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The purpose of this paper is to present a robotic arm that can offer better stiffness than traditional industrial robots for improving the quality of holes in robotic drilling process.

The paper introduces a five-degree of freedom (DOF) robot, which consists of a waist, a big arm, a small arm and a wrist. The robotic wrist is composed of two DOFs of pitching and tilting. A parallelogram frame is used for robotic arms, and the arm is driven by a linear electric cylinder in the diagonal direction. Double screw nuts with preload are used in the ball screw to remove the reverse backlash. In addition, dual-motor drive is applied for each DOF in the waist and the wrist to apply anti-backlash control method for eliminating gear backlash.

The proposed robotic arm has the potential for improving robot stiffness because of its truss structure. The robot can offer better stiffness than industrial robots, which is beneficial to improve the quality of robotic drilling holes.

This paper includes the design of a five-DOF robot for robotic drilling tasks, and the stiffness modeling of the robot is presented and verified by the experiment. The robotic system can be used instead of traditional industrial robots for improving the hole quality to a certain extent.

The purpose of this paper is to analyse teleoperation of an ABB industrial robot with an ABB IRC5 controller. A method to improve motion smoothness and decrease latency using the existing ABB IRC5 robot controller without access to any low-level interface is proposed.

The proposed control algorithm includes a high-level proportional-integral-derivative controller (PID) controller used to dynamically generate reference velocities for different travel ranges of the tool centre point (TCP) of the robot. Communication with the ABB IRC5 controller was performed utilising the ABB PC software development kit. The multitasking feature of the IRC5 controller was used to enhance the communication frequency between the controller and the remote application. Trajectory tracking experiments of a pre-defined three-dimensional trajectory were carried out and the benefits of the proposed algorithm were demonstrated. The robot was intentionally installed on a wobbly table and its vibrations were recorded using a six-degrees-of-freedom force/torque sensor fitted to the tool mounting interface of the robot. The robot vibrations were used as a measure of the smoothness of the tracking movements.

A communication rate of up to 250 Hz between the computer and the controller was established using C# .Net. Experimental results demonstrating the robot TCP, tracking errors and robot vibrations for different control approaches were provided and analysed. It was demonstrated that the proposed approach results in the smoothest motion with tracking errors of < 0.2 mm.

The proposed approach may be employed to produce smooth motion for a remotely operated ABB industrial robot with the existing ABB IRC5 controller. However, to achieve high-bandwidth path following, the inherent latency of the controller must be overcome, for example by utilising a low-level interface. It is particularly useful for applications including a large number of short manipulation segments, which is typical in teleoperation applications.

Using the proposed technique, off-the-shelf industrial robots can be used for research and industrial applications where remote control is required.

Although low-level control interface for industrial robots seems to be the ideal long-term solution for teleoperation applications, the proposed remote control technique allows out-of-the-box ABB industrial robots with IRC5 controllers to achieve high efficiency and manipulation smoothness without requirements of any low-level programming interface.

The purpose of this paper is to present a distance accuracy-based industrial robot kinematic calibration model. Nowadays, the repeatability of the industrial robot is high, while the absolute positioning accuracy and distance accuracy are low. Many factors affect the absolute positioning accuracy and distance accuracy, and the calibration method of the industrial robot is an important factor. When the traditional calibration methods are applied on the industrial robot, the accumulative error will be involved according to the transformation between the measurement coordinate and the robot base coordinate.

In this manuscript, a distance accuracy-based industrial robot kinematic calibration model is proposed. First, a simplified kinematic model of the robot by using the modified Denavit–Hartenberg (MDH) method is introduced, then the proposed distance error-based calibration model is presented; the experiment is set up in the next section.

The experimental results show that the proposed calibration model based on MDH and distance error can improve the distance accuracy and absolute position accuracy dramatically.

The proposed calibration model based on MDH and distance error can improve the distance accuracy and absolute position accuracy dramatically.

The purpose of this paper is to examine the advantages of two‐arm robots in the industrial environment.

The innovative thinking behind Motoman's dual arm humanoid robot is presented. Then, its technical design and its industrial applications are studied. The general advantages of co‐ordinating multiple robot arms are given.

Motoman has designed a two‐arm robot of human size to take over industrial tasks still performed manually, providing an alternative to the practice of outsourcing such operations to low‐cost labour countries. However, its variance from traditional robot design means that its applications are not immediately apparent, and sales so far have been mostly in Japan. The NX100 multiple robot controller allows high‐density layouts and reduced cycle times, and makes programming simpler than for a cluster of individually controlled robots.

Humanoid robots tend to attract hobbyists rather than industrial users. This paper concentrates on a commercially available dual‐arm robot series and its industrial potential.

Examines the growth in the use of, and versatility of industrial robots worldwide and looks at the current situation in Taiwan, which is reported to have the highest annual growth rate of robots. With a shortage of manpower, Taiwan sees automation as its best alternative, particularly in the automotive industry. Discusses robot research and development in Taiwan and compares it with other countries with regard to robotic technologies. Concludes that the number of robots deployed in the country will probably increase, allowing its industries to compete globally despite its manpower shortage.

Outlines the development of a robot measurement system, ICAROS, which combines the advantages of photogrammetrical and inertial measurement procedures, allowing the acquisition of measuring values for the determination of all [dynamic and static] industrial robot performance parameters, according to ISO 9283. Describes the photogrammetrical component and inertial system component of the pose measuring system and the integration of the two parts and looks at the over‐all‐calibration procedure in Off‐line and on‐line phase. Concludes that the system allows the pose measurement and calibration of robots, the scanning of robot programs and the transmission of these programs to other robot systems.

The industrial robot has now become accepted in almost every sector of manufacturing industry as this review of robot applications and specifications shows.

The purpose of this paper is to clarify the underlying hazards of human‐mimic human‐collaborative industrial robots.

Preliminary hazard analysis is applied to a new industrial upper‐body‐humanoid under development. The result of the analysis is summarized by Fishbone diagram analysis.

Six hazard categories involving a four‐class physical human robot interaction hazard classification are derived from the analysis.

The method of analyzing hazards presented here and the hazard theory derived from the analysis can be used in other developmental projects.

The purpose of this paper is to solve the ground verification and test method for space robot system capturing the target satellite based on visual servoing with time-delay in 3-dimensional space prior to space robot being launched.

To implement the approaching and capturing task, a motion planning method for visual servoing the space manipulator to capture a moving target is presented. This is mainly used to solve the time-delay problem of the visual servoing control system and the motion uncertainty of the target satellite. To verify and test the feasibility and reliability of the method in three-dimensional (3D) operating space, a set of ground hardware-in-the-loop simulation verification systems is developed, which adopts the end-tip kinematics equivalence and dynamics simulation method.

The results of the ground hardware-in-the-loop simulation experiment validate the reliability of the eye-in-hand visual system in the 3D operating space and prove the validity of the visual servoing motion planning method with time-delay compensation. At the same time, owing to the dynamics simulator of the space robot added in the ground hardware-in-the-loop verification system, the base disturbance can be considered during the approaching and capturing procedure, which makes the ground verification system realistic and credible.

The ground verification experiment system includes the real controller of space manipulator, the eye-in-hand camera and the dynamics simulator, which can veritably simulate the capturing process based on the visual servoing in space and consider the effect of time delay and the free-floating base disturbance.

Industrial robots are increasingly used by many manufacturing firms. The number of robot manufacturers has also increased, with many of these firms now offering a wide range of robots. A potential user is thus faced with many options in both performance and cost. Proposes a decision model for the robot selection problem using both a robustified Mahalanobis distance analysis, i.e. a multivariate distance measure, and principal‐components analysis. Unlike most other models for robot selection, this model takes into consideration the fact that a robot′s performance, as specified by the manufacturer, is often unobtainable in reality. The robots selected by the proposed model become candidates for factory testing to verify manufacturers′ specifications. Tests the proposed model on a real data set and presents an example.