In this paper a discrete-time observer-based approach to Fault Detection and Isolation (FDI) for industrial robotic manipulators is presented and experimentally tested. In order to counteract the effects of unmodeled dynamics and disturbances, a time-delayed estimate of such effects is adopted. Remarkably, the observer is designed directly in the discrete-time domain. The performance of the pro...

Direct teaching of the industrial robot is a novel technique to easily teach manipulators. However, teaching data by human hand cannot help having large noise errors ranging from low to high frequency. To use teaching data, post-processing to correct the teaching trajectory is required. Here, a novel shape-based trajectory correction method to rebuild teaching data with the feature information ...

This paper presents a vision method for tracking continuous plane curves. The purpose of the research is to develop a method for tracking step by step a continuous and plane curve, when the start point of the curve is known. The method is used for industrial robot learning. The method proposes the usage of “Positioning Along Line” camera tool. The main idea for the method is to move the camera ...

The paper describes the automation of the shoe grinding process using an industrial robot. One of the major problems of flexible automation using industrial robots is how to avoid joint limitations, singular configuration and obstacles. This problem can be solved using kinematically redundant robots. Due to the circular shape of the grinding disc, the robot becomes kinematically redundant. This...

Friction is the result of complex interactions between contacting surfaces in a nanoscale perspective. Depending on the application, the di erent models available are more or less suitable. Available static friction models are typically considered to be dependent only on relative speed of interacting surfaces. However, it is known that friction can be a ected by other factors than speed. In thi...

Unlike classification, position labels cannot be assigned manually by humans. For this reason, generating supervision for precise object localization is a hard task. This paper details a method to create large datasets for 3D object localization, with real world images, using an industrial robot to generate position labels. By knowledge of the geometry of the robot, we are able to automatically...

This paper presents a communication framework for integrating sensors in a robotic laser welding system. The framework was originally developed for the application of sensorguided robotic laser welding, but the principles are generic, making it useful in other application areas as well. To use the sensor measurements during the robot motion, a synchronisation mechanism is presented for an image...

The industrial cluster concept has become a subject of intense research studies and economic analysis starting with the study conducted by Michael E. Porter regarding the competitive advantage of nations. This concept is an economic phenomenon that is placed in a competitive context in which many businesses simultaneously compete and collaborate to gain different economic advantages. The econom...

Obviously, numerous famous brands come from industrial clusters, which become the main motive force to promote regional development. It indicates that the industrial cluster environment can promote brand development. This paper will study industrial clusters from the brand perspective, through reviewing the classification of industrial clusters, put forward the new classification of industrial ...

A predictive architecture is presented to react on sensor data in the case of high speed motion and low bandwidth sensor data. This concept is used for the vision based control of an industrial robot (KUKA) to track a contour at a speed of 1.6 m/s. The vision task can be performed very fast since only 2 rows of the image are analyzed. In this way an accuracy of 0.3 mm is reached in spite of unc...