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Manufacturing

Robotics

Search Publications

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  • Published Date
Displaying 126 - 150 of 348

Editorial: Special Issue on Industrial Robot Agility

September 14, 2016
Author(s)
Craig I. Schlenoff, Stephen B. Balakirsky, Murad Kurwa
The robotic systems of tomorrow need to be capable, flexible, and agile. These systems need to perform their duties at least as well as human counterparts, be quickly re-tasked to other operations, and cope with a wide variety of unexpected environmental

The Canonical Robot Command Language (CRCL)

August 1, 2016
Author(s)
Frederick M. Proctor, Stephen B. Balakirsky, Zeid Kootbally, Thomas R. Kramer, Craig I. Schlenoff, William P. Shackleford
Industrial robots can perform motion with sub-millimeter repeatability when programmed using the teach-and-playback method. While effective, this method requires significant up-front time, tying up the robot and a person during the teaching phase. Off-line

Dynamic Metrology and ASTM E57.02 Dynamic Measurement Standard

July 28, 2016
Author(s)
Roger V. Bostelman, Tsai H. Hong, Mili Shah, Steven Legowik
Optical tracking systems are used in a wide range of fields. The market for optical tracking systems has dramatically increased over the past several years to $1.2B revenue in 2014. This paper describes the new ASTM E3064 Standard test method procedures

Multi-Fingered Robotic Grasping: A Primer

July 22, 2016
Author(s)
Stefano Carpin, Shuo Liu, Joseph Falco, Karl Van Wyk
Grasping and manipulation has generated significant interest in the robotics community, and robotic grasping emerged as an autonomous area of research since the development of the first robotic hands. Notwithstanding, robotic grasping continues to be one

Mobile Manipulator Performance Measurement Towards Manufacturing Assembly Tasks

July 12, 2016
Author(s)
Roger V. Bostelman, Sebti Foufou, Steven A. Legowik, Tsai H. Hong
Mobile manipulator performance measurement research is relatively minimal as compared to that of robot arms. Measurement methods, such as optical tracking systems, are useful for measuring the performances of mobile manipulators, although at a much higher

Survey of Research for Performance Measurement of Mobile Manipulators

June 30, 2016
Author(s)
Roger V. Bostelman, Tsai H. Hong, Jeremy A. Marvel
This survey provides the basis for developing research in the area of mobile manipulator performance measurement, an area that has relatively few research articles, as com-pared to other mobile manipulator research areas. The survey begins with a

Powder Bed Layer Geometry

June 27, 2016
Author(s)
Michael L. McGlauflin, Shawn P. Moylan
This paper investigates the measurement of machine performance errors associated with the powder bed geometry of a commercially available laser additive manufacturing (AM) machine. The methodology is based on existing ISO/ANSI standards as employed in

Propagation of Error from Registration Parameters to Transformed Data

June 6, 2016
Author(s)
Mili Shah, Marek Franaszek, Geraldine Cheok
Methods to register two sets of data have existed for quite some time. However, these sets of data are rarely error-free. Consequently, any parameters obtained from a registration method will be affected by the error in the sets of data. Moreover, if these

Recommendations for Autonomous Industrial Vehicle Performance Standards

May 31, 2016
Author(s)
Roger V. Bostelman
A workshop was held at the IEEE International Conference on Robotics and Automation, called: "Autonomous Industrial Vehicles: From the Laboratory to the Factory Floor." Nine research papers were presented followed by a discussion session summarized in this

Automating Robot Planning using Product and Manufacturing Information

May 9, 2016
Author(s)
Frederick M. Proctor, Gijs van der Hoorn, Robert R. Lipman
Advances in sensing, modeling, and control have made it possible to increase the accuracy of robots, and enable them to perform in dynamic environments. Often, performance deficiencies are not evident until late in the development of the manufacturing

Addressing Perception Uncertainty Induced Failure Modes in Robotic Bin-Picking

May 3, 2016
Author(s)
Krishnanand N. Kaipa, Akshaya S. Kankanhalli-Nag, Nithyananda B. Kumbla, Shaurya Shriyam, Srudeep Somnaath Thevendria-Karthic, Jeremy Marvel, Satyandra K. Gupta
We present a comprehensive approach to handle perception uncertainty to reduce failure rates in robotic bin-picking. Our focus is on mixed-bins. We identify the main failure modes at various stages of the bin-picking task and present methods to recover

Test Methods for the Evaluation of Manufacturing Mobile Manipulator Safety

April 20, 2016
Author(s)
Jeremy A. Marvel, Roger V. Bostelman
A test methodology for evaluating the safety of mobile manipulators (robot arms mounted on mobile bases) is presented. This methodology addresses the safety concerns relevant to modern, agile manufacturing practices in which mobile manipulators are

Multi-purpose Configurable Range for Antenna Testing Up To 220 GHz*

April 9, 2016
Author(s)
David R. Novotny, Michael H. Francis, Ronald C. Wittmann, Josh Gordon, Jeffrey R. Guerrieri, Alexandra Curtin
NIST has developed a multi-purpose test range for performing several types of antenna testing including spherical, cylindrical and planar near-field scanning as well as extrapolation measurements. This range uses a commercial, offthe- shelf, six-axis robot

Guidelines for the Registration of Two Coordinate Frames

March 2, 2016
Author(s)
Geraldine S. Cheok, Marek Franaszek
The purpose of registration is to obtain the transformation matrix between two coordinate frames. Typically, sensors record positional measurements in their own local coordinate frame. When positional data are acquired by two instruments or two datasets

Recommended Protocols for Round Robin Studies in Additive Manufacturing

March 1, 2016
Author(s)
Shawn P. Moylan, Christopher U. Brown, John A. Slotwinski
One way to improve confidence and encourage proliferation of additive manufacturing (AM) technologies and parts is by generating more high quality performance data. Many in the AM community see round robin studies as a way to generate large data sets while

Performance Evaluation of Human Detection Systems for Robot Safety

January 22, 2016
Author(s)
William P. Shackleford, Geraldine Cheok, Tsai H. Hong, Kamel Saidi, Michael O. Shneier
Detecting and tracking people is becoming more important in robotic applications because of the increasing demand for collaborative work in which people interact closely with and in the same workspace as robots. New safety standards allow people to work

Benchmarking Robot Force Control Capabilities: Experimental Results

January 7, 2016
Author(s)
Joseph A. Falco, Jeremy A. Marvel, Richard J. Norcross, Karl Van Wyk
Metrics and test methods are needed to characterize the control capabilities of robots with both intrinsic and extrinsic force sensing. The availability of these benchmarks will motivate research product development, and provide a mechanism for reporting

A defect-driven diagnostic method for machine tool spindles

December 31, 2015
Author(s)
Gregory W. Vogl, M A. Donmez
Simple vibration-based metrics are, in many cases, insufficient to diagnose machine tool spindle condition. These metrics couple defect-based motion with spindle dynamics; diagnostics should be defect-driven. A new method and spindle condition estimation
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