Modelling of Robotized Site and Simulation of Robot&amp;#39;s Optimum Placement and Orientation Zone

Baizid, Khelifa; Chellali, Ryad; Yousnadj, Ali; Meddahi, Amal; Iqbal, Jamshed; Bentaleb, Toufik

doi:10.2316/p.2010.696-111

Cited by 7 publications

(11 citation statements)

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“…The comparison shows that the results of super twisting (second order) is far better than the first order SMC in terms of each parameter under study. Table II also illustrates the Integral Time-weighted Absolute Error (ITAE) integrates the absolute error multiplied by time over time, Integral Absolute Error (IAE) integrates the absolute error over time and Integral Squared Error (ISE) which integrates the square of the error over time as shown in (15)(16)(17) respectively. All these parameters show that their value for second order is much less than the first order.…”

Section: Resultsmentioning

confidence: 99%

“…have increased the applications of robotics to an incredible extent [8]. Currently, robots are becoming an essential part in various sectors like medical [9], haptics [10,11], nuclear power plants [12], space [13][14][15], automation [16,17] and industries [18] in addition to other applications involving under-water [19], target tracking [20,21] and tether [22]. In medical domain, technology finds enormous potential in rehabilitation [23], motion assistance [24,25], anesthesia administration [26] and for patients' mobility [27].…”

Section: Introductionmentioning

confidence: 99%

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Flexible joint robotic manipulator: Modeling and design of robust control law

Aziz

Iqbal

2016

2016 2nd International Conference on Robotics and Artificial Intelligence (ICRAI)

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This paper presents modeling and sophisticated control of a single Degree Of Freedom (DOF) flexible robotic arm. The derived model is based on Euler-Lagrange approach while the first and second order (super twisting) Sliding Mode Control (SMC) is proposed as a non-linear control strategy. The control laws are subjected to various test inputs including step and sinusoids to demonstrate their tracking efficiency by observing transient and steady state behaviours. Both orders of SMC are then compared to characterize the control performance in terms of robustness, handling external disturbances and chattering. Results dictate that the super twisting SMC is more accurate and robust against the external noise and chattering phenomena compared to the first order SMC.

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Section: Resultsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Flexible joint robotic manipulator: Modeling and design of robust control law

Aziz

Iqbal

2016

2016 2nd International Conference on Robotics and Artificial Intelligence (ICRAI)

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“…Minimum seeking algorithms, designed to search the cost surface to minimize the height, can be based on exhaustive search, analytical optimization, Nedler-Mead downhill simplex method or line minimization. Genetic algorithms [32] work on the basis of genetics and natural selection and are well suited for parallel computers with an ability to optimize large number of continuous or discrete variables. Spline-based algorithms randomly select a sequence of points along the original path followed by construction of spline (e.g.…”

Section: Trajectory Planning Of Industrial Manipulatorsmentioning

confidence: 99%

“…The derived Inverse Kinematic model of the robot then gives the required position and orientation so as to pick/place the desired object(s). [12] A graphical simulation of industrial robotized sites using SolidWorks TM Application Programming Interface (API) is presented in [32]. The proposed strategy is primarily based on the developed 3D model of the site and time optimization guaranteeing collision avoidance and accessibility [33].…”

Section: Introductionmentioning

confidence: 99%

Automating industrial tasks through mechatronic systems – a review of robotics in industrial perspective

et al. 2016

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Subject reviewPressing requirements of improved and enhanced productivity in industrial applications has necessitated deployment of robot to automate tasks. Manipulator based articulated robots for today's industrial applications vary widely in terms of number of Degree Of Freedom (DOF), payload capacity, Range Of Motion (ROM), control implementation and mountable configurations. This paper presents a comprehensive and systematic review of industrial robots with a focus on their application areas. The study of manipulators for diversified applications has highlighted the need of sophisticated algorithms for their control and trajectory planning. Both of these key concepts are discussed in the paper. The control of industrial manipulator is important for accomplishing tasks requiring high precision, repeatability and reliability by mitigating the effects of disturbances. The trajectory planning is vital for time optimization, energy optimization and collision avoidance to ensure most appropriate trajectory for a given task in an environment. The application oriented review offers readers opportunities to generate ideas applicable to their operations and to conform feasibility of their ideas. Keywords: industrial automation; robot control; robotic manipulators; trajectory planning Automatzacija industrijskih poslova kroz mehatroničke sustave -pregled robotike iz industrijske perspektivePregledni članak Sve veći zahtjevi za poboljšanom i povećanom produktivnošću u industriji doveli su do potrebe razvoja robota u automatizaciji poslova. Zglobno vezani roboti bazirani na manipulatoru za sadašnje industrijske aplikacije uvelike variraju u odnosu na broj stupnja slobode -Degree Of Freedom (DOF), kapacitet nosivosti, raspon pokreta -Range Of Motion (ROM), provođenje kontrole i ugradnju konfiguracija. U radu se daje opsežan i sustavan pregled industrijskih robota s naglaskom na njihova područja primjene. Analiza manipulatora za različite primjene istaknula je potrebu za složenim algoritmima za njihovo upravljanje i planiranje putanje. O ovim se ključnim pitanjima raspravlja u radu. Kontrola industrijskog manipulatora je važna za obavljanje zadataka za koje je potrebna velika preciznost, ponavljanje i pouzdanost uz izbjegavanje smetnji. Planiranje putanje je od bitne važnosti za optimizaciju vremena, optimizaciju energije i izbjegavanje sudara kako bi se osigurala najprihvatljivija putanja za određeni zadatak u nekom okruženju. Pregled literature usmjeren na primjenu pruža čitateljima mogućnost da razviju ideje koje se mogu primijeniti na njihove poslove i razmisle o izvedivosti svojih ideja.

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“…Indeed, the traveling tour has to be performed in coordinate space rather than operational space with higher dimensionality (6 instead of 2 for the TSP planar case). Furthermore, many other factors can affect the task achievement and the cycle time such as the robot manipulator placement and orientation [11].…”

Section: Introduction (Heading 1)mentioning

confidence: 99%

Robotized task time scheduling and optimization based on Genetic Algorithms for non redundant industrial manipulators

Baizid

Meddahi

Yousnadj

et al. 2014

2014 IEEE International Symposium on Robotic and Sensors Environments (ROSE) Proceedings

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Industrial robot manipulators must work as fast as possible in order to increase the productivity. This goal could be achieved by increasing robots speed or/and optimizing the trajectories followed by robots while performing assembly, welding or similar tasks. In our contribution, we focus on the second aspect and we target the shortening of paths between task-points. In other words, the goal is to find the shorter traveled distance between different configurations in the coordinate space. In addition to the short distance goal, we aim as well to impose both IKM (Inverse Kinematic Model) and the relative position and orientation of the manipulator regarding the task-points. To this end, we propose an optimization method based on Genetics Algorithms. The method is validated via numerical and graphical simulation, where, results show that the total cycle time required to perform a spot-welding task of an industrial car-body by a 6-DOFs (Degree Of Freedoms) industrial manipulator was drastically reduced.

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Modelling of Robotized Site and Simulation of Robot's Optimum Placement and Orientation Zone

Cited by 7 publications

References 0 publications

Flexible joint robotic manipulator: Modeling and design of robust control law

Flexible joint robotic manipulator: Modeling and design of robust control law

Automating industrial tasks through mechatronic systems – a review of robotics in industrial perspective

Robotized task time scheduling and optimization based on Genetic Algorithms for non redundant industrial manipulators

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