In this paper, we present the experimental results of a new spray paint algorithm presented in previous publications. Both theory and simulations indicate that the proposed method allows a robotic manipulator to paint a given surface using substantially lower joint torques than with conventional approaches. In this paper, we confirm this by implementing the algorithm on an ABB robot and we find that the joint torques needed to follow the trajectory are substantially lower than for the conventional approach.The approach presented is based on the observation that a small error in the orientation of the end effector does not affect the quality of the paint job. It is far more important to maintain constant velocity for the entire trajectory. We thus propose to allow a small error in the specification of the end-effector orientation, and we show how this allows us to obtain a higher constant speed throughout the trajectory. In addition, to improve the uniformity of the paint coating we are also able perform the paint job in less time. Note to Practitioners-This paper presents several experiments that verify previously obtained theoretical results. For a large class of taskswhere the robot is to hold a pointing device, such as a painting gun or a heating device, we show through experiments on a real robot, that we can increase the speed at which the robot tool traverses the surface. In spray painting it is for example far more important to keep a constant speed than to hold the paint gun orthogonal to the surface. The method proposed is to implement a slightly different planning algorithm in turns by allowing a small orientation error. The trajectory planner will then use the freedom obtained by allowing this orientation error to follow the trajectory with a higher constant velocity. The experiments presented in this paper show that we are able to reduce the energy needed to paint a surface with about 50% or increase the speed at which the paint gun traverses the surface with more than 50%.
Given the importance and focus of the oil and gas industry related to safety, environmental impact, cost efficiency and increased production, the potential for more extensive use of automation in general, and robotic technology in particular, is evident. The specific role of robots in this context will be to perform various inspection and manipulation operations which human field operators perform today. In this paper, we initially present an overview of the current trends and challenges within the oil and gas industry. This is followed by the latest results from our work towards realizing next generation robotized oil and gas facilities. These activities encompass indoor lab experiments, as well as outdoor demonstrations onsite. The onsite demonstration reported in this paper has been completed together with Shell and comprises the world's first prototype of a robot performing automatic scraper handling in real operational environments.
The major challenges for future oil and gas installations are to create and increase business value in addition to improve HSE (Health, Safety and the Environment). The oil and gas industry has recognised the potential of operations and maintenance in 'normally unmanned areas' where access to the entire process is based on utilisation of new robotics-based technologies from remote onshore locations. This paper concerns remote integrated operations by deploying teleoperation and telepresence of oil and gas installations. The challenges involve more than the technology of transferring data and performing operations. A teleoperator or a telerobot is a 'machine' which extends a human operator's sensing and manipulation capability to a remote environment. An essential issue of telepresence is to keep the human operators in the control loop to enable them to use their high levels of skill to complement the power of remote manipulators. Teleoperation within oil and gas differs from other known applications as offshore installations represent large, complex and dynamic processes located hundreds of miles away, often in very harsh environments where failures may result in major consequences for the environment and process equipment. The challenges of offshore teleoperation are to enhance the operator's perception of the current situation so that the operator has a complete understanding of the state of the process and operates the process as if he was offshore without hundreds of miles and complex technology in between. This paper outlines the challenges and opportunities of deploying robotics in integrated remote operations with a description of laboratory and early field tests as part of a joint project between ABB and Statoil. Without any doubt, safe and efficient remote operation is critical for operating profitable new fields which may be completely unmanned in the future.
A new identification procedure for a linear actuator used in parallel kinematic manipulators has been developed. The actuator dynamics contain both hysteresis and backlash resulting in a highly nonlinear system. The results in this paper show that not only can a nonlinear model of the system be successfully identified from measurement data, but the model is also compact enough to be an ideal candidate for inclusion in a high-performance robot control system. Abstract-A new identification procedure for a linear actuator used in parallel kinematic manipulators has been developed. The actuator dynamics contain both hysteresis and backlash resulting in a highly nonlinear system. The results in this paper show that not only can a nonlinear model of the system be successfully identified from measurement data, but the model is also compact enough to be an ideal candidate for inclusion in a high-performance robot control system. Keywords
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