Since the 1940s, many promising telepresence research results have been obtained. However, telepresence technology still has not reached industrial usage. As human intelligence is necessary for successful execution of most manual assembly tasks, the ability of the human is hindered in some cases, such as the assembly of heavy parts of small/medium lots or prototypes. In such a case of manual as...

The upgrading of industrial cluster is upgrading along the value chain, improving the added value of products, which is from low-end to high-end in the value chain. Industrial cluster is made up of one or several supply chain in a certain geographic area concentration, and has a coupling between them. The development of the Beijing-Tianjin-Hebei integration has entered a new stage of resource i...

A novel methodology for the calculation, visualisation and analysis of the Reconfigurable Machinery Efficient Workspace (RMEW), based on the twist angles, is presented in this paper. The machinery’s kinematic parameters are used for calculating the workspace, while the efficient workspace is associated with the machinery’s path and includes the endeffector position and orientation. To analyse a...

This article describes the detailed friction modeling of the Genera1 Electric GP132 industrial robot. Friction is an area whose importance is often discounted in the development of control systems because it is thought to be insignificant or unmodelable. This work demonstrates that friction does have a predictable structure, and that significant performance improvement can be realized through i...

In industrial applications like rapid prototying and robot vision, where speed or automatic operation is more important than high accuracy, an industrial robot and a laser profile scanner can be used as a 3D measurement system. This paper is concerned with the problem of segmenting the data from such a system into regions that can be fitted with planar surfaces. We have developed a new algorith...

Industrial robots are usually programmed to follow desired trajectories, and are very good at position-controlled tasks. New applications, however, often require physical contact between the robot and its environment, and then the position control accuracy is generally not sufficient. Force control is a suitable alternative. The environment is often stiff, and then it is crucial to design appro...

This paper deals with the implementation of a hybrid force/velocity controller for the contour tracking of an object of an unknown shape performed by an industrial robot manipulator. In particular we propose the use of a gain scheduling approach in order to cope with the configuration dependent dynamics of the manipulator in constrained motion and therefore in order to allow to obtain satisfact...

The mechatronic design of a humanoid robot is fundamentally different from that of industrial robots. Industrial robots generally have to meet requirements such as mechanical stiffness, accuracy and high velocities. The key goal for this humanoid robot is not accuracy, but the ability to cooperate with humans. In order to enable a robot to interact with humans, high standards are set for sensor...

In automated factories, industrial robots have been utilised in various kinds of applications, such as material handling, painting, welding and assembling. A novel application of robot in metrology has been presented in this research. This paper presents the development of a robotic measuring system for 3D range data acquisition, which consists of an industrial robot, a set of stereo CCD camera...