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1. 1. Industrial Robot Programming

   Författare :Klas Nilsson; Institutionen för datavetenskap; []
   Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; control engineering; robotics; Automation; Software architecture.; Embedded systems; Open systems; Robot control; Industrial robots; Robot programming; Automatiska system; robotteknik; reglerteknik;

   Sammanfattning : Industrial robots play a key role in manufacturing systems. Robots are distinguished from other types of machinery mainly on the basis of their programmability and ability to be adaptable to different tasks. LÄS MER

3. 2. Control Strategies for Machining with Industrial Robots

   Författare :Olof Sörnmo; Institutionen för reglerteknik; []
   Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Industrial Robots; Machining; Control;

   Sammanfattning : This thesis presents methods for improving machining with industrial robots using control, with focus on increasing positioning accuracy and controlling feed rate. The strong process forces arising during high-speed machining operations, combined with the limited stiffness of industrial robots, have hampered the usage of industrial robots in high-end machining tasks. LÄS MER

4. 3. Multivariable Frequency-Domain Identification of Industrial Robots

   Författare :Erik Wernholt; Svante Gunnarsson; Jan Swevers; Linköpings universitet; []
   Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Frequency-domain identification; industrial robots; nonparametric identification; nonlinear gray-box identification; multivariable systems; closed-loop identification; Automatic control; Reglerteknik;

   Sammanfattning : Industrirobotar är idag en väsentlig del i tillverkningsindustrin där de bland annat används för att minska kostnader, öka produktivitet och kvalitet och ersätta människor i farliga eller slitsamma uppgifter. Höga krav på noggrannhet och snabbhet hos robotens rörelser innebär också höga krav på de matematiska modeller som ligger till grund för robotens styrsystem. LÄS MER

5. 4. Instructing Industrial Robots Using High-Level Task Descriptions

   Författare :Maj Stenmark; Institutionen för datavetenskap; []
   Nyckelord :NATURVETENSKAP; NATURAL SCIENCES; robot skills; high-level programming; industrial robots; intelligent robot systems; AI; robotics; natural language instruction;

   Sammanfattning : With more advanced manufacturing technologies, small and medium sized enterprises can compete with low-wage labor by providing customized and high quality products. For small production series, robotic systems can provide a cost-effective solution. LÄS MER

7. 5. On Modeling and Control of Flexible Manipulators

   Författare :Stig Moberg; Svante Gunnarsson; Anders Robertsson; Linköpings universitet; []
   Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; System identification; multivariable systems; differential-algebraic equations; robots; manipulators; flexible structures; robustness; position control; nonlinear systems; closed-loop identification; frequency-response methods; industrial robots; robotics; control; feedforward; flexible arms; Automatic control; Reglerteknik;

   Sammanfattning : Industrial robot manipulators are general-purpose machines used for industrial automation in order to increase productivity, flexibility, and quality. Other reasons for using industrial robots are cost saving, and elimination of heavy and health-hazardous work. LÄS MER