This research develops a novel teleoperation for robot manipulators based on augmented reality. The proposed interface is equipped with full capabilities in order to replace the classical teach ...pendant of the robot for carrying out teleoperation tasks. The proposed interface is based on an augmented reality headset for projecting computer-generated graphics onto the real environment and a gamepad to interact with the computer-generated graphics and provide robot commands. In order to demonstrate the benefits of the proposed method, several usability tests were conducted using a 6R industrial robot manipulator in order to compare the proposed interface and the conventional teach pendant interface for teleoperation tasks. In particular, the results of these usability tests show that the proposed approach is more intuitive, ergonomic, and easy to use. Furthermore, the comparison results also show that the proposed method clearly improves the velocity of the teleoperation task, regardless of the user’s previous experience in robotics and augmented reality technology.
To assess the health condition of industrial robots roundly and make hierarchical maintenance decisions, a multimodel fusion health assessment method is proposed for multistate industrial robots. ...Herein, many symptom parameters (SPs) are used to reflect the operation state of the industrial robot from aspects of vibration, temperature, and torque. Then, fuzzy deep residual shrinkage network (FDRSN) is proposed to establish the SP-based status membership function as a single assessment model. The probabilities of robot operation states are determined and formulated as the hesitation fuzzy number (HFN). These HFNs from multiple assessment models are integrated into a collective hesitation fuzzy assessment matrix. Thus, the best worst method is adopted to estimate the confidence of each assessment model, and TOPSIS is used to judge the impact of different operation states on the industrial robot's behavior. Finally, a novel health index is defined for industrial robot, and robot health degree is identified by versatile cluster for hierarchical maintenance decisions. A self-built industrial robot test stand is adopted to validate the effectiveness of the proposed method, and sensitivity and comparison analysis results demonstrated that our method has advantages in terms of the situation adaptability and performance stability.
Programmable self-assembly in a thousand-robot swarm Rubenstein, Michael; Cornejo, Alejandro; Nagpal, Radhika
Science (American Association for the Advancement of Science),
08/2014, Letnik:
345, Številka:
6198
Journal Article
Recenzirano
Self-assembly enables nature to build complex forms, from multicellular organisms to complex animal structures such as flocks of birds, through the interaction of vast numbers of limited and ...unreliable individuals. Creating this ability in engineered systems poses challenges in the design of both algorithms and physical systems that can operate at such scales. We report a system that demonstrates programmable self-assembly of complex two-dimensional shapes with a thousand-robot swarm. This was enabled by creating autonomous robots designed to operate in large groups and to cooperate through local interactions and by developing a collective algorithm for shape formation that is highly robust to the variability and error characteristic of large-scale decentralized systems. This work advances the aim of creating artificial swarms with the capabilities of natural ones.
Abstract Electricity consumption is a big problem not only for the economy, but also for the environment. More and more electricity is used, so it is necessary to find a way to save it. This article ...focuses on the electrical energy consumption of an industrial robot by changing its working height. The goal is to find out at which height it is most suitable to work in order to achieve the lowest possible energy consumption. Research is realized on industrial robot ABB IRB 6700 using simulation tools such as ABB RobotStudio and Process Simulate, where different trajectory heights are simulated. The trajectories are dimensioned according to the size of the robot. Also, the trajectories are designed to maximize the use of the robot’s axis. This method makes it possible to reduce energy consumption even before the robot is physically located in the factory and its position cannot be changed.
Soliton microcomb range measurement Suh, Myoung-Gyun; Vahala, Kerry J
Science (American Association for the Advancement of Science),
02/2018, Letnik:
359, Številka:
6378
Journal Article
Recenzirano
Odprti dostop
Laser-based range measurement systems are important in many application areas, including autonomous vehicles, robotics, manufacturing, formation flying of satellites, and basic science. Coherent ...laser ranging systems using dual-frequency combs provide an unprecedented combination of long range, high precision, and fast update rate. We report dual-comb distance measurement using chip-based soliton microcombs. A single pump laser was used to generate dual-frequency combs within a single microresonator as counterpropagating solitons. We demonstrated time-of-flight measurement with 200-nanometer precision at an averaging time of 500 milliseconds within a range ambiguity of 16 millimeters. Measurements at distances up to 25 meters with much lower precision were also performed. Our chip-based source is an important step toward miniature dual-comb laser ranging systems that are suitable for photonic integration.
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