26
Control of industrial robots Industrial robotics Prof. Paolo Rocco ([email protected]) Politecnico di Milano Dipartimento di Elettronica e Informazione
| Date post: | 23-Oct-2014 |
| Category: |
Documents |
| Upload: | silviocus88 |
| View: | 47 times |
| Download: | 3 times |
Control of industrial robots
Industrial robotics
Prof. Paolo Rocco ([email protected])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
Control of industrial robots – Industrial robotics - P. Rocco [2]
A robot and its control unitMechanical structure, actuators, sensors Control unit
COMAU SMART NH3 COMAU C4G
Control of industrial robots – Industrial robotics - P. Rocco [3]
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
Control of industrial robots – Industrial robotics - P. Rocco [4]
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
Control of industrial robots – Industrial robotics - P. Rocco [5]
Some popular industrial robotsMedium size (max. payload around 100 Kg):
COMAU SMART NJ 130ABB IRB 4400 KUKA KR 140
Control of industrial robots – Industrial robotics - P. Rocco [6]
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.)
Control of industrial robots – Industrial robotics - P. Rocco [7]
New robots: redundant arms
KUKA LWR
Control of industrial robots – Industrial robotics - P. Rocco [8]
MOTOMAN SIA10D
Seven joints: dexterity is improved
New robots: dual arm
ABB FRIDA
DLR JUSTIN
Control of industrial robots – Industrial robotics - P. Rocco [9]
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
Control of industrial robots – Industrial robotics - P. Rocco [11]
Supply of ind . robots by industries
Control of industrial robots – Industrial robotics - P. Rocco [12]
Supply of ind . robots by areas
Control of industrial robots – Industrial robotics - P. Rocco [13]
Videos: assembly
Source: FANUC Robotics
Control of industrial robots – Industrial robotics - P. Rocco [14]
Videos: loading -unloading, palletizing
Source: FANUC Robotics
Control of industrial robots – Industrial robotics - P. Rocco [15]
Videos: welding
Source: FANUC Robotics
Control of industrial robots – Industrial robotics - P. Rocco [16]
Videos: cutting, deburring
Source: FANUC Robotics
Control of industrial robots – Industrial robotics - P. Rocco [17]
Videos: painting, dispensing, coating
Source: FANUC Robotics
Control of industrial robots – Industrial robotics - P. Rocco [18]
Videos: other robots
Control of industrial robots – Industrial robotics - P. Rocco [19]
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
Control of industrial robots – Industrial robotics - P. Rocco [20]
Programming environmentsABB Robot Studio
Control of industrial robots – Industrial robotics - P. Rocco [21]
Advanced motion programming
ABB True Move & Quick Move(commercial video)
Control of industrial robots – Industrial robotics - P. Rocco [22]
Safety issues in industrial robotics
ABB Safe Move(commercial video)
Control of industrial robots – Industrial robotics - P. Rocco [23]
Not just industrial robots…
Control of industrial robots – Industrial robotics - P. Rocco [24]
Service robots for professional use
Control of industrial robots – Industrial robotics - P. Rocco [25]
Service robots for domestic use
Control of industrial robots – Industrial robotics - P. Rocco [26]
