Аутори:
1. Slaviša Galamić, Teslić, Mechanical faculty, Republic of Srpska, Bosnia and Herzegovina
2. Trygve Thomessen, PPM AS, Norway
3. Balazs Daniel, Budapest University of Technology and Economics, Norway

Апстракт:
Industrial robots are one of the most important components of modern automation and are used in various applications. Whereas in many applications it is sufficient with static programming to fulfill the process requirements, there are also many applications where static programming does not suffice or is too impractical. Examples of tasks with these characteristics include deburring, grinding and handling. Without information regarding the forces effecting the robots end-effector, use of industrial robots in the aforementioned can be impractical as there is often variations between workpieces. To remedy this, one can introduce a feedback loop containing the forces applied to the robots end-effector into the robots control system, thus, force control. The purpose of this project is to demonstrate the application of force control in an untraditional application, beer pouring, and thus, widen up the traditional scope of force control. By combining force feedback with force feedback, it’s achieved a beer pouring robot system which can handle both to serve a certain amount of beer, however, taken into account the control of the flow of beer from the bottle to avoid unstable pouring situations due to vacuum and foam. With this, the robot cell can provide delicious glasses of beer! The implementation is currently under development, on a NACHI SC15 industrial robot with a special high speed real time interface developed in collaboration with NACHI Fujikoshi. The paper shows the concept and the introductory promising results from the implementation in PPM’s laboratory in Norway.

Тематска област:
Production Technologies and Engineering

Датум пријаве сажетка:
26.03.2015.

Конференцијa:
DEMI 2013