Control of industrial robots

Industrial robotics

Prof. Paolo Rocco (paolo.rocco@polimi.it)

Politecnico di Milano Dipartimento di Elettronica e Informazione

What is a robot?
A reprogrammable, multifunctional manipulator designed to move material, parts, tools, or specialized devices through various programmed motions for the performance of a variety of tasks. (Robot Institute of America, 1980)

The robot is not just a mechanical device

COMAU SMART NH3

Control of industrial robots Industrial robotics - P. Rocco [2]

A robot and its control unit

Mechanical structure, actuators, sensors Control unit

COMAU SMART NH3

COMAU C4G

Control of industrial robots Industrial robotics - P. Rocco [3]

The mechanical system

The manipulator consists of a series of rigid bodies (links) connected by joints.

One end of this chain makes the BASE, usually fixed to the floor.

At the other end we have the END EFFECTOR where the gripper or tool is mounted. Usually manipulators have six links: the first three make the positioning the last three (WRIST) make the orientation

Control of industrial robots Industrial robotics - P. Rocco [4]

Some popular industrial robots

Small size (payload less than 6 Kg):

ABB IRB 140 (in our lab!)

COMAU SMART Six (in our lab!)

KUKA KR 6

Control of industrial robots Industrial robotics - P. Rocco [5]

Some popular industrial robots

Medium size (max. payload around 100 Kg):

ABB IRB 4400

COMAU SMART NJ 130

KUKA KR 140

Control of industrial robots Industrial robotics - P. Rocco [6]

Some popular industrial robots

Large size (max. payload more than 100 Kg):

ABB IRB 7600 (630 Kg max.)

COMAU SMART NX2 (800 Kg max.)

KUKA KR 1000 (1000 Kg max.)

Control of industrial robots Industrial robotics - P. Rocco [7]

New robots: redundant arms

KUKA LWR

MOTOMAN SIA10D

Seven joints: dexterity is improved

Control of industrial robots Industrial robotics - P. Rocco [8]

New robots: dual arm

ABB FRIDA (soon in our lab!)

DLR JUSTIN

MOTOMAN SDA10D
Control of industrial robots Industrial robotics - P. Rocco [9]

Typical applications
Assembly

Spot welding

Arc welding

Loading Unloading Palletizing

Line Automation

Manipulation Gluing - Sealing

Source: COMAU Robotics Control of industrial robots Industrial robotics - P. Rocco [10]

Machining

Supply of industrial robots by year

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Supply of ind. robots by industries

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Supply of ind. robots by areas

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Videos: assembly

Source: FANUC Robotics

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Videos: loading-unloading, palletizing

Source: FANUC Robotics Control of industrial robots Industrial robotics - P. Rocco [15]

Videos: welding

Source: FANUC Robotics

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Videos: cutting, deburring

Source: FANUC Robotics

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Videos: painting, dispensing, coating

Source: FANUC Robotics Control of industrial robots Industrial robotics - P. Rocco [18]

Videos: other robots

ABB Flexpicker

ADEPT Quatro s650

Parallel kinematic machines: extremely fast

Control of industrial robots Industrial robotics - P. Rocco [19]

Robot programming

Control unit: MMI Power electronics Motion planning Control Supervision

Teach pendant (or flex pendant): Robot programming interface Also wireless

Control of industrial robots Industrial robotics - P. Rocco [20]

Programming environments
ABB Robot Studio

Control of industrial robots Industrial robotics - P. Rocco [21]

Advanced motion programming

ABB True Move & Quick Move (commercial video)

Control of industrial robots Industrial robotics - P. Rocco [22]

Safety issues in industrial robotics

ABB Safe Move (commercial video)

Control of industrial robots Industrial robotics - P. Rocco [23]

Not just industrial robots

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Service robots for professional use

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Service robots for domestic use

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