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.
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.
Abstract
With the all-round development of China’s economy and society, the equipment manufacturing industry has shifted from Chinese manufacturing to creation in the past. The domestic production ...rate of many advanced manufacturing equipment is getting higher and higher, which has made a huge contribution to economic and social development. In recent years, with the rise of industrial robot technology, more and more industrial robots have replaced traditional manual operations, and they have created greater benefits for enterprises with their precision, speed, technology, and efficiency.
This paper presents a low-cost pose measuring device capable of simultaneously measuring all six coordinates (3 translations and 3 rotations) of a rigid body with respect to a given reference frame. ...The proposed system consists of a mechanical chain of rigid bodies and two encoders. The mechanism is a spatial four-bar linkage system with a symmetrical Revolute-Spherical-Spherical-Revolute (RSSR) kinematic structure, where two encoders measure the rotation of the revolute joints. The mechanism is investigated theoretically and solved kinematically using a numerical estimation method. The uncertainty of the pose determination, caused by the repeatability of the sensors, is estimated, as well as the achievable measurement range. A low uncertainty is achieved by a suitable design of the proposed kinematic chain. The mechanism is easy to realize with low tolerances and the correct definition of the length of the links allows a quite large workspace. The system can be profitably used in the calibration of robots or multi-axis machine tools where the actual pose of the gripper or spindle must be measured over the workspace of the machine. An experimental prototype is described, and the first experimental results are reported.
•Six-coordinate low-cost pose measuring device.•Simple RSSR kinematic structure, easy realized with high accuracy and low backlash.•Great linear and angular accuracy of about 1⋅10−5 m and 1⋅10−4 rad.•Useful for kinematic calibration of robots or multi-axis machine.
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