Control of industrial robots Industrial robotics
Prof. Paolo Rocco (
[email protected]) Politecnico di Milano Dipartimento 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 unit Mechanical structure, actuators, sensors
COMAU SMART NH3
Control unit
COMAU C4G
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The mechanical system The 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 robots Small size (payload less than 6 Kg):
ABB IRB 140
COMAU SMART Six
(in our lab!)
(in our lab!)
KUKA KR 6
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Some popular industrial robots Medium size (max. payload around 100 Kg):
ABB IRB 4400
COMAU SMART NJ 130
KUKA KR 140
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Some popular industrial robots Large size (max. payload more than 100 Kg):
ABB IRB 7600
COMAU SMART NX2
KUKA KR 1000
(630 Kg max.)
(800 Kg max.)
(1000 Kg max.)
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New robots: redundant arms
KUKA LWR
MOTOMAN SIA10D
Seven joints: dexterity is improved Control of industrial robots – Industrial robotics - P. Rocco [8]
New robots: dual arm
ABB FRIDA (soon in our lab!)
DLR JUSTIN
MOTOMAN SDA10D Control of industrial robots – Industrial robotics - P. Rocco [9]
Typical applications Assembly
Spot welding
Arc welding
Loading – Unloading Palletizing
Line Automation
Manipulation Gluing - Sealing
Machining
Source: COMAU Robotics Control of industrial robots – Industrial robotics - P. Rocco [10]
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 Control of industrial robots – Industrial robotics - P. Rocco [15]
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 Control of industrial robots – Industrial robotics - P. Rocco [18]
Videos: other robots
ABB Flexpicker
ADEPT Quatro s650
Parallel kinematic machines: extremely fast
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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 environments ABB 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
Control of industrial robots – Industrial robotics - P. Rocco [25]
Service robots for domestic use
Control of industrial robots – Industrial robotics - P. Rocco [26]
