical conversion
Free programmable moving device
Without automatic program override IR with one or more fixed, selectable programs
With automatic program override IR with one or more fixed, selectable programs, which can be choose automatically
With automatic program adjustment IR which adjust their programs thru outer sensor signals
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Robots: Kinematics
10
Mechanical system-Kinematics
Actuators
Sensors
Controller
Interface to the enviroment
Handheld- unit
Safety features
Programming unit
Basic Components
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Robots: Kinematics
11
Example: humans
human arm: 6 Possibilities of movement oder degrees of freedom: 2 degrees (turning possibility in 2 areas) in the shoulderjoint, 1 degrees in the ellbowjoint 3 degrees (turning possibility in 3 areas) in the wrist.
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Robots: Kinematics
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Robots: Kinematics
13
Kinds of axes: translative axes
• Free configurable workspace • Arbitrarily expandable workspace • Favorable kinematics for handling- tasks
rotatory axes: • Fast movements • Favorable priced for small workspaces • advantageous kinematics for machining tasks
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Robots: Kinematics
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Robots: Kinematics
15
Mechanism: basics and definitions From the point of view of the theoretical mechanics, robots are active
mechanisms, These mechanisms can be disposed in different categories.
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Robots: Kinematics
16
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Robots: Kinematics
17
Robots: main axes and secondary axes
• main axes to approach the position
• hand axes – Orientation of the tool in space
• tool: e.g.
– Grippers – Spray guns – Dispensing units
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Robots: Kinematics
18
X, Y, Z, U, V and W for translatory axes A, B, C, D, E and F for rotatory axes Q, R, S and T for additional axes The main axes are separated from the secondary
axes by a hyphen „/“
VDI 2861 has an symbolic language to describe the configuration of he system:
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Robots: Kinematics
19
e
2. axes aligned with the 1st axes e...Eccentricity
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Robots: Kinematics
20
Robots: pure rotatory: RRR
All axes of the robot are rotatory. Depending of the size they have speeds from 100°/sec to 720°/sec.
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Robots: Kinematics
21
Robots: pure translatory: TTT
All pricipial axes are translatory axes
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Robots: Kinematics
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Robots: hybridforms: RRT und TRR: Scara
This robot- configuration consist of a vertical translatory axes and two rotatory axes in horizontal direction.
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Robots: Kinematics
23
Robots: all conventional serial kinematics cartesian cylindric spheric horizontal ellbow vertical ellbow
mec
hani
smW
orks
pace
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Robots: Kinematics
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Robots: other serial kinematics
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Robots: Kinematics
25
Robots: operating space definition
The operating space is defined as this part of the moving space, which can be reached from the center of the interface between secondary axes and the tool (TCP = Tool center point) with all movements of all axes Definition (acc. to guidline VDI 2861, page. 2):
Principial axes
secondary axes
TCP (e.g. Welding torch, ...)
Interface between principial axes and secondary axes
Tool
Reference point of the main operating space
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Robots: Kinematics
26
Robots: Determination of the workspace
Configuration and sequence of swivel- and thrust- joints
Moving possibility of the joints Configuration of the robot- arm
(weight,…) Type of the end- effektor Position of the robot Environment of the robot
kubic
cylindric
spheric
toroidial
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Robots: Kinematics
27
Robots: Determination of the workspace
Robots in hanging positions have a larger operating space than robot in standing positions.
Eccentricities e allow to enlarge the operating space further
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Robots: Actuators
28
Mechanical system-Kinematics
Actuators Motors pneumat.- hydraulic
cylinders etc.
Sensors
Controller
Interface to the enviroment
Handheld- unit
Safety features
Programming unit
Basic Components
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Robots: Actuators
29
Robots: requirements on robot- drives
Requirements on robot- drives
The positioning- time of a robot- axes should be as small as possible
High torques, because large masses have to be accelerated
In special cases: hybrid- controller between position- and force- controlling (controlled stiffness)
High positioning accuracy
High efficiency (low power dissipation)
Small overshooting IR drives are setup as servo- controllers
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Robots: Actuators
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Robots: types of drives
Hydraulic drives
Pneumatic drives
Electric drives
If the moving device has a closed loop controller with an positioning- or speed-measurement- system to generate an electronic actuating variable the drive is called Servo drive
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Robots: Actuators
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Robots: drive-perfomance
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Robots: Actuators
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Robots: Servocontroll loop
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Robots: Actuators
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Robots: Types of Electric- Motors
E- Motors
DC- Motors AC- Motors
Synchron-motors
Asynchron-motors
Stepper-motors
brushlessDC- motors
Synchronmotors withsinus current
Hydraulic drives
DC- motors
AC- motors
Synchronous motors
Asynchronous motors
Steppermotor
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Robots: Actuators
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Robots: DC- motors principle
Generation of momentum Problems: damage of the commutator
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Robots: Actuators
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Robots: AC- motors rotating field
By excitation of the 3 phases with a three phase system which is shifted by T/3, the field is rotating with the synchronous angular speed
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Robots: Actuators
36
Robots: AC- motors
Synchronous motor
If the magnetic field is rotating around the stator, the rotor will rotate with the same angular speed as the rotating field (synchronous) because of the magnetic coupling between the coil and the magnet.
asynchronous motor
The stator induces a current into the rotor, which produce a momentum. The higher the difference between rotation of statorfield and rotation of rotor the higher the current. Not often used for positioning systems.
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Robots: Actuators
37
Robots: AC- linear motors
Special type of synchronous motors Consist of a primary part and a secondary part Primary part: flat three phases system coil of a SM Secondary part: flat permanent magnets
advantages: No transfer from rotatory movement to translatory movement No friction losses of spindles and gears Small center of mass More than one primary parts on one secondary part. High speed applications with more than 100 m/min and up to
40 g
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Robots: Actuators
38
Robots: Stepper motor
Instead of a continuous rotating field a field with discrete coils can be used.
Switching the coils in different order gives the rotor different positions
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Robots: Actuators
39
Robots: Mechanical components
Spindles Gears Gear rods cardan rods etc.
Important:
Minimum backlash Small weight High ratios Small maintenance intervals
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Robots: Actuators
40
Robots: Ballscrews
High accuracy Medium speeds Standart device for transforming rotary
movement in linear movement
1. An elliptic body alters with the balls and the bearing outer ring the flexible teethed body (Flexspline)
2. One rotation of the wavegenerator gives a change in the teeth area
3. Because of the difference of number of teeth of the flexspline and circularspline ...
4. ... A complete rotation of the wavegenerator results in a rotoation of the flexspline according to the difference of teeth.
Robots: harmonic drives
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Robots: Actuators
41
Robots: Cyclo drives
Similar functionality as harmonic drives High gear transmission ratios No backlash
Robots: other possibilities
•Cardan shaft •Push poles •Chain •Tooth belts
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Robots: Characteristics
42
Robots: main characteristics Loads
Maximum range
Workspace
Rotation speed axes 1 to 6
positioning accuracy
repetition accuracy
accuracy of path
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Robots: Characteristics
43
Robots: load nominal load:
Marks the amount of load with which robot can work without restriction of his moving possibilities, his axes speeds and his guaranteed accuraccy of path. To define completely the load data, the load attack point is also to be fixed beside the load information. Usual used weights are 8, 1 5, 30, 60, 80, 100 or 150 [kg].
For path robots at the nominal load, e.g., the tool, sensors and the wire with the strain relief and have to be taken into consideration.
The maximum load marks the upper border of the load which can be still used under limiting conditions to be called (e.g., decrease of the load or the speed, limitation of the field of work, lowering of the acceleration values, restriction of the exactness).
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Robots: Characteristics
44
Robots: spacing The workspace is that space which can be still reached from the interface secondary
axes/tool.
Is to be noted that within the workspace robot positions can exist, which are computable only ambiguously according to software and are not simply crossable, hence, any more.
The movement space is larger than the workspace, and with it identically with the danger area and is not usable in most cases any more for the working process. Within the movement space a person can collide with a part of the robot.
The maximum reach is the radius or the lengths of the movement space.
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Robots: Characteristics
45
Robots: speeds The workspace is that space which can be still reached from the interface secondary
axes/tool.
Is to be noted that within the workspace robot positions can exist, which are computable only ambiguously according to software and are not simply crossable, hence, any more.
The movement space is larger than the workspace, and with it identically with the danger area and is not usable in most cases any more for the working process. Within the movement space a person can collide with a part of the robot.
The maximum reach is the radius or the lengths of the movement space.
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Robots: Characteristics
46
Robots: positioning or absolut accuracy
( ) ( ) ( )
position command )//( Ofocusmean )//(G
C
222
CCC
CCCP
zyxzyx
zzyyxxAP −+−+−=
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Robots: Characteristics
47
Robots: distance or repetition accuracy
If the comand positions Pc1 and Pc2 are given and the actual positions are P1j and P2j, then the position distance accuracy is give as the difference of the distance between Pc1, Pc2 and P1j, P2j where this distance is approached n times.
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Robots: Characteristics
48
Robots: absolut vs repetition accuracy ideal positioningsystem
good repetition accuracygood absolute accuracy
good repetition accuracybad absolute accuracy
bad repetition accuracybad absolute accuracy
start position endposition
start position endposition
start position endposition
start position endposition
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Robots: Characteristics
49
Robots: absolut vs repetition accuracy
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Robots: Characteristics
50
Robots: backlash
The backlash characterises a systematic distance divergence which comes from the averages of both starting-up directions
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Robots: Sensors
51
Mechanical system-Kinematics
Actuators
Sensors • Position measuring
systems • Cameras • Lasersensors
Controller
Interface to the enviroment
Handheld- unit
Safety features
Programming unit
Basic Components
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Robots: Sensors
52
The simpliest possibility to detekt position is to use switches. Switches can be categorised in
•Mechanical switches •Induktive switches (Beros) •Light barriers
Depending on the application different tactile or not tactile switches are used. To ensure the safety an to determine the origin is is necessary to mount limit switches an reference switches.
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Robots: Sensors
53
Ultrasonic sensors
applications:
distance measurement
obstacle detection (near field)
measurment of the enviroment (farfield)
properties:
accustic waves in the frequency region above 20 kHz
propagation only in materials
When the soundwave hits a borderplane between two media the wave splits into a transmitting and a reflected part
Determination of the distance by measurement of the propagation time
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Robots: Sensors
54
Robots: position measurement systems
Direct and indirect spatial measurement units
• Difference between the measurement unit in the way of mounting it in the system
• Direct measurement untits are mounted directly on the
moved component. They are measuring the real value (position or speed)
• Indirect measurement untits are fixed on the moved
componets by using mechanical transitions (spindels, gears, etc.). They are measuring all errors and uncertainties togher with the real value.
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Robots: Sensors
55
Robots: position measurement systems
Difference in the way of movement •Rotatory movement: rotatory encoders ( resolver) •Linear movements: (glas-) gauges
Difference in the measurement type
•Incremental encoders or gauges •Distance coded gauges •Absolute gauges
Important for the accuracy of the measurement is the resoltion of the the encoder. For interpolation reasons the resoltions of the encoders are multiplied within the controller to reach a higher resoltion when approaching a postion.
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Robots: Sensors
56
Robots: Optical encoders
Incident light method
The light is emmitted by the light source, and directed be the condesor and the sample plate. The transmitted light of the gauge is detected by the photoelements.
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Robots: Sensors
57
Robots: Optical encoders
Transmitted light method
The light is emmitted by the light source, and directed be the condesor and the sample plate. The transmitted light of the disk is detected by the photoelements.
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Robots: Sensors
58
Robots: Optical encoders
advantages: • Very robust encoders • High resolutions (up to 1µm) • High speeds up to 200m/min disadvantages: • The system has to be referenced • Possibly dangerous movements when switching the machine on • When loosing the suplly, all data are gone
Function: • The controller counts the pulses of the encoder and calculates the pdotion
(and the velocity). • When the reference position is reached the cotroller sets the position to zero.
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Robots: Sensors
59
Robots: Optical encoders
advantages: • Very robust encoders • High resolutions (up to 1µm) • High speeds up to 200m/min disadvantages: • The system has to be referenced • Possibly dangerous movements when switching the machine on • When loosing the suplly, all data are gone
Function: • The controller counts the pulses of the encoder and calculates the pdotion
(and the velocity). • When the reference position is reached the cotroller sets the position to zero.
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Robots: Sensors
60
Robots: Optical encoders
Absolut encoders
Additional tracks to detect the absolute position within one revolution
To determine the position within more revolutions two ore more discs in series are used (multy turn encoder, like a watch)
The position is tranfered as bit- coded information to the controller
Coding can be done by Gray code ore dual code Stadart encoders have revolutin of 210 = 1024 steps per
revolution Higher encoder have revolutions up to 217 = 131072 per
revolution
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Robots: Sensors
61
Robots: Optical encoders
Incremental linear gauge Linear absolut gauges
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Robots: Sensors
62
Robots: Laser- triangulation systems (LTS)
The distance measurments by triangulation is based on the comparism of similar triangles.
Because of the deflection x, which is detected by the reciever, it is possible to calculate the distance d of the object.
Generally the optical triangulation can have different geometries, most of them can be deducted of the common description.
)()tan()()tan(
0
0
xxHxxH
Bd++⋅+−⋅
⋅=αα
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Robots: Sensors
63
Robots: Laser- triangulation systems (LTS)
Measurable objects:
From the measuring principle it is now clear, why laser triangulation systems are only restricted usable with following materials:
Surfaces with small roughness (mirrors, glas, CD‘s, polished metalls, wafers). Some manufacturers offer special systems for these surfaces.
Surfaces with small reflectivity („black bodies“)
Surfaces with are partly penetrated by light (glas, ceramics, teflon)
Surfaces which lead to a dispersive reflection of the laserlight are favorable. A change of the reflection can falsify the measurement.
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Robots: Sensors
64
Robots: Laser- triangulation systems (LTS)
Measurable objects:
From the measuring principle it is now clear, why laser triangulation systems are only restricted usable with following materials:
Surfaces with small roughness (mirrors, glas, CD‘s, polished metalls, wafers). Some manufacturers offer special systems for these surfaces.
Surfaces with small reflectivity („black bodies“)
Surfaces with are partly penetrated by light (glas, ceramics, teflon)
Surfaces which lead to a dispersive reflection of the laserlight are favorable. A change of the reflection can falsify the measurement.
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Robots: Sensors
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Robots: Laser- triangulation systems (LTS)
Using a laserline instead of a laserpoint a complete contour can be measured (down to precisions to 1µm)
Applications: pathfinding, position measurements after process
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Robots: Sensors
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Robots: Laser- triangulation systems (LTS)
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Robots: Sensors
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Robots: Optical sensors – cameras
If the edges of a contour is visible due to strong lightsources, so that bright and dark differences occur, the contour position and geometry can by detected by CCD- or CMOS cameras.
These cameras can be able to detect on line (line cameras of the whole camera area (array).
To create a three dimensional picture at least two cameras are necessary.
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Robots: Sensors
68
Robots: Optical sensors – cameras The two generated images alone do not indicate the exact z distance of the measuring points, since there is still no association between the image points in the two lines.
The assignment of the image points is carried out by means of a correlation method (smallest error rate).
In this correlation method, the two measuring lines are pushed over each other (mathematically) until the quotient of the difference of the measured values is a minimum.
The distance can then be calculated by geometric relationships.
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Robots: Controller & Movements
69
Mechanical system-Kinematics
Actuators
Sensors • Position measuring
systems • Cameras • Lasersensors
Controller
Interface to the enviroment
Handheld- unit
Safety features
Programming unit
Basic Components
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Robots: Controller & Movements
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Robots: Controllers Calculation of the robot movement in the respective coordinate system
Calculation of the trajectories)
Transfer of the position values to the drives and monitoring of the position sensors
Communication with the environment (superior control units)
Monitoring the sensors (inputs and outputs)
Communication with the HMIs (Human Machine Interface)
Processing the robot programs
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Robots: Controller & Movements
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Robots: Controller components Central computer (CPU): The computer-intensive tasks are carried out by several microprocessors,
depending on the state of the art
Internal memory
Write and read units for external data
Positioning units: The position controllers have the function of comparing the preset position commands with the actual value of the measuring system from the central computer and passing the speed commands to the speed controllers. These tasks are handled by own microprocessors
Input and output units
Programming unit, display field
Databus (firewire, industrial lan, …)
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Robots: Controller & Movements
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Robots: Movement concepts Two movement concepts are applied in industrial robots:
-Point-to-point control (PTP),
-Continous-Path Control (CP),
Point-to-point controls can be used in all cases in which only individual points have to be approached within the working area, ie. for handling tasks, for fast movements of the welding gun between the welding tracks.
In pure PTP mode, each axis travels by itself to the programmed command coordinates. There is no coordination between the individual axes, i. in this operating mode, the resulting path curve can not be foreseen by the operator, and there is a danger of collision in the vicinity of components in a point-to-point approach
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Robots: Controller & Movements
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Robots: Movement concepts
Continuous-Path control
Specification of the start, end point and geometry of the path (straight, circular arcs, parabola sections)
Coordinated motion of all axes
Control Calculating curvature from given boundary conditions
Example: Assembly, grinding, polishing, bonding, welding, spraying
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Robots: Controller & Movements
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Robots: Movement concepts With the spline interpolation, point sequences can be connected by smooth curves. Splines may e.g. can be used to connect digitized points to curves.
There are different spline types with different characteristics, which also lead to different results. In addition to selecting the spline types, the user also has influence on a number of parameters. Often, some attempts are required to produce the desired image.
Three spline types are possible:
A - spline (Akima spline)
B spline (non-uniform, rational base spline, NURBS)
C - spline (cubic spline)
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Robots: Controller & Movements
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Robots: Movement concepts- blurring
it is not possible to change from one robot path to another at a constant speed without requiring decelerating or accelerating of one or more axes.
Therefore the point in between the paths is not reached exactly while blurring
Advantage:
Time saving (about 20% +/-)
HP does not need to be braked
Protection of the plant
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Robots: Controller & Movements
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Robots: Movement concepts- oscillating motion
oscillation amplitude
oscillation frequency
oscillation shape (sinus, rectangular, triangular)
oscillation angle
oscillation plane
Pendelamplitude
Pendelweg
Schweißmittelpunktbahn
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Robots: Controller & Movements
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Robots: coordinate systems
In motion control, reference systems are described by coordinate systems, the transitions between the coordinate systems being performed by (math.) Transformations.
Classification:
Environmental coordinate system
Machine coordinate system
Base coordinate system
Workpiece coordinate system
Tool coordinate system
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Robots: Controller & Movements
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Robots: Transformations The task of the transformation is to transform motions of the tool tip programmed in a Cartesian coordinate system into the machine axis positions.
The machine geometry is parameterized according to a modular principle. The machine is successively projected from its base point to the tool tip by means of geometry parameters so that a closed kinematic chain is formed. Frames are used to describe the geometry.
For each of the robot axes more or less a coordinate transformation is set. In succession, these transformation rules result in the movement of the robot in the workpiece coordinate system.
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Robots: Transformations A singular position is characterized, for example, by the fact that the fifth axis is at 0. The singular position is not linked to a particular orientation here. In this position, the fourth axis is not determined, i. E. the fourth axis has no influence on the position or orientation.
In the case of articulated arm and scara kinematics, a singular position is also present when the third axis is at 0 ° or at 180 °. These positions are called stretching / bending singularity.
A further singular position is present in articulated arm kinematics when the hand point is above the axis of rotation of axis 1. This position is called "overhead"
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Robots: Controller & Movements
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Robots: Multi-Robot-Technologie Multi-robot technology is the ability to deal with one
(or several) controller (s) to manipulate and manipulate several manipulators individually deterministically
in variable groups
in different types of interpolation
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Robots: Controller & Movements
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Robots: Multi-Robot-Technologie assumptions:
no digital handshakes to synchronize robots
Interference check between the manipulators
variable and dynamic formation of groups
Synchronization of parallel-running motion tasks
no lag times of synchronously operating manipulators in the event of a fault
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Robots: Controller & Movements
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Robots: MMI (man machine interface)
deadman button: enables – disables the drives
Display: for program- code, positions, etc.
Emergency Stop: Stops the machine by making the drives current- free
Speed adjustment : for overriding speed
Keyboard: for entering codes, etc.
Keyboard
Display
Joystick
Speed adjustment
Emergency Stop Totmannstaste
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Robots: Programming
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Robots: Ways of programing
Distinction in
Online programming
Offline programming
mixed programming
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Robots: Programming
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Robots: Online programing
Online programming: The program is created online, on the robot with the aid of a program input device (operating device or similar). This process is also called "TEACH-IN". The determined position values correspond to the actual values of the system.
Advantage: No adjustment between robot program and workpiece has to be carried out
Disadvantage: When changing coordinates, the positions must usually be re-determined.
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Robots: Programming
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Robots: Offline programming:
The program is created offline, using a computer. The output values for the program are the most idealized data of a CAD interface.
Advantage: The program can be created almost in the simulation and checked.
Disadvantage: The theoretical data must be matched with the reality of the work piece (sensors, position determination => connection to sensors, actors
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Robots: Programming
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Robots: Programing machines in general
Programing languages can differ in syntax but commands have usually more or less the same context. There are commands for:
Movements: position, speed, acceleration, burring or oscillation
Sensors and Inputs: start signal, ready signals, safety signals, etc.
Actors or output signals: start signals, communication signals
Program control: loops, if then else…, etc.
Communication commands with process- sensors and control functions
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Robots: Programming
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Robots: Programing machines in general
Programing is usually done by serial programming , after one command has finished, the next command is executed .
Programmed movements start at the actual position and end at the programmed position
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Robots: Programming
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Robots: Programming machines in general Example
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Robots: Examples
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Automatic sealing system (vision based)
Fullautomatic dispensing system (2C-silicone)
Bonding of spoilers
Bonding of hook-and-loop tapes
Click pictures to play video
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