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A Design Framework for Sensor Integration in Robotic Applications InTech
Dimitrios I. Kosmopoulos.
In this chapter we have introduced a design framework for developing software for integrating sensors to robotic applications, provided that open controller architecture is available. The design is general enough and enables the integration of the popular sensors to any open controller using a wide variety of control schemes. By keeping some simple
Tipo: 1 Palavras-chave: Industrial Robotics: Programming; Simulation and Applications.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/a_design_framework_for_sensor_integration_in_robotic_applications
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A Non-Contact Method for Detecting On-Line Industrial Robot Position Errors InTech
Gregory C. Smith.
The investigator developed an non-invasive non-contact method for detecting on-line industrial robot position errors. The method uses a low-cost sensor to detect single-axis position errors. The sensor, composed of a low-cost microwave Doppler radar detector and a low-pass filter, converts robot motion into electronic signals that are A/D converted and processed using a computer. Computer processing reduces captured signals into root-sum-of-squares error measures, with respect to a mean sensor calibration signal. Root-sum-of-squares error measures are compared to a threshold value that indicates, statistically, a 99.7% probability that an on-line position error has occurred. The threshold value can be adjusted to meet different application needs. For the...
Tipo: 20 Palavras-chave: Industrial Robotics: Programming; Simulation and Applications.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/a_non-contact_method_for_detecting_on-line_industrial_robot_position_errors
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A Teaching-Free Robot System Utilizing Three-Dimensional CAD Product Data InTech
Yoichi Nagao; Hideaki Ohta; Fumihiro Honda.
A welding robot system for large box structures has been developed and put to practical use to automate welding and to reduce labor requirements. The system automatically generates the robot operation data based on the design information from a three-dimensional CAD unit without the need for teaching by humans. This system was delivered to a client in September, 1999, since which time the system has been operating smoothly, allowing the factory to automate more than 80% of its welding work. In order to save the effort of preparation of welding information on a three-dimensional CAD unit, the authors have already implemented KCONG on Solidworks, a mechanical three-dimensional CAD. This new version has a function of definition of welding paths with which...
Tipo: 19 Palavras-chave: Industrial Robotics: Programming; Simulation and Applications.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/a_teaching-free_robot_system_utilizing_three-dimensional_cad_product_data
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Accuracy and Calibration Issues of Industrial Manipulators InTech
Mohamed Abderrahim; Alla Khamis; Santiago Garrido; Luis Moreno.
This chapter discussed the accuracy issues of robot manipulators and the importance of searching for absolute accuracy for industrial manipulators. It shows how there is an increased need to use off-line programming and robotic and manufacturing simulation
Tipo: 7 Palavras-chave: Industrial Robotics: Programming; Simulation and Applications.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/accuracy_and_calibration_issues_of_industrial_manipulators
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Adaptive Robot Based Reworking System InTech
Bernd Kuhlenkoetter; Carsten Krewet; Thorsten Schueppstuhl.
Tipo: 17 Palavras-chave: Industrial Robotics: Programming; Simulation and Applications.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/adaptive_robot_based_reworking_system
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Arc Welding Robot Automation Systems InTech
Beom-Sahng Ryuh; Gordon R. Pennock.
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Tipo: 30 Palavras-chave: Industrial Robotics: Programming; Simulation and Applications.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/arc_welding_robot_automation_systems
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Calibration of Parallel Kinematic Machines: Theory and Applications InTech
Giovanni Legnani; Diego Tosi; Riccardo Adamini; Irene Fassi.
The paper has presented a complete methodology for the identification of the geometrical parameter set necessary to describe inaccuracy in the kinematic structure of a generic parallel manipulator. The methodology, that can be applied to any existing PKM, supplies a minimum, complete and parametrically continuous model of the manipulators. It can be applied both to intrinsic (internal) and extrinsic (external) calibration. The methodology identifies the parameters describing geometric errors of the manipulator, joint offset errors and errors in the external devices used for calibration (e.g. double ball bar). Furthermore, a general formula to determine the total number of necessary parameters has been presented and discussed. The paper shows how for some...
Tipo: 9 Palavras-chave: Industrial Robotics: Programming; Simulation and Applications.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/calibration_of_parallel_kinematic_machines__theory_and_applications
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Calibration of Serial Manipulators: Theory and Applications InTech
Irene Fassi; Giovanni Legnani; Diego Tosi; Alberto Omodei.
All the steps necessary to perform a kinematic calibration of serial manipulators have been discussed and applied to an actual manipulator. This first part of the chapter has compared and extended two procedures for the identification of the geometrical parameters necessary to describe the inaccuracies in the kinematic structure of a generic serial robot . The discussion led to a new methodology called `Modified Incremental' which holds the positive characteristics of the others. Each procedure generates a Minimum, Complete and Parametrically Continuous set of parameters. First of all the formula for the determination of the total number of parameters has been discussed pointing out the distinction between internal and external parameters. The D&H...
Tipo: 8 Palavras-chave: Industrial Robotics: Programming; Simulation and Applications.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/calibration_of_serial_manipulators__theory_and_applications
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Complex Carton Packaging with Dexterous Robot Hands InTech
Venketesh N. Dubey; Jian S. Dai.
The chapter has presented a dexterous reconfigurable assembly and packaging system (D-RAPS) with dexterous robot fingers. The aim of this research was to design a reconfigurable assembly and packaging system that can handle cardboard cartons of different geometry and shapes. The initial idea was to develop such a system that can demonstrate adaptability to cartons of different styles and complexities. It was shown that the packaging machine could fold two cartons of completely different shapes. The cycle time for the folding was approximately 45 seconds in each case. Though this is not an optimized time for folding, it is envisaged to reduce the cycle time to 30 seconds or less with on-line data transfer. Although there are many issues that need to be...
Tipo: 29 Palavras-chave: Industrial Robotics: Programming; Simulation and Applications.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/complex_carton_packaging_with_dexterous_robot_hands
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Computer Vision and Fuzzy Rules Applied to a Dispensing Application in an Industrial Desktop Robot InTech
Cristina P. Santos; Manuel J. Ferreira.
In this work, we have used sensing technology to endow an industrial Desktop robot with a greater degree of flexibility in dealing with its environment. The goal was an adaptive, flexible, low-cost solution to maximize efficiencies in dispensing applications. Concretely, a CCD Camera was mounted over the robot and the visual information was used to autonomously change a previously off-line stored robot program to each workpiece. The results illustrate the flexibility and robustness of the overall application. Further, the employed approach assures a good classification of workpieces and a minimum offset and rotation values of 0.2 mm and 3 degrees, respectively. To further improve the classification procedure we intend to introduce new features in the rules...
Tipo: 22 Palavras-chave: Industrial Robotics: Programming; Simulation and Applications.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/computer_vision_and_fuzzy_rules_applied_to_a_dispensing_application_in_an_industrial_desktop_robot
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Control and Scheduling Software for Flexible Manufacturing Cells InTech
Antonio Ferrolho; Manuel Crisostomo.
Robust control software is a necessity for an automated FMS and FMC, and plays an important role in the attainable flexibility. Often FMS and FMC are built with very flexible machines (robots, CNC machines, ASRS, etc) but the available control software is unable to exploit the flexibility of adding new machines, parts, changing control algorithms, etc. The present robot control and CNC machines control systems are closed and with deficient software interfaces. Nowadays, the software is typically custom written, very expensive, difficult to modify, and often the main source of inflexibility in FMS. We have developed a collection of software tools: "winRS232ROBOTcontrol", "winEthernetROBOTcontrol", "winMILLcontrol", "winTURNcontrol" and USB software. These...
Tipo: 16 Palavras-chave: Industrial Robotics: Programming; Simulation and Applications.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/control_and_scheduling_software_for_flexible_manufacturing_cells
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Design and Validation of a Universal 6D Seam Tracking System in Robotic Welding Based on Laser Scanning InTech
Mikael Fridenfalk; Gunnar Bolmsjo.
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Tipo: 3 Palavras-chave: Industrial Robotics: Programming; Simulation and Applications.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/design_and_validation_of_a_universal_6d_seam_tracking_system_in_robotic_welding_based_on_laser_scann
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Designing and Building Controllers for 3D Visual Servoing Applications under a Modular Scheme InTech
M. Bachiller; C. Cerrada; J. A. Cerrada.
This article has presented a complete working plan for designing and performance evaluation of position based dynamic look and move systems using a 6 DOF industrial manipulator and a camera mounted on its end effector. The robot used works using the ALTER line facility, allowing a direct and uncoupled control in Cartesian coordinates. In the first stage, the dynamic models proposed for the robotic and vision subsystems have been presented, identified and validated by experimental tests. Special attention has been paid to describe the vision model, which has been optimized to cope only with the threedimensional Cartesian position measurement, in order to reduce the total on-line computation time. The overall block diagram has also been discussed. It...
Tipo: 5 Palavras-chave: Industrial Robotics: Programming; Simulation and Applications.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/designing_and_building_controllers_for_3d_visual_servoing_applications_under_a_modular_scheme
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Designing Distributed, Component-Based Systems for Industrial Robotic Applications InTech
Michele Amoretti; Stefano Caselli; Monica Reggiani.
The viability and cost effectiveness of new distributed industrial robotic applications can be widely enhanced exploiting COTS-based software components. However, systems implementing those applications must face demanding challenges: they should be dynamically reconfigurable and highly scalable to deal with a potentially large number of peers, they should provide real-time features, guaranteed performance and efficient concurrency mechanisms, both locally and in a distributed environment. The CORBA middleware, especially with its recent extensions, has proven well suited for the needs of many distributed robotic systems. In this paper, we have summarized our experience resulting from the development of distributed robotic applications based on Real-Time...
Tipo: 4 Palavras-chave: Industrial Robotics: Programming; Simulation and Applications.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/designing_distributed__component-based_systems_for_industrial_robotic_applications
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Intelligent Robotic Handling of Fabrics Towards Sewing InTech
Panagiotis Koustoumpardis; Paraskevi Zacharia; Nikos Aspragathos.
In this work, a system for robotic handling of fabrics towards sewing is introduced. A visual servoing manipulator controller based on fuzzy logic is designed in order to guide the fabric towards the sewing machine and produce a good seam quality. The experimental results show that the proposed approach is effective and efficient method in guiding the fabric towards the sewing machine, sewing it and rotating it around the needle. Unlike some of the methods referred in the introduction, the proposed controller does not need mathematical models or calculations, but it is proved to be rather simple and robust. It seems that, using intelligent methods the robotic system could be independent and autonomous in order to perform the sewing process for the majority...
Tipo: 28 Palavras-chave: Industrial Robotics: Programming; Simulation and Applications.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/intelligent_robotic_handling_of_fabrics_towards_sewing
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Interfacing the Gryphon Robot with the World Wide Web InTech
Robert T. F. Ah King; Saravanen Mootien; Harry C. S. Rughooputh.
An introductory web site on robotics, with remote control of the Gryphon robot via the World Wide Web, has been successfully designed and implemented. This chapter has described the development of the web-based interface using the tools and technologies currently available. The web site gives concise and up-to-date facts about robots and genuine industries which employs them and it acts as a teaching tool for all those who have a particular interest in robotics. Moreover, by including the control of a mechanical device in the system, a remote user can easily make the link between the theoretical approach and real life systems. The user can change the robot parameters remotely and experiment with them to learn its control. However, at this instance, the...
Tipo: 10 Palavras-chave: Industrial Robotics: Programming; Simulation and Applications.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/interfacing_the_gryphon_robot_with_the_world_wide_web
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Internet-Based Service Robotic System Using CORBA as Communication Architecture InTech
Songmin Jia; Kunikatsu Takase.
We used CORBA as communication architecture to implement networking connections between a client and the developed hand-eye robotic system. CORBA uses an Object Request Broker (ORB) as the middleware that establishes client/server relationships between objects. The client can invoke a method on a server object across a network transparently without knowing where the application servers are located, or what programming language and operating system are used. This lets system overcome the shortcomings of the other Internet robotic systems. In addition, the components of the CORBA-based system can be implemented and run independently to implement the application, and also be integrated easily into new systems. This facilitates networkdistributed software...
Tipo: 11 Palavras-chave: Industrial Robotics: Programming; Simulation and Applications.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/internet-based_service_robotic_system_using_corba_as_communication_architecture
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Joint Torque Sensory in Robotics InTech
Farhad Aghili.
Motivated by the need for accurate joint torque sensing in robots, we designed a new torque sensor, based on the hollow hexaform geometry. Its key features were its extremely high sti ness and its insensitivity to the set of support forces and moments which persist in a robot joint. These features permit to mount the sensor directly in the joints of a robot manipulator leading to accurate joint torque sensing and to a compact and modular design. The structure of the sensor also exhibits strain concentration to torsion loads which maximizes the sensitivity to torsion without sacrificing torsional sti ness. Other design issues such as practical shape consideration, material properties and overloading also considered. The sensor geometry was analyzed and...
Tipo: 2 Palavras-chave: Industrial Robotics: Programming; Simulation and Applications.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/joint_torque_sensory_in_robotics
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Kinematic Control of A Robot-Positioner System for Arc Welding Application InTech
Anatoly P. Pashkevich; Alexandre B. Dolgui.
Resent advances in arc welding technology motivate rethinking of some postulates and conventions incorporated in the existing robot control methods. This chapter addresses relaxing of the downhand-position assumption, which became a de-facto standard in robotic welding and requires the weld normal vector to be opposite to gravity. In contrast to the standard techniques, the developed method explicitly assumes that a weld may be processed in the non-downhand location, within given tolerances. But, to ensure the prescribed quality, the downhand deviation is charged by reduction of the welding speed. For such settings, it is proposed a novel method for the kinematic control of a robot-positioner system and related optimisation algorithm for the clusterlevel...
Tipo: 15 Palavras-chave: Industrial Robotics: Programming; Simulation and Applications.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/kinematic_control_of_a_robot-positioner_system_for_arc_welding_application
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Machining with Flexible Manipulators: Critical Issues and Solutions InTech
Jianjun Wang; Hui Zhang; Zengxi Pan.
Tipo: 26 Palavras-chave: Industrial Robotics: Programming; Simulation and Applications.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/machining_with_flexible_manipulators__critical_issues_and_solutions
Registros recuperados: 35
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