With the emerging development of new technology and the constantly falling prices, more companies will find interest in industrial robots. Until today, the typical robot users have been large scale car manufacturers. But there exists a big potential market within the small to medium businesses that already uses of CNC machines. Attracting smaller businesses to start using industrial robots could open up the doors to new possibilities and increase their production. Unfortunately, most people still lack the knowledge of operating and programming industrial robots. But many companies have knowledge in G-code which is normally used in CNC machines. That is why this work is focussing on the development of a software that opens up the possibility to make use of G-code to program advanced robot paths with minimal user input. By striving for easier handling of robots, the vision about a more efficient and automated society will become one step closer. The introduction straightens out the different basic principles of CNC milling machines and robots. This will introduce the reader and highlight the different similarities and differences that exist between robots and CNC mills. The goal of this work has been to create an add-in application for ABB’s off-line programming software RobotStudio that was able to import at least one type of file format commonly used for CNC milling. The program should be able to handle some basic functionality, the focus has been on the standard iso6983 type of G-code. The project started with a literature study that gave the author a better insight in both the previous research within the area but also deeper knowledge of the systems CNC mills and robots. The work continued with the development of a software able to import the specified file format. The software has been built in C# and is built as an add-in software for ABB’s offline programming software RobotStudio. The result presents a software that is able to read different types of G-code and translate them into generated paths in RobotStudio. The software also has an inbuilt function in order to parameterize the G02 and G03 commands that represent curves in G-code into straight line segments of the type MoveL in RobotStudio.

Désormais, les clients ne se satisfont plus seulement d’une offre diversifiée de produits mais ils demandent à être partie prenante pendant les processus de développement et de configuration afin d’obtenir des produits le plus personnalisés possible en regard de leurs attentes. La contribution des clients à ces processus conduit à des changements dans l’organisation de la conception, dans le modèle de gestion de l'entreprise, la définition du produit. Tout d'abord, nous présentons le modèle de conception en configuration personnalisée nommé Auser. Nous décrivons tout d’abord les fondamentaux théoriques du modèle de conception en configuration pour personnalisation orientée utilisateur. Dans le deuxième chapitre, la méthode de conception est étudiée, y compris la description formelle des entités décrivant le produit, la construction de l'ontologie ainsi que la modélisation par fonctions, composants et services. Le troisième chapitre présente la configuration de modèle de produit personnalisé par l'utilisateur final du robot industriel. Ces utilisateurs peuvent spécifier les objectifs et contraintes de la mise en œuvre des robots industriels par le biais des paramètres et attributs. / In today's market, obtaining a variety of products through configuration design has become increasingly common. However, with the development of the market, customers have not only satisfied the company offering a variety of products, and more demands on participating in the process of configuration design by themselves, so that they can obtain fully personalized products. Customer participation leads to the changes of design process, company's management model, etc. Based on the above problem, this thesis takes industrial robot as an example, and studies the management issues related to the customer involved in the design, in order to address the contradiction between product diversification, personalized requirements and the long design cycle and high manufacturing costs. Firstly, Auser-customized configuration design pattern is presented. The theory source of user-customized configuration design pattern is introduced, and then the related concepts are expounded. The corresponding business mode of user-customized configuration design pattern is given, and the key technologies to realize business mode is studied. System dynamics models were established for user-customized configuration design business mode and for traditional business mode of industrial robots by Anylogic simulation software. Secondly, the component-based theory and method are studied, including the formal description of things, ontology representation, componentization and servitization. On this basis, the componentization description model is established for the product parts. And the model is represented as service-component. Next, the formation process and extension method of service-component are introduced. An example of industrial robot components modeling is analyzed, includingestablishing industrial robot domain ontology by protégé, describing, instantiating and extensing components. Thirdly, the industrial robot user-customized configuration design template is constructed, and users can obtain the industrial robot meeting constraints through parameters setting; The kinematics and dynamics analysis on template is taken by Simscape model, and the dynamic parameters is analyzed, and the finite element analysis on template is taken by ANSYS, including statics analysis and modal analysis. The parameters flow process in template is analyzed. Then taking industrial robot user-customized configuration design using configuration template as an example, the configuration template is analyzed in application. Fourthly, the internal algorithm of user-customized configuration design is researched. Platform-based and user-leading user-customized configuration design process is constructed, and then the internal algorithm to keep the design running smoothly is studied, including the degree of freedom determination, fuzzy demand calculation, and service-component configuration and the configuration program evaluation. A case analysis is also taken for the internal algorithm Finally, on the basis of the previous section, the prototype system design of the open design platform is taken. Based on system requirements analysis and system design, the main pages of the platform are designed, and the key functions are introduced .

[EN] This thesis deals with two characteristic problems in visual feedback robot control: 1) sensor latency; 2) providing suitable trajectories for the robot and for the measurement in the image. All the approaches presented in this work are analyzed and implemented on a 6 DOF industrial robot manipulator or/and a wheeled robot. Focusing on the sensor latency problem, this thesis proposes the use of dual-rate high order holds within the control loop of robots. In this sense, the main contributions are: - Dual-rate high order holds based on primitive functions for robot control (Chapter 3): analysis of the system performance with and without the use of this multi-rate technique from non-conventional control. In addition, as consequence of the use of dual-rate holds, this work obtains and validates multi-rate controllers, especially dual-rate PIDs. - Asynchronous dual-rate high order holds based on primitive functions with time delay compensation (Chapter 3): generalization of asynchronous dual-rate high order holds incorporating an input signal time delay compensation component, improving thus the inter-sampling estimations computed by the hold. It is provided an analysis of the properties of such dual-rate holds with time delay compensation, comparing them with estimations obtained by the equivalent dual-rate holds without this compensation, as well as their implementation and validation within the control loop of a 6 DOF industrial robot manipulator. - Multi-rate nonlinear high order holds (Chapter 4): generalization of the concept of dual-rate high order holds with nonlinear estimation models, which include information about the plant to be controlled, the controller(s) and sensor(s) used, obtained from machine learning techniques. Thus, in order to obtain such a nonlinear hold, it is described a methodology non dependent of the machine technique used, although validated using artificial neural networks. Finally, an analysis of the properties of these new holds is carried out, comparing them with their equivalents based on primitive functions, as well as their implementation and validation within the control loop of an industrial robot manipulator and a wheeled robot. With respect to the problem of providing suitable trajectories for the robot and for the measurement in the image, this thesis presents the novel reference features filtering control strategy and its generalization from a multi-rate point of view. The main contributions in this regard are: - Reference features filtering control strategy (Chapter 5): a new control strategy is proposed to enlarge significantly the solution task reachability of robot visual feedback control. The main idea is to use optimal trajectories proposed by a non-linear EKF predictor-smoother (ERTS), based on Rauch-Tung-Striebel (RTS) algorithm, as new feature references for an underlying visual feedback controller. In this work it is provided both the description of the implementation algorithm and its implementation and validation utilizing an industrial robot manipulator. - Dual-rate Reference features filtering control strategy (Chapter 5): a generalization of the reference features filtering approach from a multi-rate point of view, and a dual Kalman-smoother step based on the relation of the sensor and controller frequencies of the reference filtering control strategy is provided, reducing the computational cost of the former algorithm, as well as addressing the problem of the sensor latency. The implementation algorithms, as well as its analysis, are described. / [ES] La presente tesis propone soluciones para dos problemas característicos de los sistemas robóticos cuyo bucle de control se cierra únicamente empleando sensores de visión artificial: 1) la latencia del sensor; 2) la obtención de trayectorias factibles tanto para el robot así como para las medidas obtenidas en la imagen. Todos los métodos propuestos en este trabajo son analizados, validados e implementados utilizando brazo robot industrial de 6 grados de libertad y/o en un robot con ruedas. Atendiendo al problema de la latencia del sensor, esta tesis propone el uso de retenedores bi-frequencia de orden alto dentro de los lazos de control de robots. En este aspecto las principales contribuciones son: -Retenedores bi-frecuencia de orden alto basados en funciones primitivas dentro de lazos de control de robots (Capítulo 3): análisis del comportamiento del sistema con y sin el uso de esta técnica de control no convencional. Además, como consecuencia del empleo de los retenedores, obtención y validación de controladores multi-frequencia, concretamente de PIDs bi-frecuencia. -Retenedores bi-frecuencia asíncronos de orden alto basados en funciones primitivas con compensación de retardos (Capítulo 3): generalización de los retenedores bi-frecuencia asíncronos de orden alto incluyendo una componente de compensación del retardo en la señal de entrada, mejorando así las estimaciones inter-muestreo calculadas por el retenedor. Se proporciona un análisis de las propiedades de los retenedores con compensación del retardo, comparándolas con las obtenidas por sus predecesores sin compensación, así como su implementación y validación en un brazo robot de 6 grados de libertad. -Retenedores multi-frecuencia no lineales de orden alto (Capítulo 4): generalización del concepto de retenedor bi-frecuencia de orden alto con modelos de estimación no lineales, los cuales incluyen información tanto de la planta a controlar, como del controlador(es) y sensor(es) empleado(s), obtenida a partir de técnicas de aprendizaje. Así pues, para obtener dicho retenedor no lineal, se describe una metodología independiente de la herramienta de aprendizaje utilizada, aunque validada con el uso de redes neuronales artificiales. Finalmente se realiza un análisis de las propiedades de estos nuevos retenedores, comparándolos con sus predecesores basados en funciones primitivas, así como su implementación y validación en un brazo robot de 6 grados de libertad y en un robot móvil con ruedas. Por lo que respecta al problema de generación de trayectorias factibles para el robot y para la medida en la imagen, esta tesis propone la nueva estrategia de control basada en el filtrado de la referencia y su generalización desde el punto de vista multi-frecuencial. -Estrategia de control basada en el filtrado de la referencia (Capítulo 5): una nueva estrategia de control se propone para ampliar significativamente el espacio de soluciones de los sistemas robóticos realimentados con sensores de visión artificial. La principal idea es utilizar las trayectorias óptimas obtenidas por una trayectoria predicha por un filtro de Kalman seguido de un suavizado basado en el algoritmo Rauch-Tung-Striebel (RTS) como nuevas referencias para un controlador dado. En este trabajo se proporciona tanto la descripción del algoritmo como su implementación y validación empleando un brazo robótico industrial. -Estrategia de control bi-frecuencia basada en el filtrado de la referencia (Capítulo 5): generalización de la estrategia de control basada en filtrado de la referencia desde un punto de vista multi-frecuencial, con un filtro de Kalman multi-frecuencia y un Kalman-smoother dual basado en la relación existente entre las frecuencias del sensor y del controlador, reduciendo así el coste computacional del algoritmo y, al mismo tiempo, dando solución al problema de la latencia del sensor. La validación se realiza utilizando un barzo robot industria asi / [CAT] La present tesis proposa solucions per a dos problemes característics dels sistemes robòtics el els que el bucle de control es tanca únicament utilitzant sensors de visió artificial: 1) la latència del sensor; 2) l'obtenció de trajectòries factibles tant per al robot com per les mesures en la imatge. Tots els mètodes proposats en aquest treball son analitzats, validats e implementats utilitzant un braç robot industrial de 6 graus de llibertat i/o un robot amb rodes. Atenent al problema de la latència del sensor, esta tesis proposa l'ús de retenidors bi-freqüència d'ordre alt a dins del llaços de control de robots. Al respecte, les principals contribucions son: - Retenidors bi-freqüència d'ordre alt basats en funcions primitives a dintre dels llaços de control de robots (Capítol 3): anàlisis del comportament del sistema amb i sense l'ús d'aquesta tècnica de control no convencional. A més a més, com a conseqüència de l'ús dels retenidors, obtenció i validació de controladors multi-freqüència, concretament de PIDs bi-freqüència. - Retenidors bi-freqüència asíncrons d'ordre alt basats en funcions primitives amb compensació de retards (Capítol 3): generalització dels retenidors bi-freqüència asíncrons d'ordre alt inclouen una component de compensació del retràs en la senyal d'entrada al retenidor, millorant així les estimacions inter-mostreig calculades per el retenidor. Es proporciona un anàlisis de les propietats dels retenidors amb compensació del retràs, comparant-les amb les obtingudes per el seus predecessors sense la compensació, així com la seua implementació i validació en un braç robot industrial de 6 graus de llibertat. - Retenidors multi-freqüència no-lineals d'ordre alt (Capítol 4): generalització del concepte de retenidor bi-freqüència d'ordre alt amb models d'estimació no lineals, incloent informació tant de la planta a controlar, com del controlador(s) i sensor(s) utilitzat(s), obtenint-la a partir de tècniques d'aprenentatge. Així doncs, per obtindre el retenidor no lineal, es descriu una metodologia independent de la ferramenta d'aprenentatge utilitzada, però validada amb l'ús de rets neuronals artificials. Finalment es realitza un anàlisis de les propietats d'aquestos nous retenidors, comparant-los amb els seus predecessors basats amb funcions primitives, així com la seua implementació i validació amb un braç robot de 6 graus de llibertat i amb un robot mòbil de rodes. Per el que respecta al problema de generació de trajectòries factibles per al robot i per la mesura en la imatge, aquesta tesis proposa la nova estratègia de control basada amb el filtrat de la referència i la seua generalització des de el punt de vista multi-freqüència. - Estratègia de control basada amb el filtrat de la referència (Capítol 5): una nova estratègia de control es proposada per ampliar significativament l'espai de solucions dels sistemes robòtics realimentats amb sensors de visió artificial. La principal idea es la d'utilitzar les trajectòries optimes obtingudes per una trajectòria predita per un filtre de Kalman seguit d'un suavitzat basat en l'algoritme Rauch-Tung-Striebel (RTS) com noves referències per a un control donat. En aquest treball es proporciona tant la descripció del algoritme així com la seua implementació i validació utilitzant un braç robòtic industrial de 6 graus de llibertat. - Estratègia de control bi-freqüència basada en el filtrat (Capítol 5): generalització de l'estratègia de control basada am filtrat de la referència des de un punt de vista multi freqüència, amb un filtre de Kalman multi freqüència i un Kalman-Smoother dual basat amb la relació existent entre les freqüències del sensor i del controlador, reduint així el cost computacional de l'algoritme i, al mateix temps, donant solució al problema de la latència del sensor. L'algoritme d'implementació d'aquesta tècnica, així com la seua validaci / Solanes Galbis, JE. (2015). MULTI-RATE VISUAL FEEDBACK ROBOT CONTROL [Tesis doctoral no publicada]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/57951 / TESIS

The growing customer demands for product variety have put unprecedented pressure on the manufacturing companies. To maintain their competitiveness, manufacturing companies need to frequently and efficiently adapt their processes while providing high-quality products. Different advanced manufacturing technologies, such as industrial robotics, have seen a drastic usage increase. Nevertheless, traditional quality methods, such as quality inspection, suffer from significant limitations in highly customised small batch production. For quality inspection to remain fundamental for zero-defect manufacturing and Industry 4.0, an increase in flexibility, speed, availability and decision upon conformance reliability is needed. If robots could perform in-line quality inspection, defective components might be prevented from continuing to the next production stage. Recent developments in robot cognition and sensor systems have enabled the robot to carry out perception tasks they were previously unable to do. The purpose of this thesis is to explore the usage of robotic in-line quality inspection during changeable zero-defect manufacturing. To fulfil this aim, this thesis adopts a mixed-methods research approach to qualitative and quantitative studies, as well as theoretical and empirical ones. The foundation for this thesis is an extensive literature review and two case studies that have been performed in close collaboration with manufacturing companies to investigate how in-line quality inspection is perceived and utilised to enhance industrial robots. The empirical studies also aimed at identifying and describing what opportunities arise from having robotic in-line quality inspection systems. The result of this thesis is a synthesis of literature and empirical findings. From the literature review/study, the need for enhancing quality inspection was identified and a multi-layer quality inspection framework suitable for the digital transformation was proposed. The framework is built on the assumption that data (used and collected) needs to be validated, holistic, and online, i.e. when needed, for the system to effectively decide upon conformity to surpass the challenges of reliability, flexibility and autonomy. Empirical studies show that industrial robotic applications can be improved in precision and flexibility using the in-line quality inspection system as measurement-assisted. Nevertheless, this methodological changes and robot application face the hurdle of previous and current management decisions when passing from one industrial paradigm to another (e.g. mass production to flexible production). A discussion on equipment design and manufacturing process harmony and how in-line quality inspection and management can harmonise such a system was provided.

Stiffness analysis of an arm of an industrial robot with linear kinematics during a drilling operation. For solving this problem are used optical scanners. Finding the optimal cutting force for drilling by criterions: minimal deformation of robots arms and, at the same time, the emerging vibration from the cutting process is also minimal.

The thesis deals with the design of a robotic workplace for the operation of injection moulding machines. It is concerned with the design of the workplace component deployment and the evaluation of the best variant using a multi-criteria assessment. In detail, attention is paid to the end effectors of industrial robots and the assembly workplace, where finishing operations take place. Finally, the risk analysis and technical and economic evaluation of the proposed workplace are carried out.

The objective of this master thesis is to design a robotic work cell for automated insertion of thermostatic heads. The proposed design was based on the comprehensive analysis of the current workplace. By taking the demands of the company and customer into consideration, several possibilities of the robotic work cell design were proposed, from which the most suitable one was chosen and carefully elaborated. During the process of designing, several safety standards had to be taken into consideration in order to mitigate risks. For that purpose, a risk analysis was conducted as well. Using the Siemens Process Simulate software, the proposed robotic work cell concept was verified, including cycle time analysis. The last part of the thesis is an assessment of the initial expenditures of the robotic work cell equipment, as well as the return of the investment calculation. Drawing of the robotic work cell layout is attached to the thesis.

This diploma thesis deals with digital commissioning of a robotic production system for laser cutting. First part of this thesis sums up teoretical knowledge of virtual commissioning, fundamentals of laser and laser cutting and system analysis of such a workplace. In practical part of this thesis, the workplace was designed including the workpiece clamping. The design and the digital commissioning itself was mediated by the software RobotStudio. In the programming language RAPID a control program was made and tuned. The workoplace was then virtually commissioned. For easier handling a user interface on FlexPendant was made.

This report is a Bachelor thesis and has been done within the area of mechanical engineering at Linköping university. The thesis has been performed as a project upon request from the company Bosch Thermoteknik AB in Tranås, Sweden. The company produces heat pumps, and in the process, brazing is used as a method to build the pipe modules the pumps contain. The brazing is currently made in terms of craftmanship in the production at the company. The purpose of this project was to investigate the possibilities to automate a brazing process and present a possible solution the company can use. The solution should mainly be based on the use of an industrial robot together with an equipment for induction heating.An iterative concept-generating process for production development was used as method to perform the project. Based on the method, a result consisting of two main areas were acquired. The first area was a study of the prerequisites for the project – the process demands and a review of the technique the resources used. The other area was the concept solution for how a brazing process can be automated.The concept itself was built by two areas. One physical part in the shape of a fixture to carry the pipe-modules during the process as well as tools and aids for the robot function. The other area was the program that forms the robot’s function. The program was based on solutions to enable identification of the modules, positioning of the robot arm with tool and a verification part to ensure the brazing has been done. The robot program was founded on a written program script to control the robot.

The diploma thesis deals with the structural design of the end effector for handling with the glass stopper of the hydrogen reactor of high temperature semiconductor diffusion furnace. The work includes the summary of information about semiconductor diffusion furnace, the choice of the appropriate industrial robot, the design of the end effector structural solution, the design of its supporting structure, the power and strength calculation, the design of the end effector control and economic evaluation of its production. The 3D model together with 2D production documentation which contains the assembly drawing of the individual parts of end effector was created on the basis of the end effector design.