Extending an industrial root controller : implementation and applications of a fast open sensor interface

An overview is given of the design and implementation of a platform for fast external sensor integration in an industrial robot system called ABB S4CPlus. As an application and motivating example, the implementation of force-controlled grinding and deburring within the AUTOFETT-project is discussed. Experiences from industrial usage of the fully developed prototype confirms the appropriateness of the design choices, thus also confirming the fact that control and software need to be tightly integrated. The new sensor can be used for the prototyping and development of a wide variety of new applications

Nonlinear identification of backlash in robot transmissions

ABSTRACT This paper addresses the issue of automatic identification of backlash in robot transmissions. Traditionally, the backlash is measured manually either by the transmission manufacturer or the robot manufacturer. Before the robot can be delivered to the end-customer, the backlash must be within specified tolerances. For robots with motor measurements only, backlash is an example of an uncontrollable behaviour which directly affects the absolute accuracy of the robot’s tool-centrepoint. Even if we do not attempt to bring backlash under real-time control in this paper, we will describe a method to automatically identify/estimate the backlash in the robot transmissions from torque and position measurements. Hence, only the transmissions that do not meet the backlash requirements in the automatic tests need to be checked and adjusted manually.

Human passive motions and a user-friendly energy harvesting system

Energy harvesting for wireless sensors and consumer electronic devices can significantly improve reliability and environmental sustainability of the devices. This is achieved by eliminating the dependency of these devices on rechargeable batteries, using clean and/or renewable energy sources. Energy harvesting from various energy sources is widely discussed among researchers and entrepreneurs, including harvesting energy from microscale phenomena. This topic is receiving increasing attention due to the rising numbers of low-power consumer electronic devices and wireless sensors, but also the increasing demand for more convenient and available devices. This article presents a feasibility study for an energy harvesting system based on a human's breathing motion. The system is based on a modified pants belt that is integrated with an array of piezoelectric films and a harvesting circuit. The proposed energy harvester generates electricity from reciprocal abdominal motions of the human subject. In comparison with existing breathing-based energy harvesters, the proposed system allows for safe and convenient energy harvesting with no influence on the natural movement of the lungs. Stomach pressure analysis and measurement, as well as the design and simulations of the proposed harvester, are presented. © 2013 The Author(s).