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Dynamic Compensation - Toward the Next-Generation Industrial Robot

Traditionally it is difficult for industrial robots to achieve high-speed motion with high accuracy due to large dynamical uncertainties. Researchers from the University of Tokyo's Ishikawa Watanabe Laboratory present a solution using dynamic compensation by adopting high-speed vision and compensation actuators to compensate for the uncertainties caused by the system itself as well as the external environment. They present two application tasks: fast and accurate contour-tracking and high-speed peg-and-hole alignment, with a commercial industrial robot. Traditionally, the playback method is the most common approach to control an industrial robot. However, it is time-consuming to teach an accurate path point by point. They propose to perform the 2D contour-tracking task by adding a high-speed robotic module under the dynamic compensation scheme. Through this method, a coarse global path can be easily taught with very few roughly chosen teaching points. The errors between the coarse path and the target path are then dynamically compensated by the high-speed robotic module under 1,000 fps visual feedback. As a result, accurate tracking for a target contour with random pattern is achieved with fast speed.

Topics:
Automation Imaging Manufacturing & Prototyping Motion Control Motors & Drives Robotics

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    Transcript

    00:00:02 traditionally it is difficult for industrial robots to achieve high-speed motion with high accuracy we present a solution using Dynamic compensation by adopting high-speed vision and compensation actuators to compensate for the uncertainties caused by the system itself as well as the external environment this technology can be used for fast and accurate Contour tracking

    00:00:22 traditionally the playback method is the most common approach to control an industrial robot however it is timeconsuming and exhausting to teach an accurate path Point by point we propose to perform this task by adding a high-speed robotic module under the dynamic compensation scheme through this method a course Global path can be easily taught with very few roughly

    00:00:42 chosen teaching points the errors between the course path and the target path are then dynamically compensated by the high-speed robotic module under 1,000 foot-pound second visual feedback as a result accurate tracking can be achieved with fast speed since the course motion is smooth with constant velocity it is energy efficient for the industrial robot this shows the course

    00:01:04 path through easy and rough teaching this shows accurate tracking with the same course motion through fine compensation our method is also capable of compensation of external uncertainties for example the same tracking results can be obtained under unknown external disturbances the same technology can be applied in high-speed Peg and hole

    00:01:28 alignment here we require the main robot to move at high speed while the pose of the workpiece is uncertain as can be seen the course motion is rough and can be taught randomly within a certain range of each hole letting the main robot perform the course motion fast and Accurate Alignment can be achieved through fine compensation of the high-speed robotic module this

    00:01:49 technology can improve existing industrial robots performance while at the same time reduce the workload of robot operators it may find applications in many industrial tasks such as in welding painting as well as assembly