Publications / 1990 Proceedings of the 7th ISARC, Bristol, United Kingdom

The Self-Tuning of Robot Program Parameters for Manipulating Flexible Parts

E. Appleton, M. G. Taylor
Pages 269-276 (1990 Proceedings of the 7th ISARC, Bristol, United Kingdom, ISSN 2413-5844)
Abstract:

This paper introduces the problem of vibrations in manipulating flexible beam and sheet materials in the construction industry. Analysis and experimentation investigations show that translation and rotation of components can set up vibrations that are unacceptable in terms of damage to the parts or unnecessarily long settling times at the end of each motion. The paper describes a motion parameter search method that allows the robot to self tune its motion to satisfy task requirements, such as minimum transportation time without damage to flexible and vulnerable parts. In this approach the robot is programmed to learn about the parts it handles by making small changes in the motion parameters. The knowledge of the part and the task is gathered over a number of cycles eventually leading to selection of “best known solution”. It is suggested that this paper will be off interest to those involved in automation and robotic in site process, including structural steel fabrication erection. It should also interest those seeking to apply robotics for building products and component manufacture.

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