Physical modeling of tools necessary for robot manipulation. Chang, K. Ph.D. Thesis, The University of Texas at Austin, May, 2006. (committee member)Paper abstract bibtex 14 downloads Previous research on modeling general processes has focused on physical and empirical modeling of dedicated process machines which have sufficient stiffness and accuracy. For example, machining centers have relatively high stiffness and exhibit negligible deflections. Robot manipulators have low stiffness which easily allows undesirable deflections under large reaction forces. Also, models for intuitive decision surfaces for users, decision making systems, or system controllers have not been embedded or otherwise deployed effectively. The objective of this research is to suggest graphical and parametric models of robotic processes suited for intuitive user friendly graphs and modeling nonlinear systems and to initiate a program which proves usefulness of performance maps. Performance maps are primitive surface representations which can be used to create decision surfaces. General robotic processes considered are robotic drilling, grinding, deburring, chiseling, sawing, peg insertion, force-fit insertion, forming for assembly, screw fastening, and riveting. To achieve the objective, a framework for in-depth parametric and analytic modeling of robotic processes is presented. First, relevant process parameters such as process operating variables, system condition parameters, and process performance criteria are defined. Process operating variables are the robot controller inputs. System condition parameters are process parameters which define system constraints and characteristics. Process performance criteria are critical parameters to define, anticipate, and evaluate product quality, system stability, economic performance, and system performance. Second, performance maps which describe the graphical relationship of the relevant process parameters are developed. A performance map is the surface representation of a process performance criterion as a function of process operating variable(s), system condition parameter(s), or other process performance criteria. Third, the application of performance maps of robotic drilling is simulated, to illustrate their advantages. Whether robot deflections generated during the process satisfy tolerance requirements or not is evaluated and suitable robot postures are recommended. Pertinent literature is extensively reviewed to recognize current research trends in modeling and parameterizing relevant process parameters. Approximately, 100 performance maps were created as graphical and parametric models based on process performance. Two performance envelopes were developed. Proper robot postures were suggested to drill a hole with constant feed-rate or bounded ranges of that feed-rate.
@phdthesis{chang_physical_2006,
type = {Dissertation},
title = {Physical modeling of tools necessary for robot manipulation},
url = {https://repositories.lib.utexas.edu/handle/2152/2473},
abstract = {Previous research on modeling general processes has focused on physical and
empirical modeling of dedicated process machines which have sufficient stiffness and
accuracy. For example, machining centers have relatively high stiffness and exhibit
negligible deflections. Robot manipulators have low stiffness which easily allows
undesirable deflections under large reaction forces. Also, models for intuitive decision
surfaces for users, decision making systems, or system controllers have not been
embedded or otherwise deployed effectively.
The objective of this research is to suggest graphical and parametric models of
robotic processes suited for intuitive user friendly graphs and modeling nonlinear systems
and to initiate a program which proves usefulness of performance maps. Performance
maps are primitive surface representations which can be used to create decision surfaces.
General robotic processes considered are robotic drilling, grinding, deburring, chiseling,
sawing, peg insertion, force-fit insertion, forming for assembly, screw fastening, and
riveting.
To achieve the objective, a framework for in-depth parametric and analytic
modeling of robotic processes is presented. First, relevant process parameters such as
process operating variables, system condition parameters, and process performance
criteria are defined. Process operating variables are the robot controller inputs. System
condition parameters are process parameters which define system constraints and
characteristics. Process performance criteria are critical parameters to define, anticipate,
and evaluate product quality, system stability, economic performance, and system
performance.
Second, performance maps which describe the graphical relationship of the
relevant process parameters are developed. A performance map is the surface
representation of a process performance criterion as a function of process operating
variable(s), system condition parameter(s), or other process performance criteria. Third,
the application of performance maps of robotic drilling is simulated, to illustrate their
advantages. Whether robot deflections generated during the process satisfy tolerance
requirements or not is evaluated and suitable robot postures are recommended.
Pertinent literature is extensively reviewed to recognize current research trends in
modeling and parameterizing relevant process parameters. Approximately, 100
performance maps were created as graphical and parametric models based on process
performance. Two performance envelopes were developed. Proper robot postures were
suggested to drill a hole with constant feed-rate or bounded ranges of that feed-rate.},
language = {eng},
urldate = {2017-11-12},
school = {The University of Texas at Austin},
author = {Chang, Kyogun},
month = may,
year = {2006},
note = {(committee member)},
keywords = {Dissertation},
}
Downloads: 14
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The objective of this research is to suggest graphical and parametric models of robotic processes suited for intuitive user friendly graphs and modeling nonlinear systems and to initiate a program which proves usefulness of performance maps. Performance maps are primitive surface representations which can be used to create decision surfaces. General robotic processes considered are robotic drilling, grinding, deburring, chiseling, sawing, peg insertion, force-fit insertion, forming for assembly, screw fastening, and riveting. To achieve the objective, a framework for in-depth parametric and analytic modeling of robotic processes is presented. First, relevant process parameters such as process operating variables, system condition parameters, and process performance criteria are defined. Process operating variables are the robot controller inputs. System condition parameters are process parameters which define system constraints and characteristics. Process performance criteria are critical parameters to define, anticipate, and evaluate product quality, system stability, economic performance, and system performance. Second, performance maps which describe the graphical relationship of the relevant process parameters are developed. A performance map is the surface representation of a process performance criterion as a function of process operating variable(s), system condition parameter(s), or other process performance criteria. Third, the application of performance maps of robotic drilling is simulated, to illustrate their advantages. Whether robot deflections generated during the process satisfy tolerance requirements or not is evaluated and suitable robot postures are recommended. Pertinent literature is extensively reviewed to recognize current research trends in modeling and parameterizing relevant process parameters. Approximately, 100 performance maps were created as graphical and parametric models based on process performance. Two performance envelopes were developed. Proper robot postures were suggested to drill a hole with constant feed-rate or bounded ranges of that feed-rate.","language":"eng","urldate":"2017-11-12","school":"The University of Texas at Austin","author":[{"propositions":[],"lastnames":["Chang"],"firstnames":["Kyogun"],"suffixes":[]}],"month":"May","year":"2006","note":"(committee member)","keywords":"Dissertation","bibtex":"@phdthesis{chang_physical_2006,\n\ttype = {Dissertation},\n\ttitle = {Physical modeling of tools necessary for robot manipulation},\n\turl = {https://repositories.lib.utexas.edu/handle/2152/2473},\n\tabstract = {Previous research on modeling general processes has focused on physical and \nempirical modeling of dedicated process machines which have sufficient stiffness and \naccuracy. For example, machining centers have relatively high stiffness and exhibit \nnegligible deflections. Robot manipulators have low stiffness which easily allows \nundesirable deflections under large reaction forces. Also, models for intuitive decision \nsurfaces for users, decision making systems, or system controllers have not been \nembedded or otherwise deployed effectively. \nThe objective of this research is to suggest graphical and parametric models of \nrobotic processes suited for intuitive user friendly graphs and modeling nonlinear systems \nand to initiate a program which proves usefulness of performance maps. Performance \nmaps are primitive surface representations which can be used to create decision surfaces. \nGeneral robotic processes considered are robotic drilling, grinding, deburring, chiseling, \nsawing, peg insertion, force-fit insertion, forming for assembly, screw fastening, and \nriveting. \nTo achieve the objective, a framework for in-depth parametric and analytic \nmodeling of robotic processes is presented. First, relevant process parameters such as \nprocess operating variables, system condition parameters, and process performance \ncriteria are defined. Process operating variables are the robot controller inputs. System \ncondition parameters are process parameters which define system constraints and \ncharacteristics. Process performance criteria are critical parameters to define, anticipate, \nand evaluate product quality, system stability, economic performance, and system \nperformance. \nSecond, performance maps which describe the graphical relationship of the \nrelevant process parameters are developed. A performance map is the surface \nrepresentation of a process performance criterion as a function of process operating \nvariable(s), system condition parameter(s), or other process performance criteria. Third, \nthe application of performance maps of robotic drilling is simulated, to illustrate their \nadvantages. Whether robot deflections generated during the process satisfy tolerance \nrequirements or not is evaluated and suitable robot postures are recommended. \nPertinent literature is extensively reviewed to recognize current research trends in \nmodeling and parameterizing relevant process parameters. 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