This article deals with methods of navigation and mapping of mobile robots in an indoor environment, for example, laboratories, building corridors, and so on. It explains the proposed solution of global navigation in more detail through the application of potential field method and its transformation into the topological map. Two separate software tools were designed for simulation of wheeled mobile robot behavior in the authors' workplace. The first software uses the metric form of space representation and it can simulate tactic level of global navigation, while the second one deals with its transformation into the topological map and can be used for strategic level of global navigation. This is how we can get the so-called multilayer map system suitable for different tasks of mobile robot navigation and path planning.
The article presents the design and application of multi-software platform for solving kinematic synthesis of robot manipulator systems. It also presents a modern theoretical and application approach for modelling coupled mechanical systems, which include mobile robots. Due to high requirements for accuracy, efficiency, reliability and life cycle of technical equipment, several parameters ensuring optimal operating parameters need to be taken into account while dealing with the design. This is the reason for linking computational models to optimization algorithms that allows us to find the appropriate design parameters of analysed mechanical system, mechanisms, including mobile robots mostly by iterative way. The commercial working interface of the program ADAMS and open architecture of MATLAB programming language enable to share common data while dealing with model simulations in parallel. Both of them were used while designing and implementing the algorithm for the evaluation and optimization of parameters of technical equipment from the point of view of selected properties. While working on the task of the spatial mechanism of the six-member robot manipulator system, the algorithm solving the optimal parameters was created by applying the selected optimization techniques of the program MATLAB. Presented algorithm involves the creation of a map operating positions, which is further linked to the solution of the motion of interest points in the robotic system following a prescribed trajectory. This requires the geometry optimization of the selected members of the spatial robotic system in order to achieve such parameters so that the trajectory of the interest point of the output member would precisely match with the prescribed trajectory. It is important to note that these types of tasks create wider space for solving the assignments dealing with the development and application of technical equipment like mobile robots and their outputs that are linked to the needs of the practice.
Analytical Intelligence is a set of methods and tools for acquisition and transformation of raw data into meaningful and useful information. Multicriterial diagnostics is an approach to obtain a real status of machining process just in time and produce a big pile of raw data. The paper presents a scheme of utilisation of analytical intelligence tools in multicriterial diagnostic of CNC machine tools. It is an effort to obtain a complex perception about all influences represented with measured data on machine precision.
Abstract. Position performance is one of most important parameters in terms industrial robotics and CNC machine tools. These performance criteria are changed during machine operation and therefore it is necessary to measure device parameters in regular intervals. This measurement should be as fast and easy as possible. In the case of CNC machine tools, the Renishaw Ballbar device is commonly used for such purposes. This device fits both requirements regardless it does not offer same amount of useful information for CNC machine tools and industrial robots that require special approach to measurement and data analysis which is main topic of presented article.
The intensifying of the manufacturing process and increasing the efficiency of production planning of precise and non-rigid parts, mainly crankshafts, are the first-priority task in modern manufacturing. The use of various methods for controlling the cutting force under cylindrical infeed grinding and studying its impact on crankpin machining quality and accuracy can improve machining efficiency. The paper deals with developing a comprehensive scientific and methodological approach for determining the experimental dependence parameters’ quantitative values for cutting-force calculation in cylindrical infeed grinding. The main stages of creating a method for conducting a virtual experiment to determine the cutting force depending on the array of defining parameters obtained from experimental studies are outlined. It will make it possible to get recommendations for the formation of a valid route for crankpin machining. The research’s scientific novelty lies in the developed scientific and methodological approach for determining the cutting force, based on the integrated application of an artificial neural network (ANN) and multi-parametric quasi-linear regression analysis. In particular, on production conditions, the proposed method allows the rapid and accurate assessment of the technological parameters’ influence on the power characteristics for the cutting process. A numerical experiment was conducted to study the cutting force and evaluate its value’s primary indicators based on the proposed method. The study’s practical value lies in studying how to improve the grinding performance of the main bearing and connecting rod journals by intensifying cutting modes and optimizing the structure of machining cycles.
This paper presents the evaluation of the influence of the feedmotion speed on the value of selected geometric errors of CNC lathe CTX 310 eco by DMG, indentified by QC 20 Ballbar system. Diagnostically evaluated were: the deviation of the axis squareness, reversal spike, and backlash. These errors determine the forming of the dimensional and shape accuracy of a machine tool. The article discusses the process of the CNC diagnostic test, the diagnostic evaluation and formulates guidelines on further CNC operation. The results of measurements were presented in tables and diagrams.
Industrial cameras starting to play a significant role in current industrial environment and they represent a strong tool for robotics mainly in cases when they are combined with high-speed robots. However, there are still some difficulties in vision system integration. The capability of such system (e.g. assembly or technological system) depends on several factors, for instance, the camera position, lightning conditions, pattern recognition algorithms, precise setup, as well as well-trained programmer and engineer. The skills of the engineering staff and the precise analysis of conditions and process requirements seem to be crucial for successful solution, what was proved also in our experimental test. The main aim of the article is development and complex performance analysis of robotized screwing application with integrated vision system, concretely the case study of automated assembly system in automotive industry—bolting tightening robotized station as a part of car seat assembly process. The main key elements of the designed workplace are industrial robot FANUC M-20 iA/20M with integrated iRVision system containing the industrial camera Sony XC-56. The real influence of inaccuracies during the design process, gradual “step-by-step” refinement, and final influence of all changings on the final quality and efficiency of designed system was demonstrated. At the end, we reached the point where the total number of screwing operations with NOK results (not OK / negative results) is about six single negative results per day, which represents less than 0.1% of all recognitions (overall reliability is higher than 99.9%).
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