Survey on human–robot collaboration in industrial settings: Safety, intuitive interfaces and applications

Although an automated flexible production cell is an intriguing prospect for small to median enterprises (SMEs) in current global market conditions, the complexity of programming remains one of the major hurdles preventing automation using industrial robots for SMEs. This paper provides a comprehensive review of the recent research progresses on the programming methods for industrial robots, including online programming, offline programming (OLP), and programming using Augmented Reality (AR). With the development of more powerful 3D CAD/PLM software, computer vision, sensor technology, etc. new programming methods suitable for SMEs are expected to grow in years to come.

/pdf/review-recent-progress-on-programming-methods-for-industrial-328gr3a9o6.pdf

Review: Recent progress on programming methods for industrial robots

As mechanical end-effectors, microgrippers enable the pick–transport–place of micrometer-sized objects, such as manipulation and positioning of biological cells in an aqueous environment. This paper reports on a monolithic MEMS-based microgripper with integrated force feedback along two axes and presents the first demonstration of force- controlled micro-grasping at the nanonewton force level. The system manipulates highly deformable biomaterials (porcine interstitial cells) in an aqueous environment using a microgripper that integrates a V-beam electrothermal microactuator and two capacitive force sensors, one for contact detection (force resolution: 38.5 nN) and the other for gripping force measurements (force resolution: 19.9 nN). The MEMS-based microgripper and the force control system experimentally demonstrate the capability of rapid contact detection and reliable force-controlled micrograsping to accommodate variations in size and mechanical properties of objects with a high reproducibility.

https://iopscience.iop.org/article/10.1088/0960-1317/18/5/055013/pdf

Nanonewton force-controlled manipulation of biological cells using a monolithic MEMS microgripper with two-axis force feedback

Robots in machining

The atomic force microscope (AFM) is one of the most versatile tools in nanotechnology. For control engineers this instrument is particularly interesting, since its ability to image the surface of a sample is entirely dependent upon the use of a feedback loop. This paper will present a tutorial on the control of AFMs. We take the reader on a walk around the control loop and discuss each of the individual technology components. The major imaging modes are described from a controls perspective and recent advances geared at increasing the performance of these microscopes are highlighted.

http://ecee.colorado.edu/~pao/anonftp/ACC07_AFMtutorial.pdf

A Tutorial on the Mechanisms, Dynamics, and Control of Atomic Force Microscopes

Nanoassembly using atomic force microscopy (AFM) is a promising technique for nanomanufacturing. Most AFM-based nanoassembly schemes are implemented either manually using haptic devices or in an interactive way between the users and the atomic force microscope images. These schemes are time consuming and inefficient. Therefore, the computer-aided design (CAD)-guided automated nanoassembly using AFM is desirable for nanomanufacturing. In this paper, a general framework for CAD-guided automated nanoassembly using AFM is developed. Based on the CAD model of a nanostructure, the manipulation paths for both nanoparticles and nanorods are generated automatically. A local scanning method is developed to compensate for the random drift that may cause the failure of the nanoassembly. The experimental results demonstrate that the developed general framework can be employed to manufacture nanostructures efficiently. The research work opens a door to the CAD-guided automated nanomanufacturing using AFM. Note to Practitioners-Atomic force microscope (AFM)-based nanoassembly will lead to potential breakthroughs in manufacturing new revolutionary industrial products because many potential nanostructures and nanodevices are asymmetric, which cannot be manufactured using self-assembly only. In order to increase the efficiency and accuracy of AFM-based nanoassembly, automated computer-aided-design (CAD)-guided nanoassembly is desirable to manufacture nanostructures and nanodevices. Based on the CAD model, the environment model and the model of the nanoobjects, collision-free paths are generated to control the AFM tip to manipulate nanoobjects. A local scanning method is developed to obtain the actual position of each nanoobject to compensate for the random drift. Since the building materials of nanostructures and nanodevices may include nanoparticles, nanorods, nanowires, nanotubes, etc., automated path planning algorithms are developed for both nanoparticles and nanorods. The experimental results show that the developed general framework can be used to manufacture nanostructures more efficiently.

CAD-guided automated nanoassembly using atomic force microscopy-based nonrobotics

Cast aluminum wheels must be deburred and polished before chrome plating operation. Manual deburring and polishing is tedious and monotonous. Industrial robots are attracting more and more attention for the deburring applications. However, Each wheel path program was taking eight to ten weeks to create because the position and orientation of the deburring tool must be accurately identified based on the curvature of the wheel. To solve this problem, we developed a practical 6 DOF robot path generation method using hybrid force and visual servoing methodology. The force servoing keeps the robot tool continuously contacting with the wheel surface and the visual servoing controls the robot tool to follow a marked tool path on the wheel while the position and orientation are controlled and recorded. A robot path is then generated from the recorded data. Experiments are performed and the experimental results demonstrate that the developed algorithm can be used to automatically generate accurate 6 DOF robot paths for deburring aluminum wheels in less than an hour. This significantly reduces the robot programming time. The developed technology can also be used for robot path generation in many other manufacturing applications, such as welding and strip painting.

On-Line Path Generation for Robotic Deburring of Cast Aluminum Wheels

Purpose – This paper aims to develop a strategy for high‐precision assembly in a semi‐structured environment based on vision and force control.Design/methodology/approach – The position and orientation of a part are identified using the vision system. The force/torque control algorithm is then applied to perform a tight‐tolerance assembly that is a high‐precision assembly.Findings – The tight tolerance assembly in a semi‐structured environment is successfully implemented using vision guidance and force/torque‐control strategy.Practical implications – The developed methodology can be applied to tight tolerance assembly, such as forward‐clutch assembly, torque‐converter assembly, etc.Originality/value – An industrial assembly methodology has been developed and implemented for high‐precision assembly in a semi‐structured environment. This innovation has many potential applications in automotive manufacturing.

Integrated robotic system for high precision assembly in a semi‐structured environment

An industrial robot is used to assemble a part to a predetermined location on a randomly moving workpiece. The workpiece may be an automobile on an assembly line and the part may be a wheel (a tire mounted on a rim) to be assembled on one of the wheel hubs of the automobile. The robot has mounted on it a camera, a force sensor and a gripper to grip the part. After the robot grips the part, signals from both the force sensor and vision are used by a computing device to move the robot to a position where the robot can assemble the part to the predetermined location on the workpiece. The computing device can be the robot controller or a separate device such as a PC that is connected to the controller.

Robot parts assembly on a workpiece moving on an assembly line

A robot is used to pick parts from a bin. The robot has a compliant apparatus and one or more tools are connected to the apparatus to perform the picking. The compliant apparatus has mechanisms for monitoring and/or controlling its compliance. The compliant apparatus can have various embodiments. Force sensing can be used during removal of grasped parts from the bin to determine the force exerted on the picking tool(s). The signal indicative of the exerted force can be used by the robot controller to determine the weight of the parts that may be held by the picking tool(s). The robot has one or more devices which can be the picking tool to stir the parts in the bin.

Compliant End Of Arm Tooling For A Robot

Handle everyday research tasks with reliable, citation-backed results

Your personal Research Agent to handle research tasks with citation-backed results

Popular Tasks used by Researchers

How can I help with your research?

Meet SciSpace

Get more enhanced response by uploading the PDFs you want me to reference.

No relevant PDFs in your library

SciSpace is the AI research assistant for academics. Run systematic literature reviews on 280M+ papers, and write papers with cited sources. Trusted by 1M+ students, PhDs & researchers.

SciSpace | AI for Research

Analyze PDFs

Code & Manuscripts

Funding & Grants

Literature & Patents

Medical & Clinical Data

Systematic Review

Visualize & Present

Web & Data

Build a Google Scholar-like website for your research.

Build a website

Create charts and images for your research

Create a Chart

Write a paper for submission to a journal

Draft a manuscript

Patent Search

Design eye-catching scientific posters in minutes.

Scientific Poster Generation

Systematic Literature Review

One task is running at the moment. Your messages will be shown right after.

Drag and drop or click here to browse

Loved by <highlight>1 million+</highlight> researchers

Extract a list of specific topics and their sources from unstructured text

Topics

Compare and analyze relevant papers that matches with your search

Papers

Get insights from PDFs and bookmarked papers from your library

My library

Recent searches

Try searching for:

Catch AI-generated content in scholarly and non-scholarly content

{ai} Detector

Ai Writer

Get PDF Summaries, highlighted text explanations 

Chat with PDF

Effortlessly create in-text citations and bibliographies in APA and 2,500 other formats

Citation generator

Get explanations, summaries, and answers on academic papers

Ease up your research workflow with {scispace}'s cohort of exciting AI tools

Elevate your academic writing skills and convey your ideas the way you want

Paraphraser

Explore our range of reading and writing tools

Your file is being prepared and should be ready in a few minutes. If it's a large file, it might take a bit longer. You can close this window, and we'll email you the file when it's done.

You have reached a maximum limit of <strong>{limit}</strong> columns in the table. Remove at least <strong>1</strong> column to add or create another one.

Heping Chen

Author Tools

Chat about Author