CONTROLLING METHODS AND CHALLENGES OF ROBOTIC ARM

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1 CONTROLLING METHODS AND CHALLENGES OF ROBOTIC ARM Aniket D. Kulkarni *1, Dr.Sayyad Ajij D. *2 *1(Student of E&C Department, MIT Aurangabad, India) *2(HOD of E&C department, MIT Aurangabad, India) Abstract: Robotic devices are used in all aspects of our world. There are now increasing number of application of robots. We are using robotics every day to reduce the costs of products and services and to make our lives easier. The robot technology is advancing rapidly. The industry is moving from the current state of automation to robotization to increase productivity and quality. One type of robot commonly used in the industry is a robotic manipulator or a robotic arm. The ability to control, modify and update these robotic devices remotely is crucial. This allows robots to go in places where humans may not. To develop truly useful robotic equipment, the devices must be designed in a manner that considers a functional, precise, intuitive, and simple interface. There is need to design project and develop such an interface to provide control over a robotic arm from a remote location in a simulated environment applicable to real-world scenarios. Keywords: Actuators, end effectors, robot arm 1. INTRODUCTION Industrial robot can be Program and control by various ways.some of the methods use to control the robot are tedious and time-consuming. In this case technical expertise is required to program and control the robot. Therefore, new and advance techniques are required for robot programming and control. The goal is to develop technology that helps users to control and program a robot. In the robotics field, several research efforts have been directed towards recognizing human gestures, to generate the robotic arm control technique. In industry it is required to design Reprogrammable, multi-functional manipulator to move materials, parts, tools, or specialized devices through variable programmed motions for the performance of a variety of tasks, which also acquire information from the environment and move intelligently in response of the system. This is the review paper on different controlling and programming techniques use to control the industrial robotic arm use for various application in Industries and the importance of this survey is that it can be use to generate a technique of controlling of robotic arm in an industries and other application. 2. BACKGROUND CONCEPT 2.1What is an Industrial Robot? An industrial robot is a programmable, multi-functional manipulator designed to move materials, parts, tools, or special devices through variable programmed motions for the performance of a variety of tasks. An industrial robot consists of a number of rigid links connected by joints of different types, controlled and monitored by different controlling techniques like a computer. 1

2 2.2Why industrial robots are important? Robots can substitute for humans in hazardous work environments. Consistency and accuracy not attainable by humans. Can be reprogrammed. Most robots are controlled by computers and can therefore be interfaced to other computer systems. 2.3Basic component 3. METHODOLOGY 3.1Classical Robotic User Interfaces Robotics is accepted by the various industries and the demand is increasing day to day. Classical solutions for Human Machine Interface use a Graphical User Interface where joystick, mouse and/or keyboards, touch screen, of several kinds are use to generate commands. Frequently these devices were local and wired to the robot. Fig.2.1: Key Components of robot The basic components of an industrial robot are Manipulator the end effector (which is the part of the manipulator), the power supply and the controller. The manipulator, which is the robot s arm, consists of segments jointed together with axes capable of motion in various directions allowing the robot to perform work. The end effector which is a gripper tool, a special device, or fixture attached to the robot s arm, actually performs the work. Power supply provides and regulates the energy that is converted to motion by the robot actuator, and it may be electric, pneumatic, or hydraulic. The controller initiates, terminates, and coordinates the motion of sequences of a robot. Also it accepts the necessary inputs to the robot and provides the outputs to interface with the outside world. Fig.3.1: Teach-box pendant used as robot programming interface A) Advantages: Can readily be learned by shop personnel A logical way to teach a robot Does not required knowledge of computer programming B) Disadvantages: Downtime -Regular production must be interrupted to program the robot Limited programming logic capability Not readily compatible with modern computer-based technologies 3.2 Modern interfaces and local command and supervision Present day new wireless controls techniques are use to develop autonomous service robots and add a new feature in robotics and eventually make robot remote operated. With the help of different wireless communication protocol such Wi-Fi, Blutooth and desktop, laptop or tablet PC networks can be form that connects to the robot. This type of interface is interesting and is typically done at 2

3 a distance but has its limitations as some pragmatic commands benefit from locality with the robot. In industries it happens that a low skilled person teams-up with the robot and wants a pragmatic interface to the robot where a few repetitive commands can be issued. There is cost limitation on robot or team of robots and have a reasonably high level of autonomy but there is still the need for a human supervisor that, besides other tasks, validates the quality of the work done and solves unforeseeable situations like failures, in accessibilities, etc. Such human worker probably does not want to carry a laptop nor other complex, sensible, expensive and perhaps heavy device. As mentioned before, it is interesting to have a Local Human Robot Interface (LHRI) to issue a small number of commands that benefit from locality. 3.3Robot Programming and Languages The primary objective of robot programming is to make the robot understand its work cycle. The program teaches the robot 1. The path it should take 2. The points it should reach precisely 3. How to interpret the sensor data 4. How and when to actuate the end-effectors 5. How to move parts from one location to another, and so forth. 3.4 Control methods of robot Physical joysticks The most widely accepted method for control of robotic limbs is currently a physical joystick. Commercially available robotic arms often include a joystick feature that allows the user to position the gripper or tool at the end of the arm1, called the end effector. These controls tend to be inexpensive, noninvasive, and fairly accurate Remote controlled Robotic Arm The ability to remotely control your robot is a big part of its appeal. The two types of remote control are wired and wireless. With a wired remote control system the operator uses a control box connected to the robot via a long wire or cable. The advantages of this system are that it is simple to build and costs little to construct. The main disadvantages are limited range and the cable itself can get in the way A Voice controlled Robotic Arm A voice controlled robotic arm can be implemented using the Vocal Joystick inference engine. There are different settings can be use like, simple 2D simulated world, and a real 3D robotic arm manipulating objects in the environment. A non-verbal voice-controlled robotic arm, can allowed one to perform even simple tasks such as moving candy from an initial position to a target. Critically, the results of voice control robots demonstrate that the approach is quite feasible. It is believed, therefore, that with further research into voice-controlled robotics, including target-population studies on how best to avoid fatigue and reduce learning time, a system could be created to help individuals with motor impairments lead more independent and productive lives Computer controlled Robotic Arm This Robot is going to be controlled from a computer with a wide range of functions. The robot will be controlled from a computer terminal. The user can use the computer to control number of functions by using different keys on the computer and the joystick. The joystick or keys on the computer tell the robot to move forward or reverse, turn right or left, or stop. Some keys enable the robot to produce sound 3

4 effects thorough a built-in piezoelectric speaker mounted on the robot. Fig.3.2: Computer control robot system Mobile base robots in industry The idea of a mobile robot to provide assistance either in the home, office or in more hostile environments has existed for many years and such systems are available today. Unfortunately, they are typically expensive. The major limitations to including robots in homes and offices are the infrastructure changes they require. Computer vision however means that robots can be monitored from just a few inexpensive cameras and the recent availability of wireless network solutions has decimated the infrastructure they demand.. 4. CHALLENGES 1. Better Batteries In robotics application the battery operated robots require to increase the accessibility and optimization around energy usage and alternative forms of energy. By using solar and wind power, we can design robots which might be viable solutions for both, including extremely efficient power generation and harvesting on small mobile platforms. 2. Better Actuators There is need to generate reliable actuator connectivity as well as a current focus to improve the interaction with and control of actuators. 3. Industry-Grade Robotics Software Robotics software is the biggest challenge generally expressed by number experts. As the software is complex it required skilled expert to handle it. Robotics need powerful software to design their autonomous systems software that is not unique to a particular robot or task, is open to incorporate existing algorithms, and is powerful enough to solve problems we do not even understand today. 4. Manipulation and physical interaction with the real world: We need concerted modeling and control efforts together with the development of good hardware to make arms and hands that can perform anything but the simplest of pick-and-place operations that are prevalent in industry. 5. Safety for operation near humans: Personal robots will have to operate in the vicinity of humans. Even in industry, there are many applications now where robots and humans augment each others skills. While industrial robotics has had a history of cordoning off robots and not allowing humans to enter robotic work areas, this culture is changing. This means robots will need to be made safe. This in turn leads to both hardware and software challenges. 6. Human-robot interaction: Robotics applications call for humans operating in proximity to robots and with robots as assistants to humans. The relevant understanding of human machine interaction mostly comes from studies of human-computer interaction. Clearly robots, which perform physical work and operate in a 3D world, are more than computers, and there is a definite need to develop this field further. 7. Networks of robots, sensors, and users: Most current applications see a robot operating with a human user or with a collection of sensors in a very structured environment in a pre- 4

5 determined manner. With the emergence of networked, embedded systems and the increased presence of networks in homes and in factories, robots will need to work with other robots, learn from different types of sensors and interact with different human users depending on their immediate environment. This is particularly true for mobile robotic systems whose environments are constantly changing. 5. CONCLUSION As there is demand growing from industry to generate the robotic system efficient, useful with simple control techniques so that inexpert user can handle that easily. This review paper will help to develop controlling and programming techniques use to control the industrial robotic arm use for various applications in Industries. One of the propose system that allows users to control an industrial robot is using arm gestures. Using this system, a non expert robot programmer can control a robot quickly and in a natural way. Acknowledgement I take this opportunity to gratefully acknowledge the inspiration, encouragement, guidance and valuable suggestions received from all my well-wishers. I would like to thank Dr. Sayyad Ajij who have helped me and made available much useful information to complete this paper. 2009, Boston, Massachusetts, USA. Copyright 2009 ACM /09/ ] High-level programming and control for industrial robotics: using a hand-held accelerometer-based input device for gesture and posture recognition by Pedro Neto and J. Norberto Pires and A. Paulo Moreira, Industrial Robot: An International Journal 37/2 (2010) q Emerald Group Publishing Limited [ISSN X] 5] Challenges for Robot Manipulation in Human Environments by Charles c. kemp, aaron edsinger, and eduardo torres-jara, IEEE Robotics & Automation Magazine, /07/$ IEEE 6] Pdf. 7] eencs2009/paper/view File/52/28 8] _report.pdf 9] _report.pdf 10] Document Type: NI News, Publish Date: Dec 20, 2011, 11] REFERENCES 1] J. N. Pires, Robot-by-voice: Experiments on commanding an industrial robot using the human voice, in Industrial Robot, An International Journal, vol. 32, no.6, pp , Emerald, ] J. N. Pires, Industrial Robots Programming, Building Applications for the Factories of the Future, Springer, New York, USA ] The VoiceBot: A Voice Controlled Robot Arm by Brandi House, Jonathan Malkin, Jeff Bilmes Department of Electrical Engineering, University of Washington bhouse,jsm,bilmesg@ee.washington.edu, CHI 2009, April 4-9, 5