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This paper presents the realization of a robotic workcell capable of autonomous, flexible, fabrication of complete, full-scale, functional mechatronic systems. Using a 6-DOF robotic arm with a hybrid Additive Manufacturing (AM)/Pick and Place (PnP) end effector, the workcell can rapidly print enclosures, insert and wire functional electronics, and embed them into the printed structure. The workcell's scalable control system, digital workflow for creating assembly instructions, hybrid AM/PnP toolhead design, and autonomous part tending mechanism are detailed. In addition, a modular electronics infrastructure is presented to enable facile, error-free robotic wiring of large-gauge copper wire. The workcell's ability to manufacture is verified in a case study wherein it is used to autonomously fabricate a variety of Unmanned Aerial Systems (UASs). In the study, the workcell produces a functional quadrotor drone, releases the drone from the workcell, and allows the drone to record the workcell constructing a second, different drone - all without human involvement. The resulting workcell, which combines digitally-integrated manufacturing, robotics and automation, and hybrid process manufacturing, enables autonomous manufacture of complete, functional mechatronic systems that are tailored to custom design needs in a just-in-time manner.

This paper contributes in the form of a theoretical discussion and also, by the presentation of a practical example, brings information about the utilization possibilities of elements of augmented reality for the creation of programs for the control of a robotic workplace and for their simulated verification. In the beginning it provides an overview of the current state in the area of robotic systems with the use of unreal objects and describes existing and assumed attitudes. The next part describes an experimental robotic workplace. Then it clarifies the realization of a new way of verification of the program for robotic workplace control and provides information about the possibilities for further development of created functioning concepts. [ABSTRACT FROM AUTHOR]

In this paper, the model reference zero vibration (MRZV) control design is introduced to improve transient performance of robotic manipulators. MRZV consists of a zero vibration (ZV) shaper as the feedforward control while utilizing model reference control to improve robustness and performance under plant model parameter variations. Performance analysis of the MRZV control is given in terms of residual vibration and it is shown that MRZV can tolerate significantly larger plant model variations while maintaining the performance characteristics compared to standard shaper designs such as ZV and ZV and Derivative. A synthesis procedure is provided for the MRZV method to guarantee a prespecified level of residual vibration. Experimental verifications based on a standard cycle time test are carried out on an Adept Technology Cartesian robot. Results confirm the effectiveness of the proposed method. [ABSTRACT FROM AUTHOR]

A matched feedforward/model reference control is proposed in this brief to improve the transient characteristics of systems with uncertain parasitic nonlinearities. In particular, attention is focused on a New England Affiliated Technologies (NEAT) four-axis positioning system which is designed for high-precision applications. Due to the presence of a dead-zone with variable boundaries in this robot, most conventional methods tend to produce unacceptable transients or steady-state errors. The proposed control method is analyzed for its properties and subsequently implemented on the NEAT robot for experimental verifications. It is observed that the matched feedforward/model reference control method is effective while robust to plant and dead-zone boundary uncertainties. [ABSTRACT FROM AUTHOR]

Engineers constantly design and reconfigure automated systems to accommodate shifts in product design or manufacturing priorities. Often engineers require years of experience to become expert in this area. This paper addresses the motive, contents, and evaluation of a web-based robotic workcell design tool kit created to help students learn the design process systematically. The motive is based on interviews with application engineers at system integration companies. Components include problem, design and analysis. In addition, the toolkit allows the instructor to add new design problems that can capture users' mouse movements and key selections for research and teaching purposes. [ABSTRACT FROM AUTHOR]

This paper describes a component-based software architecture for the development of robotic workcell applications. First, robotic workcells are defined and the underlying technology is discussed. Next, the software architecture is described in detail, including the components, their interactions and the underlying policies. The paper concludes with a brief summary of results and a discussion of future architectural directions [ABSTRACT FROM PUBLISHER]