Control of industrial robots

Industrial robotics

Prof. Paolo Rocco (paolo.rocco@polimi.it)Politecnico di MilanoDipartimento di Elettronica e Informazione

What is a robot?A reprogrammable, multifunctional manipulator designed to move material, parts, tools, or specialized devices through various programmed motions for the performance of a variety of tasks.

(Robot Institute of America, 1980)

The robot is not just a mechanical device…

COMAU SMART NH3

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A robot and its control unitMechanical structure, actuators, sensors Control unit

COMAU SMART NH3 COMAU C4G

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The mechanical systemThe manipulator consists of a series of rigid bodies (links) connected by joints.

One end of this chain makes the BASE, usually fixed to the floor.

At the other end we have the END EFFECTOR where the gripper or tool is mounted.

Usually manipulators have six links:� the first three make the positioning� the last three (WRIST) make the orientation

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Some popular industrial robotsSmall size (payload less than 6 Kg):

COMAU SMART Six

(in our lab!)

ABB IRB 140

(in our lab!)

KUKA KR 6

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Some popular industrial robotsMedium size (max. payload around 100 Kg):

COMAU SMART NJ 130ABB IRB 4400 KUKA KR 140

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Some popular industrial robotsLarge size (max. payload more than 100 Kg):

COMAU SMART NX2

(800 Kg max.)

ABB IRB 7600

(630 Kg max.)

KUKA KR 1000

(1000 Kg max.)

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New robots: redundant arms

KUKA LWR

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MOTOMAN SIA10D

Seven joints: dexterity is improved

New robots: dual arm

ABB FRIDA

DLR JUSTIN

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MOTOMAN SDA10D

ABB FRIDA

(soon in our lab!)

Typical applications

Spot welding

Assembly

Arc welding

Manipulation

Loading – UnloadingPalletizing

Gluing - Sealing

Line Automation

Machining

Control of industrial robots – Industrial robotics - P. Rocco [10]Source: COMAU Robotics

Supply of industrial robots by year

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Supply of ind . robots by industries

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Supply of ind . robots by areas

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Videos: assembly

Source: FANUC Robotics

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Videos: loading -unloading, palletizing

Source: FANUC Robotics

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Videos: welding

Source: FANUC Robotics

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Videos: cutting, deburring

Source: FANUC Robotics

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Videos: painting, dispensing, coating

Source: FANUC Robotics

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Videos: other robots

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ABB Flexpicker ADEPT Quatro s650

Parallel kinematic machines: extremely fast

Robot programming

Control unit:� MMI� Power electronics� Motion planning� Control� Supervision

Teach pendant (or flex pendant):� Robot programming interface� Also wireless

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Programming environmentsABB Robot Studio

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Advanced motion programming

ABB True Move & Quick Move(commercial video)

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Safety issues in industrial robotics

ABB Safe Move(commercial video)

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Not just industrial robots…

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Service robots for professional use

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Service robots for domestic use

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