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Industrial Robotics - Programming Simulation and Applications.pd....pdf

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    Industrial Robotics Programming, Simulation and Applications
    Industrial Robotics Programming, Simulation and Applications Edited by Kin-Huat Low pro literatur Verlag
    Published by the plV pro literatur Verlag Robert Mayer-Scholz plV pro literatur Verlag Robert Mayer-Scholz Mammendorf Germany Abstracting and non-profit use of the material is permitted with credit to the source. Statements and opinions expressed in the chapters are these of the individual contributors and not necessarily those of the editors or publisher. No responsibility is accepted for the accuracy of information contained in the published articles. Publisher assumes no responsibility liability for any damage or injury to persons or property arising out of the use of any materials, instructions, methods or ideas contained inside. After this work has been published by the Advanced Robotic Systems International, authors have the right to republish it, in whole or part, in any publication of which they are an author or editor, and the make other personal use of the work. © 2007 Advanced Robotic Systems International www.ars-journal.com Additional copies can be obtained from: publication@ars-journal.com First published February 2007 Typeface Palatino Linotype 10/11/12 pt Printed in Croatia A catalog record for this book is available from the German Library. Industrial Robotics: Programming, Simulation and Applications / Edited by Low Kin Huat. p. cm. ISBN 3-86611-286-6 1. Manipulators. 2. Calibration. 3. Design I. Title.
    V Contents Preface............................................................................................ IX 1. A Design Framework for Sensor Integration in Robotic Applications .....................................................................................................................1 2. Joint Torque Sensory in Robotics.................................................................23 D. I. Kosmopoulos F. Aghili 3. Design and Validation of a Universal 6D Seam Tracking System in Robotic Welding Based on Laser Scanning ..................47 M. Fridenfalk, G. Bolmsjö 4. Designing Distributed, Component-based Systems for Industrial Robotic Applications.......................................................................61 M. Amoretti, S. Caselli, M. Reggiani 5. Designing and Building Controllers for 3D Visual Servoing Applications under a Modular Scheme ...............................81 M. Bachiller, C. Cerrada, J. A. Cerrada 6. Robot Calibration: Modeling, Measurement and Applications ...............................................................................................................107 J. M. S. T. Motta 7. Accuracy and Calibration Issues of Industrial Manipulators ..............................................................................................................131 M. Abderrahim, A. Khamis, S. Garrido, L. Moreno 8. Calibration of Serial Manipulators: Theory and Applications ...............................................................................................................147 I. Fassi, G. Legnani, D. Tosi , A. Omodei 9. Calibration of Parallel Kinematic Machines: Theory and Applications .....................................................................................................171 G. Legnani, D. Tosi, R. Adamini, I. Fassi
    VI 10. Interfacing the Gryphon Robot with the World Wide Web.........195 R. T. F. Ah King, S. Mootien, H. C. S. Rughooputh 11. Internet-Based Service Robotic System Using CORBA as Communication Architecture...............................................215 12. Path Coordination Planning and Control in Robotic Material Handling and Processing .............................................................231 S. Jia, K. Takase X. F. Zha, X. Chen 13. Optimal Motion Planning for Manipulator Arms Using Nonlinear Programming .....................................................................255 J.-K. Park 14. Video Applications for Robot Arms...........................................................273 15. Kinematic Control of a Robot-Positioner System for Arc Welding Application .............................................................................................293 16. Control and Scheduling Software for Flexible Manufacturing Cells..............................................................................................315 V. Niola, C. Rossi A. P. Pashkevich, A. B. Dolgui A. Ferrolho, M. Crisóstomo 17. Adaptive Robot Based Reworking System ..........................................341 B. Kuhlenkötter, C. Krewet, T. Schüppstuhl 18. Off-line Programming Industrial Robots Based in the Information Extracted From Neutral Files Generated by the Commercial CAD Tools ............................................349 19. A Teaching-Free Robot System Utilizing Three-Dimensional CAD Product Data ....................................................365 V. Bottazzi, J. Fonseca Y. Nagao, H. Ohta, F. Honda 20. A Non-Contact Method for Detecting On-Line Industrial Robot Position Errors..................................................................373 G. C. Smith
    VII 21. Study on Three Dimensional Dual Peg-in-hole in Robot Automatic Assembly.......................................................................393 Y. Q. Fei, J. F. Wan, X. F. Zhao 22. Computer Vision and Fuzzy Rules Applied to a Dispensing Application in an Industrial Desktop Robot.........................................417 23. Virtual and Mixed Reality in Telerobotics: A Survey .....................437 C. P. Santos, M. J Ferreira C. S. Tzafestas 24. Simulation and Experimental Tests of Robot Using Feature-Based and Position-Based Visual Servoing Approaches..........................................................................471 M. H. Korayem, F. Heidari, H. Aliakbarpour 25. Sheet Incremental Forming: Advantages of Robotised Cells vs. CNC Machines.....................................................................................493 M. Callegari, D. Amodio, E. Ceretti, C. Giardini 26. Machining with Flexible Manipulators: Critical Issues and Solutions ......................................................................................................................515 J. Wang, H. Zhang, Z. Pan 27. Welding Robot Applications in Shipbuilding Industry: Off-Line Programming, Virtual Reality Simulation, and Open Architecture............................................................537 C.-S. Kim, K.-S. Hong, Y.-S. Han 28. Intelligent Robotic Handling of Fabrics Towards Sewing..........559 P. Koustoumpardis, P. Zacharia, N. Aspragathos 29. Complex Carton Packaging with Dexterous Robot Hands........583 V. N. Dubey, J. S. Dai B.-S. Ryuh, G. R. Pennock B.-S. Ryuh, G. R. Pennock 30. Arc Welding Robot Automation Systems..............................................595 31. Robot Automation Systems for Deburring ...........................................609
    34. Using Parallel Platforms as Climbing Robots ....................................663 G. Granosik, J Borenstein, M. G. Hansen O. Reinoso, R. Aracil, R. Saltaren 35. Robotics for Improving Quality, Safety and Productivity in Intensive Agriculture: Challenges and Opportunities ...........677 G. Belforte, P. Gay, D. R. Aimonino VIII 32. Robot-based Gonioreflectometer................................................................623 A. Höpe, D. Hünerhoff, K.-O. Hauer 33. Serpentine Robots for Industrial Inspection and Surveillance......................................................................................................633
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