A comparison of industrial robots interface: force guidance system and teach pendant operation

Rodamilans, Guilherme Boulhosa; Villani, Emília; Trabasso, Luı́s Gonzaga; Oliveira, Wesley Rodrigues de; Suterio, Ricardo

doi:10.1108/ir-02-2016-0074

Cited by 15 publications

(5 citation statements)

References 20 publications

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“…Such data show that in Cuba, alcohol is one of the most widely used addictive substances. Added to this is the increase in consumption among adolescents and young people, there is a significant decrease in the age of the first contact with this substance and an increasing incidence in the university context (Hernández et al, 2015(Hernández et al, , 2016, (Rodamilans et al, 2016 ), (Barandas, 2015), (Fabelo, 2016).…”

Section: Introductionmentioning

confidence: 99%

Social skills training program to prevent alcohol consumption in university students

Estevez

Roche²,

Espinosa

et al. 2018

ijhs

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In the University of Oriente (UO) of Santiago de Cuba, recent diagnoses made by specialists of the Department of Psychology demonstrated in the last years an increase in the index of students that consume alcoholic beverages, the objective of this investigation was to develop a program of training in social skills that would contribute to the prevention of alcohol misuse, the methods used were intervention, where 16 students participated and was carried out through three stages. In the first, the initial diagnosis was made by applying the Goldstein social skills questionnaire, the questionnaire for the Identification of alcohol-related disorders and a group interview, then the program was designed and applied and the final phase was evaluated. The changes that emerged in the group after the intervention. The pattern of alcohol risk consumption was initially obtained, there was a prevalence in the low level of development of social skills and a limited knowledge about the harmful effects of their consumption. After the intervention, the majority of the students reached a high level of social skills development and the social consumption pattern prevailed in the group. Favorable results were obtained for the reduction of undue alcohol consumption, where adolescents reached a high level of skill development and managed to reduce the amount and frequency of their consumption.

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Section: Introductionmentioning

confidence: 99%

Social skills training program to prevent alcohol consumption in university students

Estevez

Roche²,

Espinosa

et al. 2018

ijhs

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“…When compared to other robot teaching methods, such as jogging through teach pendant, or offline programming, hand guiding is an easier and faster procedure [2], and it is advantageous especially when production flexibility is a major concern. There are several ways to refer to hand-guided programming; e.g., kinesthetic teaching, manual guidance [3], force guidance [4], lead-through programming [5], or walkthrough programming [6]. In [7], a manual guidance approach is used in a human-robot cooperative system, and is applied to the transportation and assembly of workpieces in a production line.…”

Section: Introductionmentioning

confidence: 99%

Singularity Avoidance for Cart-Mounted Hand-Guided Collaborative Robots: A Variational Approach

Salvato

Vanzella²,

Fenu

et al. 2022

Robotics

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Most collaborative robots (cobots) can be taught by hand guiding: essentially, by manually jogging the robot, an operator teaches some configurations to be employed as via points. Based on those via points, Cartesian end-effector trajectories such as straight lines, circular arcs or splines are then constructed. Such methods can, in principle, be employed for cart-mounted cobots (i.e., when the jogging involves one or two linear axes, besides the cobot axes). However, in some applications, the sole imposition of via points in Cartesian space is not sufficient. On the contrary, albeit the overall system is redundant, (i)the via points must be reached at the taught joint configurations, and (ii)the undesirable singularity (and near-singularity) conditions must be avoided. The naive approach, consisting of setting the cart trajectory beforehand (for instance, by imposing a linear-in-time motion law that crosses the taught cart configurations), satisfies the first need, but does not guarantee the satisfaction of the second. Here, we propose an approach consisting of (i) a novel strategy for decoupling the planning of the cart trajectory and that of the robot joints, and (ii) a novel variational technique for computing the former in a singularity-aware fashion, ensuring the avoidance of a class of workspace singularity and near-singularity configurations.

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“…Among these taxonomies, Liang and Wang define two categories for the robot attributes, as subjective and objective ones [ 4 , 8 ], whereas Koulouriotis and Ketipi identify more classes, isolating for instance technical, economical and cost attributes, but also subjective, objective, qualitative and quantitative ones [ 4 ]. Since RSP originated traditionally within the industrial field, scientific literature presents several examples of methods in manufacturing environment, from design to selection of devices or components [ 1 , 9 , 10 , 11 , 12 , 13 , 14 , 15 , 16 , 17 , 18 , 19 , 20 ]. On the contrary, examples in more specific environments or applications are occasional [ 19 , 21 , 22 ], or not investigated yet, like the robot selection for tasks in biomedical environment.…”

Section: Introductionmentioning

confidence: 99%

The Robot Selection Problem for Mini-Parallel Kinematic Machines: A Task-Driven Approach to the Selection Attributes Identification

2020

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In the last decades, the Robot Selection Problem (RSP) has been widely investigated, and the importance of properly structuring the decision problem has been stated. Crucial aspect in this process is the correct identification of the robot attributes, which should be limited in number as much as possible, but should be also able to detect at best the peculiar requirements of specific applications. Literature describes several attributes examples, but mainly dedicated to traditional industrial tasks, and applied to the selection of conventional industrial robots. After a synthetic review of the robot attributes depicted in the RSP literature, presented with a custom taxonomy, this paper proposes a set of possible requirements for the selection problem of small scale parallel kinematic machines (PKMs). The RSP is based on a task-driven approach: two mini-manipulators are compared as equivalent linear actuators to be integrated within a more complex system, for the application in both an industrial and a biomedical environment. The set of identified criteria for the two environments is proposed in the results and investigated with respect to working conditions and context in the discussion, emphasizing limits and strength points of this approach; finally, the conclusions synthesizes the main results.

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A comparison of industrial robots interface: force guidance system and teach pendant operation

Cited by 15 publications

References 20 publications

Social skills training program to prevent alcohol consumption in university students

Social skills training program to prevent alcohol consumption in university students

Singularity Avoidance for Cart-Mounted Hand-Guided Collaborative Robots: A Variational Approach

The Robot Selection Problem for Mini-Parallel Kinematic Machines: A Task-Driven Approach to the Selection Attributes Identification

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