An accurate robot motion-time (ARM-Time) model is explored to be used in predicting, with an unprecedented accuracy, the motion time of start/stop point-to-point operations. Unlike the existing motion-time models observing only the velocity feedback controller’s target profile, the ARM-Time model adequately characterizes the motion time function of position and velocity feedback robots. The ARM-Time model has been applied to predict motion times of the IBM 7547, IBM 7545 and PUMA 560 industrial robots. The comparison of predicted and measured motion times reveals a less than 1 percent prediction error for the IBM 7547 and IBM 7545 robots, and about 0.3 percent for the PUMA 560 robot.
Issue Section:
Research Papers
1.
ABB Robotics AB, 1988, IRB 3000 Robot Equipment and Programming Manual, ABB Robotics AB, Vasteras, Sweden, September.
2.
Ahn
J.
He
W.
Kusiak
A.
1993
, “Scheduling with Alternative Operations
,” IEEE Transactions on Robotics and Automation
, Vol. 9
, No. 3
, pp. 297
–303
.3.
Asada
H.
1983
, “A Geometrical Representation of Manipulator Dynamics and Its Application to Arm Design
,” ASME Journal of Dynamic Systems, Measurement, and Control
, Vol. 105
, pp. 131
–135
.4.
Asada
H.
Kanade
T.
Takeyama
I.
1983
, “Control of a Direct Drive Arm
,” ASME Journal of Dynamic Systems, Measurement, and Control
, Vol. 105
, pp. 136
–142
.5.
Asada
H.
Youcef-Toumi
K.
1984
, “Analysis and Design of a Direct-Drive Arm with a Five-Bar-Link Parallel Drive Mechanism
,” ASME Journal of Dynamic Systems, Measurement, and Control
, Vol. 106
, pp. 225
–230
.6.
Baker, K. R., 1974, Introduction to Sequencing and Scheduling, John Wiley & Sons, Inc., New York.
7.
Behringer
C. A.
1987
, “Robots in Assembly—If You’ve Got the Time
,” Manufacturing Engineering
, Vol. 101
, No. 6
, pp. 45
–48
.8.
Berg
J. O.
1991
, “Robot Calibration for Off-line Programming
,” The Industrial Robot
, Vol. 18
, No. 2
, pp. 29
–32
.9.
Colbaugh
R.
Jamshidi
M.
1992
, “Robot Manipulator Control for Hazardous Waste-Handling Applications
,” Journal of Robotics Systems
, Vol. 9
, pp. 215
–250
.10.
Craig, J. J., 1988, Adaptive Control of Mechanical Manipulator, Addison-Wesley, Reading, MA.
11.
Craig, J. J., 1989, Introduction to Robotics: Mechanism and Control, 2nd Edition, Addison-Wesley, Reading, MA.
12.
Critchlow, A. J., 1985, Introduction to Robotics, Macmillan Publishing Company, New York.
13.
Electro-Craft Corporation, 1978, DC Motors, Speed Controls, Servo Systems, 4th Edition, Hopkins, MN.
14.
Fu, K. S., Gonzalez, R. C., and Lee, C. S. G., 1987, Robotics: Control, Sensing, Vision and Intelligence, McGraw-Hill, Inc., New York.
15.
General Electric Company, 1984, General Electric P50 Process Robot, Maintenance and Installation Manual, Robotics and Vision System Department, General Electric Company, Orlando, FL.
16.
Ham, I., Hitomi, K., and Yoshida, T., 1985, Group Technology, Applications to Production Management, Kluwer-Nijhoff Publishing, Hingham, MA.
17.
IBM, 1983a, IBM 7545 Manufacturing System Hardware Library, IBM RS Information Development Department, Boca Raton, FL.
18.
IBM, 1983b, IBM 7547 Manufacturing System Hardware Library, IBM RS Information Development Department, Boca Raton, FL.
19.
Kamisetty
K. V.
McDermott
K. J.
1992
, “Development of a CAD/CAM Robotic Translator for Programming the IBM 7535 SCARA Robot Off-line
,” Computers in Industry
, Vol. 20
, pp. 219
–228
.20.
Koren, Y., 1985, Robotics for Engineers, McGraw-Hill, New York.
21.
Lechtman
H.
Nof
S.
1983
, “Performance Time Models for Robot Point Operations
,” International Journal of Production Research
, Vol. 21
, No. 5
, pp. 659
–673
.22.
Manji
J. F.
1992
, “Integrating a Drilling Robot in Aerospace Manufacturing
,” Controls & Systems
, Vol. 39
, pp. 63
–64
.23.
Moon
K. S.
Kim
K.
Azadivar
F.
1991
, “Optimum Continuous Path Operating Conditions for Maximum Productivity of Robotic Manufacturing Systems
,” Robotics and Computer-Integrated Manufacturing
, Vol. 8
, No. 3
, pp. 193
–199
.24.
Morton, T. E., and Pentico, D. W., 1993, Heuristic Scheduling Systems with Applications to Production Systems and Project Management, John Wiley & Sons, Inc., New York.
25.
Myers, R. H., 1986, Classical and Modern Regression with Applications, Duxbury Press, Boston, MA.
26.
Nof
S. Y.
Lechtman
H.
1982
, “Robot Time and Motion System Provides Means of Evaluating Alternate Robot Work Methods
,” Industrial Engineering
, Vol. 14
, No. 4
, pp. 38
–48
.27.
Nof, S., 1985, “Robot Ergonomics: Optimizing Robot Work,” Handbook of Industrial Robotics, S. Nof, ed., New York, Wiley, pp. 549–604.
28.
Paul, R. P., 1981, Robot Manipulators: Mathematics, Programming, Control, MIT Press, Cambridge, MA.
29.
Patton
R.
1993
, “Robotic Systems Operate Automated Construction Factory, Slash Labor Requirements
,” Electronics
, Vol. 66
, p. 13
13
.30.
Paul
R. L.
Nof
S. Y.
1979
, “Work Methods Measurement—A Comparison between Robot and Human Task Performance
,” International J. of Production Research
, Vol. 17
, No. 3
, pp. 277
–303
.31.
Red
W. E.
Dixon
M. G.
1990
, “Robots—Programmed for Success
,” Manufacturing Engineering
, Vol. 104
, No. 5
, pp. 43
–47
.32.
Rembold
B.
Nof
S.
1991
, “Modelling the Performance of a Mobile Robot with RTM
,” International Journal of Production Research
, Vol. 29
, No. 5
, pp. 967
–978
.33.
Rinnooy Kan, A. H. G., 1976, Machine Scheduling Problems, Martinus Nijhoff, The Hague.
34.
Rogers
P. F.
1978
, “A Time and Motion Method for Industrial Robots
,” Industrial Robot
, Vol. 5
, No. 4
, pp. 187
–192
.35.
SAS Institute Inc., 1988, SAS/STAT User’s Guide, Release 6.03 Edition, SAS Institute Inc., Cary, NC.
36.
Schmult
B.
1992
, “Autonomous Robotic Disassembly in the Blocks World
,” International Journal of Robotics Research
, Vol. 11
, pp. 437
–459
.37.
Sheu
S.-Y.
Walker
M. W.
1991
, “Identifying the Independent Inertial Parameter Space of Robot Manipulator
,” International Journal of Robotics Research
, Vol. 10
, pp. 668
–683
.38.
Unimation, 1986, Unimate Industrial Robot, Programming Manual, User’s Guide to VAL II, Version 2.0, 398AG1, Danbury, CT.
39.
Unimation, 1984, Unimate PUMA MARK II Robot, 500 Series Equipment and Programming Manual, 398P1, Danbury, CT.
40.
Unimation, 1983, Unimate PUMA Robot, 200 Series Equipment and Programming Manual, 398R1, Danbury, CT.
41.
Walker
M. W.
Orin
D. E.
1982
, “Efficient Dynamic Computer Simulation of Robotic Mechanisms
,” ASME Journal of Dynamic Systems, Measurement and Control
, Vol. 104
, pp. 205
–211
.42.
Wang, C.-C., 1986, “Necessary Validation of Robot Simulation for Manipulator Design and Trajectory Planning,” JAPAN-USA Symposium of Flexible Automation, pp. 159–164.
43.
Wang, C.-C, 1987, “Robot Motion-Time Measurement by Frame Counting and Stop Watch Methods,” VT/IEOR Technical Report Series No. 87-03.
44.
Wu
C. M.
Black
J. T.
Jiang
B. C.
1991
, “Using Taguchi Methods to Determine Robot Process Capability for Path Following
,” Robotics and Computer-Integrated Manufacturing
, Vol. 8
, No. 1
, pp. 9
–25
.45.
Yao
Y. L.
Wu
S. M.
1993
, “Development of an Adaptive Force/Position Controller for Robot-Automated Composite Tape-Layering
,” ASME JOURNAL OF ENGINEERING FOR INDUSTRY
, Vol. 115
, pp. 352
–358
.46.
Youcef-Toumi, K., and H. Asada, 1986, “The Design of Open Loop Manipulator Arms with Decoupled and Configuration Invariant Inertia Tensors,” IEEE International Conference on Robotics and Automation, pp. 2018–2026.
This content is only available via PDF.
Copyright © 1996
by The American Society of Mechanical Engineers
You do not currently have access to this content.
