Matthew Dirks Klas Nilsson Martin Hgele J. Norberto Pires Of book - PowerPoint PPT Presentation

Matthew Dirks

Klas Nilsson Martin Hägele J. Norberto Pires Of book chapter “Industrial Robotics”, Springer, 2008

 IR Visual and visual tracking  CCD Cameras • Laser triangulation principle  Force-torque sensors • Wrist force sensor • Force feedback in the robot fingers  Potentiometers  Tachometers

Link to video: http://www.youtube.com/watch?v=uQu1vEkssz4

 Usually programmed offline before hand  Often have connection to a PC Link to video: http://www.youtube.com/watch?v=POx_UElOmMY

 Synchronize timing with other work cells  Pre-programmed means less decision making

 Accuracy within ±0.1mm  Carrying weight: 1 – 1500kg  Often 6 DOF Parallel kinematic machines, or Delta  About 1/3 the cost of high-performance robots Link to video: http://www.youtube.com/watch?v=Du2f-EUDqio

 Often an assembly line, where a robot at each station does a few actions before moving on.  Connecting to other work-cells: 1/2 the cost

 Teachable robots (by guiding)  Tactile command via handle  Tele-commands

Link to video: http://www.youtube.com/watch?v=3WcIu4JBsPY

Link to video: http://www.youtube.com/watch?v=W_gxLKSsSIE