Control of industrial robots

Industrial robotics

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

Politecnico di Milano
Dipartimento di Elettronica, Informazione e Bioingegneria
 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,
Control unit
actuators, sensors

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 COMAU SMART Six KUKA KR 6

(in our lab!) (in our lab!)

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 COMAU SMART NX2 KUKA KR 1000

(630 Kg max.) (800 Kg max.) (1000 Kg max.)

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

New robots: redundant arms

KUKA LBR iiwa

MOTOMAN SIA10D

Seven joints: dexterity is improved

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

 New robots: dual arm

EPSON dual-arm KAWADA HIRO

ABB YuMi
(in our lab!)

MOTOMAN SDA10D

DLR JUSTIN Control of industrial robots – Industrial robotics - P. Rocco [9]

 Typical applications

Assembly

Spot welding

Arc welding Loading – Unloading

Palletizing

Line Automation

Manipulation

Gluing - Sealing Machining

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

Control of industrial robots – Industrial robotics - P. Rocco [11]

Supply of ind. robots by industries

Control of industrial robots – Industrial robotics - P. Rocco [12]

Supply of ind. robots by areas

Control of industrial robots – Industrial robotics - P. Rocco [13]

 Videos: assembly

Source: FANUC Robotics

Control of industrial robots – Industrial robotics - P. Rocco [14]

 Videos: loading-unloading, palletizing

Source: FANUC Robotics

Control of industrial robots – Industrial robotics - P. Rocco [15]

 Videos: welding

Source: FANUC Robotics

Control of industrial robots – Industrial robotics - P. Rocco [16]

 Videos: cutting, deburring

Source: FANUC Robotics

Control of industrial robots – Industrial robotics - P. Rocco [17]

 Videos: painting, dispensing, coating

Source: FANUC Robotics

Control of industrial robots – Industrial robotics - P. Rocco [18]

 Videos: other robots

ABB Flexpicker ADEPT Quattro s650

Parallel kinematic machines: extremely fast

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

 Robot programming

Control unit: Teach pendant (or flex pendant):

MMI Robot programming interface
Power electronics Also wireless
Motion planning
Control
Supervision

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…

Control of industrial robots – Industrial robotics - P. Rocco [24]

Service robots for professional use

Control of industrial robots – Industrial robotics - P. Rocco [25]

Service robots for domestic use

Control of industrial robots – Industrial robotics - P. Rocco [26]