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Calculation and Optimization of Industrial Robots Motion ______________________________________________________PROCEEDING OF THE 26TH CONFERENCE OF FRUCT ASSOCIATION Calculation and Optimization of Industrial Robots Motion Sergei Ivanov, Lubov Ivanova Zoia Meleshkova ITMO National Research University (ITMO University) ITMO National Research University (ITMO University) Saint Petersburg, Russian Federation Saint Petersburg, Russian Federation [email protected], [email protected] [email protected] Abstract—This paper considers a problem of improving ULC Robotics, Universal Robotics, Inc., Vecna Technologies, automated industrial manufacturing systems with a help of low- Verb Surgical, VEX Robotics, Yamaha Robotics, Yaskawa, costs robotics manipulators with a programmed control. For Arkodim, Bit Robotics, Exoathlete, Ronavi Robotics, Eidos widespread use at various industrial enterprises of robots- Robotics. The international company KUKA produces dozens manipulators with programmed control without expensive of industrial robotic manipulators used in various industries sensors and elements of artificial intelligence, we use methods of with a wide range of carrying power parameters and handling determining the spatial and kinematic characteristics of the radius. For example, for the KR QUANTEC multipurpose working body of the manipulator. The method of determining the industrial robotic arm, the payload is: 120 - 300 kg, and the kinematic characteristics is based on the matrix method in the maximum handling radius is 270 - 310 cm. kinematics of robots and the second-order Lagrange matrix equations in dynamics. The method allows to calculate the Let us consider the urgent task of improving automated optimal modes of movement of the manipulator, to increase the production systems based on low-cost robotic manipulators speed of operations on the production line. The presented with programmed control. approach makes it possible to optimize the number of multipurpose manipulators with programmed control for various A lot of modern scientific works are devoted to the technological operations, and also allows to increase the problems of robotics and automation of production. productivity of a robotic production line. In [1], robot reconfiguration technologies for automating production lines are developed and the concept of self- I. INTRODUCTION adjusting robot skills for production is proposed. Skills for Industrial robots are used in automated production systems. performing various tasks obtained from the current instructions Automation of production with a help of robots allows to of the working wizard are transferred to industrial improve the quality of products, increase the accuracy of manipulators. technological operations, increase labor productivity and eliminate exposure of harmful factors for workers. Known methods of elastogeometric calibration to improve the accuracy of positioning of industrial robots 6 DOF [2]. In In the production process, industrial robots perform the the process of elastogeometric calibration, the optimal set of following main technological operations: machine robot configurations and external loads is determined. maintenance, loading, unloading, transportation, mechanical Elastogeometric calibration reduces the maximum position restoration, assembly, installation and loading of parts, transfer error to 0.96 mm, which, in contrast to the kinematic of parts and blanks, laser and spot welding, laser cutting, metal calibration, reduces the error to 2.557 mm. casting, stamping, forging and bending, spray paint and enamel coating, packaging and picking, product quality control. A methodology has been developed for planning and optimizing the movement of the robot, which provides a set of Industrial robots consist of a manipulator and a software robot trajectories for each task while minimizing the cycle time control system for the manipulator's working body - a gripping [3]. device (gripper). In [4], the problem of controlling the accuracy of following In industrial production, a huge number of specialized a given trajectory for an industrial robot is researched. The robotic manipulators of various companies are used: 3D considered approach is applied to the predictor controller for Robotics, ABB Robotics, Aethon, Alphabet, Inc. (Google), following the trajectory on the KUKA LWR IV robot. Amazon, Autonomous Solutions (ASI), CANVAS Technology, Carbon Robotics, Clearpath Robotics, Cyberdyne, Delphi The study [5] analyzes the safety of controllers and Automotive, DJI, Ekso Bionics, EPSON Robots, FANUC software vulnerabilities for industrial robots. Safety standards Robotics, Fetch Robotics, Foxconn Technologies Group, and safety problems in industrial robotics are considered. GreyOrange, IAM Robotics, Intuitive Surgical, iRobot, Jibo, For industrial robots, an algorithm for correcting the Kawasaki Robotics, Knightscope, KUKA, Lockheed Martin, welding path in real time has been developed [6]. Locus Robotics, Omron Adept Technologies Inc., Open Bionics, Rethink Robotics, ReWalk Robotics, Robotiq, An intelligent algorithm for determining the trajectory of an Samsung, Savioke, Schunk, Seegrid, Siasun Robot & industrial manipulator based on the analysis of alternative Automation Co.Ltd., SoftBank Robotics Corporation, Soil configurations while minimizing the operation time was Machine Dynamics Ltd., Swisslog, Titan Medical, Toyota, proposed in [7]. ISSN 2305-7254 ______________________________________________________PROCEEDING OF THE 26TH CONFERENCE OF FRUCT ASSOCIATION In the study [8], an adaptive control method was proposed quaternions are a spatial transformation and are used for for industrial robots with six degrees of freedom, which kinematic analysis of the robot. The error model is obtained reduces errors with external noise and with parametric from direct kinematic equations using the algebra of double uncertainties. quaternions. The error model contains all the basic geometric parameters of the robot for kinematic calibration. The Denavit - In [9], a wireless three-dimensional manipulation system is Hartenberg error model in kinematic analysis gives an intuitive developed on a tablet PC based on augmented reality. The geometric meaning of kinematic parameters. system allows you to virtually control the movement of the robotic arm in three-dimensional space through augmented The study [18] presented a method for planning the reality. An intelligent system is being developed to build a trajectory to minimize synthesis errors and obtain stable motion robot trajectory without collisions. of industrial robots. The minimal synthesis error is determined under kinematic and dynamic constraints. A kinematic study of The study [10] proposed an improved A * algorithm for the dynamic model of the robot ER3A-C60 is carried out taking solving the robot path planning problem. Optimization of the into account the flexibility of all connections. The trajectory local path between the current and the end node is applied, planning technique can improve the tracking accuracy of the taking into account the safety of the path, the absence of final effector, while controlling the movement time and the collisions on the path and reduction of the path length. requirements of continuous trajectory control. In [11], to reduce the motion uncertainty of industrial robots Software-controlled robotic manipulators are widely used at with six degrees of freedom, a parameter identification method various industrial enterprises without expensive sensors and based on the Denavit-Hartenberg model, where excess artificial intelligence elements. parameters are taken into account during identification, is presented. For the kinematic model of an industrial robot with The paper presents a method for determining the spatial and six degrees of freedom, the linearization method and an kinematic characteristics of the working body of a manipulator alternative identification algorithm with a modified least- based on the matrix method in the kinematics of robots and squares scheme are used. second-order Lagrange matrix equations in dynamics. The method allows you to determine in space the correct position of In [12], the problems of dynamic identification for an the working body of the manipulator. The method allows you industrial robotic arm with six degrees of freedom are to calculate the working optimal operating modes of the investigated and a procedure for identifying parameters based manipulator, increase the speed of operations on the production on a modified cuckoo search algorithm is presented. The line. The presented matrix method was applied in [23] for the nonlinear model of the robotic arm takes into account friction study of manipulators with five degrees of freedom. in the joints. This approach optimizes the number of universal In [13], an adaptive robust controller is developed for manipulators with program control for various technological dynamically tracking a robot trajectory with 6 degrees of operations, and also allows to increase the productivity of a freedom with parametric uncertainties and external noise. The robotic production line while maintaining the quality of the controller is developed on the basis of a combination of sliding process. mode control, adaptive control and has the ability to adapt and resistance to parametric changes and uncertainties. The method allows you to calculate and optimize the sequence of movements of the links of the robot-manipulator to In the study [14], a smooth path planning method for move the grip of the manipulator to a given point in space.
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