Industrial robot - Knowledge (XXG)

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arms that utilize a "triple-roll wrist". This is a wrist about which the three axes of the wrist, controlling yaw, pitch, and roll, all pass through a common point. An example of a wrist singularity is when the path through which the robot is traveling causes the first and third axes of the robot's wrist (i.e. robot's axes 4 and 6) to line up. The second wrist axis then attempts to spin 180° in zero time to maintain the orientation of the end effector. Another common term for this singularity is a "wrist flip". The result of a singularity can be quite dramatic and can have adverse effects on the robot arm, the end effector, and the process. Some industrial robot manufacturers have attempted to side-step the situation by slightly altering the robot's path to prevent this condition. Another method is to slow the robot's travel speed, thus reducing the speed required for the wrist to make the transition. The ANSI/RIA has mandated that robot manufacturers shall make the user aware of singularities if they occur while the system is being manually manipulated.

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that accuracy and repeatability should be measured at maximum speed and at maximum payload. But this results in pessimistic values whereas the robot could be much more accurate and repeatable at light loads and speeds. Repeatability in an industrial process is also subject to the accuracy of the end effector, for example a gripper, and even to the design of the 'fingers' that match the gripper to the object being grasped. For example, if a robot picks a screw by its head, the screw could be at a random angle. A subsequent attempt to insert the screw into a hole could easily fail. These and similar scenarios can be improved with 'lead-ins' e.g. by making the entrance to the hole tapered.

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robot and the 3 orientation coordinates are in the constraint subspace. The motion subspace of lower mobility manipulators may be further decomposed into independent (desired) and dependent (concomitant) subspaces: consisting of 'concomitant' or 'parasitic' motion which is undesired motion of the manipulator. The debilitating effects of concomitant motion should be mitigated or eliminated in the successful design of lower mobility manipulators. For example, the Delta robot does not have parasitic motion since its end effector does not rotate.

1102: 429: 1026:– how well the robot will return to a programmed position. This is not the same as accuracy. It may be that when told to go to a certain X-Y-Z position that it gets only to within 1 mm of that position. This would be its accuracy which may be improved by calibration. But if that position is taught into controller memory and each time it is sent there it returns to within 0.1mm of the taught position then the repeatability will be within 0.1mm. 1218:

the robot arm and end effector. The advantages of robotics simulation is that it saves time in the design of robotics applications. It can also increase the level of safety associated with robotic equipment since various "what if" scenarios can be tried and tested before the system is activated. Robot simulation software provides a platform to teach, test, run, and debug programs that have been written in a variety of programming languages.

363: 1222: 3154: 1110: 3737: 1092:- this is a measure of the amount in angle or distance that a robot axis will move when a force is applied to it. Because of compliance when a robot goes to a position carrying its maximum payload it will be at a position slightly lower than when it is carrying no payload. Compliance can also be responsible for overshoot when carrying high payloads in which case acceleration would need to be reduced. 3749: 1438: 58: 1068:; however, low internal air-pressurisation of the arm can prevent ingress of flammable vapours as well as other contaminants. Nowadays, it is highly unlikely to see any hydraulic robots in the market. Additional sealings, brushless electric motors and spark-proof protection eased the construction of units that are able to work in the environment with an explosive atmosphere. 1192:. This is a handheld control and programming unit. The common features of such units are the ability to manually send the robot to a desired position, or "inch" or "jog" to adjust a position. They also have a means to change the speed since a low speed is usually required for careful positioning, or while test-running through a new or modified routine. A large 674:. Some robots are programmed to faithfully carry out specific actions over and over again (repetitive actions) without variation and with a high degree of accuracy. These actions are determined by programmed routines that specify the direction, acceleration, velocity, deceleration, and distance of a series of coordinated motions 1529:, there were about 3,903,633 operational industrial robots by the end of 2022. For the year 2018 the IFR estimates the worldwide sales of industrial robots with US$ 16.5 billion. Including the cost of software, peripherals and systems engineering, the annual turnover for robot systems is estimated to be US$ 48.0 billion in 2018. 765:, i.e. the angles of the various joints were stored during a teaching phase and replayed in operation. They were accurate to within 1/10,000 of an inch (note: although accuracy is not an appropriate measure for robots, usually evaluated in terms of repeatability - see later). Unimation later licensed their technology to 1232:

tools allow for robotics programs to be conveniently written and debugged off-line with the final version of the program tested on an actual robot. The ability to preview the behavior of a robotic system in a virtual world allows for a variety of mechanisms, devices, configurations and controllers to

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mobility and has proven to be very successful for rapid pick-and-place translational positioning applications. The workspace of lower mobility manipulators may be decomposed into 'motion' and 'constraint' subspaces. For example, 3 position coordinates constitute the motion subspace of the 3 DoF Delta

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for it, i.e. the position of the 'end effector' in mm in the X, Y and Z directions relative to the robot's origin. In addition, depending on the types of joints a particular robot may have, the orientation of the end effector in yaw, pitch, and roll and the location of the tool point relative to the

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this is a technique offered by many robot manufacturers. In this method, one user holds the robot's manipulator, while another person enters a command which de-energizes the robot causing it to go into limp. The user then moves the robot by hand to the required positions and/or along a required path

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of those samples in all three dimensions. A typical robot can, of course make a positional error exceeding that and that could be a problem for the process. Moreover, the repeatability is different in different parts of the working envelope and also changes with speed and payload. ISO 9283 specifies

1307:, or end-of-arm-tooling (EOAT). Common examples of end effectors include welding devices (such as MIG-welding guns, spot-welders, etc.), spray guns and also grinding and deburring devices (such as pneumatic disk or belt grinders, burrs, etc.), and grippers (devices that can grasp an object, usually 714:

could stack wooden blocks in pre-programmed patterns. The number of motor revolutions required for each desired movement was first plotted on graph paper. This information was then transferred to the paper tape, which was also driven by the robot's single motor. Chris Shute built a complete replica

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to work together to enhance technical expertise, identify and help address potential workplace hazards associated with traditional industrial robots and the emerging technology of human-robot collaboration installations and systems, and help identify needed research to reduce workplace hazards. On

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Most articulated robots perform by storing a series of positions in memory, and moving to them at various times in their programming sequence. For example, a robot which is moving items from one place (bin A) to another (bin B) might have a simple 'pick and place' program similar to the following:

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For a given robot the only parameters necessary to completely locate the end effector (gripper, welding torch, etc.) of the robot are the angles of each of the joints or displacements of the linear axes (or combinations of the two for robot formats such as SCARA). However, there are many different

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is where the entire cell, the robot and all the machines or instruments in the workspace are mapped graphically. The robot can then be moved on screen and the process simulated. A robotics simulator is used to create embedded applications for a robot, without depending on the physical operation of

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There are two basic entities that need to be taught (or programmed): positional data and procedure. For example, in a task to move a screw from a feeder to a hole the positions of the feeder and the hole must first be taught or programmed. Secondly the procedure to get the screw from the feeder to

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The American National Standard for Industrial Robots and Robot Systems — Safety Requirements (ANSI/RIA R15.06-1999) defines a singularity as "a condition caused by the collinear alignment of two or more robot axes resulting in unpredictable robot motion and velocities." It is most common in robot

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Positioning by Cartesian coordinates may be done by entering the coordinates into the system or by using a teach pendant which moves the robot in X-Y-Z directions. It is much easier for a human operator to visualize motions up/down, left/right, etc. than to move each joint one at a time. When the

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China is the largest industrial robot market, with 154,032 units sold in 2018. China had the largest operational stock of industrial robots, with 649,447 at the end of 2018. The United States industrial robot-makers shipped 35,880 robot to factories in the US in 2018 and this was 7% more than in

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these coordinates must be converted to joint angles by the robot controller and such conversions are known as Cartesian Transformations which may need to be performed iteratively or recursively for a multiple axis robot. The mathematics of the relationship between joint angles and actual spatial

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to "provide scientific leadership to guide the development and use of occupational robots that enhance worker safety, health, and wellbeing." So far, the research needs identified by NIOSH and its partners include: tracking and preventing injuries and fatalities, intervention and dissemination

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A second type of singularity in wrist-partitioned vertically articulated six-axis robots occurs when the wrist center lies on a cylinder that is centered about axis 1 and with radius equal to the distance between axes 1 and 4. This is called a shoulder singularity. Some robot manufacturers also

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The biggest customer of industrial robots is automotive industry with 30% market share, then electrical/electronics industry with 25%, metal and machinery industry with 10%, rubber and plastics industry with 5%, food industry with 5%. In textiles, apparel and leather industry, 1,580 units are

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Delta robots are also referred to as parallel link robots. They consist of parallel links connected to a common base. Delta robots are particularly useful for direct control tasks and high maneuvering operations (such as quick pick-and-place tasks). Delta robots take advantage of four bar or

1034:. ISO 9283 sets out a method whereby both accuracy and repeatability can be measured. Typically a robot is sent to a taught position a number of times and the error is measured at each return to the position after visiting 4 other positions. Repeatability is then quantified using the 656:

obility. However, when a manipulation task requires less than 6 DoF, the use of lower mobility manipulators, with fewer than 6 DoF, may bring advantages in terms of simpler architecture, easier control, faster motion and lower cost. For example, the 3 DoF Delta robot has lower

1016:– how closely a robot can reach a commanded position. When the absolute position of the robot is measured and compared to the commanded position the error is a measure of accuracy. Accuracy can be improved with external sensing for example a vision system or Infra-Red. See 611:

Serial architectures a.k.a Serial manipulators are very common industrial robots and they are designed as a series of links connected by motor-actuated joints that extend from a base to an end-effector. SCARA, Stanford manipulators are typical examples of this category.

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Other robots are much more flexible as to the orientation of the object on which they are operating or even the task that has to be performed on the object itself, which the robot may even need to identify. For example, for more precise guidance, robots often contain

1200:. In the manual mode, it allows the robot to move only when it is in the middle position (partially pressed). If it is fully pressed in or completely released, the robot stops. This principle of operation allows natural reflexes to be used to increase safety. 544:

are characterized by their rotary joint at the base and at least one prismatic joint connecting its links. They can move vertically and horizontally by sliding. The compact effector design allows the robot to reach tight work-spaces without any loss of speed.

1082:). Using gears results in measurable 'backlash' which is free movement in an axis. Smaller robot arms frequently employ high speed, low torque DC motors, which generally require high gearing ratios; this has the disadvantage of backlash. In such cases the 1323:. End effectors are frequently highly complex, made to match the handled product and often capable of picking up an array of products at one time. They may utilize various sensors to aid the robot system in locating, handling, and positioning products. 834:

all electric micro-processor controlled robot. The first two IRB 6 robots were sold to Magnusson in Sweden for grinding and polishing pipe bends and were installed in production in January 1974. Also in 1973 KUKA Robotics built its first robot, known as

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Technology, Committee on Information; Automation; Workforce, and the U.S.; Board, Computer Science and Telecommunications; Sciences, Division on Engineering and Physical; Sciences, National Academies of; Engineering; Medicine, and (2017-03-16).

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in history that were programmed to "think" the way biological brains do and meant to have free will. Elmer and Elsie were often labeled as tortoises because of how they were shaped and the manner in which they moved. They were capable of

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be tried and tested before being applied to a "real world" system. Robotics simulators have the ability to provide real-time computing of the simulated motion of an industrial robot using both geometric modeling and kinematics modeling.

1775:. Rapid advances in automation technologies (e.g. fixed robots, collaborative and mobile robots, and exoskeletons) have the potential to improve work conditions but also to introduce workplace hazards in manufacturing workplaces. 1169:

the hole must be programmed along with any I/O involved, for example a signal to indicate when the screw is in the feeder ready to be picked up. The purpose of the robot software is to facilitate both these programming tasks.

1010:– how quickly an axis can accelerate. Since this is a limiting factor a robot may not be able to reach its specified maximum speed for movements over a short distance or a complex path requiring frequent changes of direction. 531:

To be able to move and orient the effector organ in all directions, such a robot needs 6 axes (or degrees of freedom). In a 2-dimensional environment, three axes are sufficient, two for displacement and one for orientation.

1046:– for some applications, such as simple pick-and-place assembly, the robot need merely return repeatably to a limited number of pre-taught positions. For more sophisticated applications, such as welding and finishing ( 804:. This allowed it accurately to follow arbitrary paths in space and widened the potential use of the robot to more sophisticated applications such as assembly and welding. Scheinman then designed a second arm for the 578:

which provide movement in the X-Y plane. Rotating shafts are positioned vertically at the effector. SCARA robots are used for jobs that require precise lateral movements. They are ideal for assembly applications.

1004:– how fast the robot can position the end of its arm. This may be defined in terms of the angular or linear speed of each axis or as a compound speed i.e. the speed of the end of the arm when all axes are moving. 2350: 1503:

mention alignment singularities, where axes 1 and 6 become coincident. This is simply a sub-case of shoulder singularities. When the robot passes close to a shoulder singularity, joint 1 spins very fast.

1798:. Injuries and fatalities could increase over time because of the increasing number of collaborative and co-existing robots, powered exoskeletons, and autonomous vehicles into the work environment. 2484: 2916: 811:

Lab, called the "MIT arm." Scheinman, after receiving a fellowship from Unimation to develop his designs, sold those designs to Unimation who further developed them with support from

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Accuracy and repeatability are different measures. Repeatability is usually the most important criterion for a robot and is similar to the concept of 'precision' in measurement—see

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while the software logs these positions into memory. The program can later run the robot to these positions or along the taught path. This technique is popular for tasks such as

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button is usually included as well. Typically once the robot has been programmed there is no more use for the teach pendant. All teach pendants are equipped with a 3-position

302: 949:– two axes are required to reach any point in a plane; three axes are required to reach any point in space. To fully control the orientation of the end of the arm(i.e. the 632:

stiffness that makes the overall parallel manipulator stiff relative to its components, unlike the serial chain that becomes progressively less rigid with more components.

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The third and last type of singularity in wrist-partitioned vertically articulated six-axis robots occurs when the wrist's center lies in the same plane as axes 2 and 3.

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the programming is done via drag and drop of predefined template/building blocks. They often feature the execution of simulations to evaluate the feasibility and

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units, which serve as the operator control panel. The operator can switch from program to program, make adjustments within a program and also operate a host of

1794:. In addition the Occupational Safety and Health Administration (OSHA) has investigated dozens of robot-related deaths and injuries, which can be reviewed at 2732: 2652: 2392: 628:, as for a serial robot; however in the parallel robot the off-axis flexibility of a joint is also constrained by the effect of the other chains. It is this 624:. Errors in one chain's positioning are averaged in conjunction with the others, rather than being cumulative. Each actuator must still move within its own 1247:

in combination. If the system is able to compile and upload native robot code to the robot controller, the user no longer has to learn each manufacturer's

1151:. How the robot interacts with other machines in the cell must be programmed, both with regard to their positions in the cell and synchronizing with them. 816: 1822:

strategies to promote safe machine control and maintenance procedures, and on translating effective evidence-based interventions into workplace practice.

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has predicted a worldwide increase in adoption of industrial robots and they estimated 1.7 million new robot installations in factories worldwide by 2020

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actuators. The former are faster, the latter are stronger and advantageous in applications such as spray painting, where a spark could set off an

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A parallel manipulator is designed so that each chain is usually short, simple and can thus be rigid against unwanted movement, compared to a

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The earliest known industrial robot, conforming to the ISO definition was completed by "Bill" Griffith P. Taylor in 1937 and published in

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The teach pendant or PC is usually disconnected after programming and the robot then runs on the program that has been installed in its

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printers and an almost infinite array of other industrial devices which are accessed and controlled via the operator control panel.

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only have rotary joints. They are one of the first robots to have been used in industrial applications. They are commonly used for

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since their main use at first was to transfer objects from one point to another, less than a dozen feet or so apart. They used

2449: 785:. This changed radically in the late 1970s when several big Japanese conglomerates began producing similar industrial robots. 2715: 2136: 1463: 961: 641: 625: 474: 2080:"Grey Walter Constructs the First Electronic Autonomous Robots; the Origin of Social Robotics : History of Information" 1778:

Despite the lack of occupational surveillance data on injuries associated specifically with robots, researchers from the US

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in the robot, which determines the robot's possible motions. Classes of robot kinematics include articulated, cartesian,

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desired position is reached it is then defined in some way particular to the robot software in use, e.g. P1 - P5 below.

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Michal Gurgul (author) (2018). Industrial robots and cobots: Everything you need to know about your future co-worker.

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Interest in robotics increased in the late 1970s and many US companies entered the field, including large firms like

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Factory automation with industrial robots for palletizing food products like bread and toast at a bakery in Germany

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bringing robots to the market in 1973. ABB Robotics (formerly ASEA) introduced IRB 6, among the world's first

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of motions and sequences for an industrial robot is typically taught by linking the robot controller to a

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SCARA is an acronym for Selective Compliance Assembly Robot Arm. SCARA robots are recognized by their two

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ways to define the points. The most common and most convenient way of defining a point is to specify a

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Only a few non-Japanese companies ultimately managed to survive in this market, the major ones being:

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that acts without recourse to human control. The first autonomous robots environment were known as

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In the year 2022, an estimated 3,903,633 industrial robots were in operation worldwide according to

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is run either in the robot controller or in the computer or both depending on the system design.

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parts, and powered by a single electric motor. Five axes of movement were possible, including

382:. Industrial robots are automated, programmable and capable of movement on three or more axes. 3741: 3705: 3634: 3563: 3450: 3236: 3138: 3113: 3061: 2857: 2577: 2566: 2555: 2528: 2177: 2079: 1776: 1114: 1017: 890: 862: 761: 456: 428: 410: 277: 836: 3690: 3568: 3553: 3428: 3420: 3339: 3298: 3283: 3133: 3001: 2996: 2966: 2911: 2847: 2805: 2696: 2520: 2211: 2169: 1308: 1133: 977: 969: 897: 870: 843: 789: 718: 695: 671: 390: 284: 272: 31: 1965: 3599: 3584: 3487: 3477: 3469: 3334: 3207: 3185: 3175: 2923: 2767: 2656: 2644: 2306: 2029: 1891: 1772: 1292: 1147:

and a robot. The various machines are 'integrated' and controlled by a single computer or

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Information Technology and the U.S. Workforce: Where Are We and Where Do We Go from Here?

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or text based commands in which the required X-Y-Z position may be specified and edited.

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sub-systems acting as their visual sensors, linked to powerful computers or controllers.

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software. The use of a computer greatly simplifies the programming process. Specialized

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Cartesian robots, also called rectilinear, gantry robots, and x-y-z robots have three

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in Japan and England respectively. For some time, Unimation's only competitor was

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for the movement of the tool and three rotary joints for its orientation in space.

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devices that may be integrated within the same robotic system. These include

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are a relatively new but flexible way to program robot applications. Using a

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in 1988, which is still making articulated robots for general industrial and

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is becoming an increasingly important factor in the modern industrial robot.

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Proceedings of the 2020 USCToMM Symposium on Mechanical Systems and Robotics

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Furthermore, industrial robots can have a serial or parallel architecture.

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Articulated robots are the most common industrial robots. They look like a

2418:"Operational stock of industrial robots at year-end in selected countries" 2129:"Comment savoir si le robot SCARA est le bon choix pour votre application" 1909:

Robot Assisted Disassembly for the Recycling of Electric Vehicle Batteries

873:, Inc. At the height of the robot boom in 1984, Unimation was acquired by 3659: 3609: 3084: 2991: 1140: 1129: 755: 172: 1139:

A robot and a collection of machines or peripherals is referred to as a

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in 1954 (granted in 1961). The first company to produce a robot was

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For examples of how this would look in popular robot languages see

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This article is about manufacturing robots. For mining robots, see

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Estimated worldwide annual supply of industrial robots (in units):

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in die-casting, plastic injection and extrusion, and for welding.

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which is the movement that occurs in response to light stimulus.

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Industrial robotics took off quite quickly in Europe, with both

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Teaching the robot positions may be achieved a number of ways:

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for 107 million U.S. dollars. Westinghouse sold Unimation to

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A full parallel manipulator can move an object with up to 6

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The robot can be directed to the required position using a

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Lower mobility parallel manipulators and concomitant motion

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Lars Westerlund (author) (2000). The extended arm of man.

1280:, emergency stop controls, machine vision systems, safety 1143:, or cell. A typical cell might contain a parts feeder, a 2382:"Executive Summary World Robotics 2019 Industrial Robots" 2638:

Strategies for addressing new technologies from the INRS

1074:– some robots connect electric motors to the joints via 1251:. Therefore, this approach can be an important step to 2619:

BARA, British Automation and Robotics Association (UK)

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Singularities are closely related to the phenomena of

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allow the articulated arms a wide range of movements.

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An articulated industrial robot operating in a foundry

2207:"Machine Vision Fundamentals, How to Make Robots See" 1780:

National Institute for Occupational Safety and Health

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applications and even bought the robotic division of

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International Federation of Robotics IFR (worldwide)

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At position to take part from bin B. (defined as P5)

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At position to take part from bin A (defined as P3)

2614:Robotic Industries Association RIA (North America) 1812:On October 5, 2017, OSHA, NIOSH and RIA signed an 1792:Fatality Assessment and Control Evaluation Program 1315:). Other common means of picking up objects is by 1078:; others connect the motor to the joint directly ( 2260:Taylor, Griffith P. (1995). Robin Johnson (ed.). 2104:"La robotique industrielle : guide pratique" 1237:Manufacturing independent robot programming tools 965:– this is usually the same as the number of axes. 2006:"The Top Six Types of Industrial Robots in 2020" 1337:robot's faceplate must also be specified. For a 1113:A typical well-used teach pendant with optional 2650:Machine Guarding - Why It's a Legal Requirement 2554:, 2nd ed. John Wiley & Sons. 1378 pp. 1276:, feeders that supply components to the robot, 981:– the actual arrangement of rigid members and 497:, which were constructed in the late 1940s by 3069: 2677: 1157:The computer is installed with corresponding 343: 8: 2733:List of unmanned aerial vehicle applications 2448:LeVine, Steve; Waddell, Kaveh (2019-03-01). 2249:(3). Liverpool UK: Meccano: 172. March 1938. 1801:Safety standards are being developed by the 2853:Remotely operated underwater vehicle (ROUV) 2475:"Worries about premature industrialisation" 2376: 2374: 2372: 1466:. Unsourced material may be challenged and 1303:The most essential robot peripheral is the 817:Programmable Universal Machine for Assembly 747:in 1956. Unimation robots were also called 3076: 3062: 3054: 2750: 2684: 2670: 2662: 2300:KUKA-Roboter.de: 1973 The First KUKA Robot 447:There are six types of industrial robots. 418:International Federation of Robotics (IFR) 350: 336: 56: 36: 2624:Center for Occupational Robotics Research 2595:Industrial robots and robot system safety 2030:"Robots and robotic devices — Vocabulary" 1935: 1933: 1931: 1920: 1918: 1916: 1892:"ISO 8373:2021(en) Robotics — Vocabulary" 1819:Center for Occupational Robotics Research 1788:Center for Occupational Robotics Research 1486:Learn how and when to remove this message 1260:in addition, machine operators often use 2280:IFR International Federation of Robotics 2157:Nigatu, Hassen; Yihun, Yimesker (2020). 973:– the region of space a robot can reach. 1883: 385:Typical applications of robots include 293: 236: 171: 64: 48: 2499:"China overtakes USA in robot density" 2276:"International Federation of Robotics" 1376:10 cm Above bin B (defined as P4) 1370:10 cm Above bin A (defined as P2) 1367:Safely above workpiece (defined as P1) 1342:coordinates is called kinematics. See 3483:Simultaneous localization and mapping 2487:from the original on 21 October 2017. 1847:Intelligent industrial work assistant 1807:American National Standards Institute 7: 2633:Safety standards applied to Robotics 2241:"An Automatic Block-Setting Crane". 1999: 1997: 1995: 1993: 1991: 1989: 1987: 1985: 1960: 1958: 1956: 1954: 1952: 1950: 1948: 1946: 1762:International Federation of Robotics 1523:International Federation of Robotics 1464:adding citations to reliable sources 1188:Robot positions can be taught via a 465:, which is why they are also called 2843:Autonomous underwater vehicle (AUV) 2264:. Gargantua: Constructor Quarterly. 998:– how much weight a robot can lift. 644:(DoF), determined by 3 translation 473:. Their articulations with several 2716:Unmanned combat air vehicle (UCAV) 670:Robots exhibit varying degrees of 432:A set of six-axis robots used for 318:IEEE Robotics and Automation Award 25: 2838:Unmanned underwater vehicle (UUV) 2398:from the original on 6 April 2018 875:Westinghouse Electric Corporation 3747: 3736: 3735: 3152: 2550:Nof, Shimon Y. (editor) (1999). 1436: 1253:standardize programming methods. 1097:Robot programming and interfaces 3748: 2811:Automatic train operation (ATO) 2552:Handbook of Industrial Robotics 735:applied for the first robotics 594:parallelogram linkage systems. 3791:Occupational safety and health 2874:Unmanned surface vehicle (USV) 2801:Automated guided vehicle (AGV) 2320:"History of Industrial Robots" 1817:October 16 NIOSH launched the 1805:(RIA) in conjunction with the 1803:Robotic Industries Association 749:programmable transfer machines 1: 2796:Unmanned ground vehicle (UGV) 2711:Unmanned aerial vehicle (UAV) 2450:"The big American robot push" 815:and later marketed it as the 723: 542:cylindrical coordinate robots 536:Cylindrical coordinate robots 2473:Simon Cox (5 October 2017). 2205:Turek, Fred D. (June 2011). 2174:10.1007/978-3-030-43929-3_22 2084:www.historyofinformation.com 1422:industrial robot programming 3493:Vision-guided robot systems 2309:English, 28th of March 2010 2135:(in French). Archived from 1742: 1734: 1726: 1718: 1710: 1702: 1694: 1686: 1678: 1670: 1662: 1654: 1646: 1638: 1630: 1622: 1614: 1606: 1598: 1590: 1582: 1574: 1566: 1558: 554:Spherical coordinate robots 549:Spherical coordinate robots 514:Cartesian coordinate robots 27:Robot used in manufacturing 3807: 3713:Technological unemployment 2219:(6): 60–62. Archived from 2004:Guarana-DIY (2020-06-30). 1863:Cartesian coordinate robot 1853:Lights out (manufacturing) 1784:Bureau of Labor Statistics 1753: 1739: 1731: 1723: 1715: 1707: 1699: 1691: 1683: 1675: 1667: 1659: 1651: 1643: 1635: 1627: 1619: 1611: 1603: 1595: 1587: 1579: 1571: 1563: 1555: 1132:or (internal or Internet) 604: 586: 567: 520:Cartesian coordinate robot 517: 454: 268:Technological unemployment 29: 3731: 3701:Workplace robotics safety 3150: 3030: 1873:Workplace Robotics Safety 1796:OSHA Accident Search page 1756:Workplace robotics safety 767:Kawasaki Heavy Industries 2848:Intervention AUV (I-AUV) 1858:Mobile industrial robots 1241:graphical user interface 3549:Human–robot interaction 2917:spaceflights to the ISS 758:and were programmed in 743:, founded by Devol and 684:Artificial intelligence 3017:Remote control vehicle 3012:Radio-controlled model 2351:"EVS-EN ISO 9283:2001" 1226: 1117: 1106: 1032:accuracy and precision 832:commercially available 729: 715:of the robot in 1997. 501:. They were the first 444: 436: 403:packaging and labeling 399:printed circuit boards 389:, painting, assembly, 367: 294:Trade shows and awards 3655:Starship Technologies 3022:Remote control animal 2108:www.usinenouvelle.com 1416:Move to P1 and finish 1224: 1112: 1104: 993:Carrying capacity or 936:Technical description 914:ABB Asea Brown Boveri 745:Joseph F. Engelberger 721: 652:coordinates for full 616:Parallel architecture 442: 431: 365: 66:Automation in general 3605:Energid Technologies 3007:Autonomous logistics 2603:in the public domain 1460:improve this section 1362:Define points P1–P5: 1334:Cartesian coordinate 1327:Controlling movement 1249:proprietary language 955:yaw, pitch, and roll 879:Stäubli Faverges SCA 861:LTD of Japan). U.S. 237:Impact of automation 3786:Packaging machinery 3781:American inventions 3696:Powered exoskeleton 2890:Uncrewed spacecraft 2262:The Robot Gargantua 1527:World Robotics 2023 1353:Typical programming 1264:devices, typically 1245:offline programming 1215:Offline programming 1176:Positional commands 1105:Offline programming 953:) three more axes ( 941:Defining parameters 794:Stanford University 779:Cincinnati Milacron 601:Serial manipulators 3665:Universal Robotics 3640:Intuitive Surgical 3630:Harvest Automation 3595:Barrett Technology 3377:Robotic spacecraft 3223:Audio-Animatronics 2655:2021-04-15 at the 2643:2018-02-21 at the 2305:2009-02-20 at the 1771:2017-02-11 at the 1766:[IFR 2017] 1299:End-of-arm tooling 1227: 1225:Robotics simulator 1118: 1107: 1056:– some robots use 1036:standard deviation 962:Degrees of freedom 730: 642:degrees of freedom 622:serial manipulator 607:Serial manipulator 475:degrees of freedom 451:Articulated robots 445: 437: 424:Types and features 368: 3776:Industrial robots 3763: 3762: 3706:Robotic tech vest 3635:Honeybee Robotics 3451:Electric unicycle 3404:remotely-operated 3051: 3050: 3043:Unmanned vehicles 2858:Underwater glider 2826: 2825: 2697:uncrewed vehicles 2582:978-83-952513-0-6 2183:978-3-030-43929-3 1750:Health and safety 1747: 1746: 1521:According to the 1496: 1495: 1488: 1309:electromechanical 1204:Lead-by-the-nose: 1018:robot calibration 863:startup companies 626:degree of freedom 457:Articulated robot 411:material handling 360: 359: 278:Post-work society 263:Self-driving cars 16:(Redirected from 3798: 3751: 3750: 3739: 3738: 3723:Fictional robots 3691:Critique of work 3340:Unmanned vehicle 3156: 3078: 3071: 3064: 3055: 3002:Autonomous robot 2997:Robot locomotion 2912:Cargo spacecraft 2905:list of orbiters 2806:Self-driving car 2751: 2686: 2679: 2672: 2663: 2539: 2538: 2509: 2503: 2502: 2495: 2489: 2488: 2470: 2464: 2463: 2461: 2460: 2445: 2439: 2438: 2436: 2435: 2429: 2423:. 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Archived from 2324: 2316: 2310: 2297: 2291: 2290: 2288: 2286: 2272: 2266: 2265: 2257: 2251: 2250: 2243:Meccano Magazine 2238: 2232: 2231: 2229: 2228: 2212:NASA Tech Briefs 2202: 2196: 2195: 2163: 2154: 2148: 2147: 2145: 2144: 2125: 2119: 2118: 2116: 2115: 2100: 2094: 2093: 2091: 2090: 2076: 2070: 2069: 2067: 2066: 2051: 2045: 2044: 2042: 2041: 2026: 2020: 2019: 2017: 2016: 2001: 1980: 1979: 1977: 1976: 1962: 1941: 1937: 1926: 1922: 1911: 1906: 1900: 1899: 1888: 1545: 1517:Market structure 1491: 1484: 1480: 1477: 1471: 1440: 1432: 1230:Robot simulation 970:Working envelope 898:Adept Technology 871:Adept Technology 844:General Electric 790:Victor Scheinman 773:, manufacturing 728: 725: 696:Meccano Magazine 526:prismatic joints 487:autonomous robot 481:Autonomous robot 378:system used for 372:industrial robot 352: 345: 338: 273:Jobless recovery 60: 37: 32:Automated mining 21: 3806: 3805: 3801: 3800: 3799: 3797: 3796: 3795: 3766: 3765: 3764: 3759: 3727: 3679: 3600:Boston Dynamics 3585:Amazon Robotics 3573: 3497: 3488:Visual odometry 3478:Motion planning 3460: 3415: 3335:Continuum robot 3318:Classifications 3313: 3176:Anthropomorphic 3157: 3148: 3144:AI competitions 3087: 3082: 3052: 3047: 3026: 2935: 2924:Space telescope 2900:list by program 2878: 2862: 2822: 2784: 2742: 2699: 2690: 2657:Wayback Machine 2645:Wayback Machine 2591: 2547: 2545:Further reading 2542: 2535: 2511: 2510: 2506: 2497: 2496: 2492: 2472: 2471: 2467: 2458: 2456: 2454:Axios (website) 2447: 2446: 2442: 2433: 2431: 2427: 2420: 2416: 2415: 2411: 2401: 2399: 2395: 2384: 2380: 2379: 2370: 2360: 2358: 2349: 2348: 2344: 2335: 2333: 2329: 2322: 2318: 2317: 2313: 2307:Wayback Machine 2298: 2294: 2284: 2282: 2274: 2273: 2269: 2259: 2258: 2254: 2240: 2239: 2235: 2226: 2224: 2204: 2203: 2199: 2184: 2161: 2156: 2155: 2151: 2142: 2140: 2127: 2126: 2122: 2113: 2111: 2102: 2101: 2097: 2088: 2086: 2078: 2077: 2073: 2064: 2062: 2053: 2052: 2048: 2039: 2037: 2028: 2027: 2023: 2014: 2012: 2003: 2002: 1983: 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Grey Walter 482: 479: 455:Main article: 452: 449: 425: 422: 395:pick and place 358: 357: 355: 354: 347: 340: 332: 329: 328: 326: 325: 320: 315: 310: 305: 299: 296: 295: 291: 290: 288: 287: 282: 281: 280: 275: 265: 260: 259: 258: 248: 242: 239: 238: 234: 233: 231: 230: 225: 224: 223: 213: 211:Guided vehicle 208: 207: 206: 201: 200: 199: 192:Vacuum cleaner 183: 180: 179: 169: 168: 166: 165: 160: 155: 153:Teller machine 150: 149: 148: 143: 135: 130: 125: 120: 115: 110: 105: 100: 95: 93:Highway system 90: 89: 88: 78: 72: 69: 68: 62: 61: 53: 52: 46: 45: 26: 24: 14: 13: 10: 9: 6: 4: 3: 2: 3803: 3792: 3789: 3787: 3784: 3782: 3779: 3777: 3774: 3773: 3771: 3756: 3755: 3746: 3744: 3743: 3734: 3733: 3730: 3724: 3721: 3719: 3716: 3714: 3711: 3707: 3704: 3703: 3702: 3699: 3697: 3694: 3692: 3689: 3688: 3686: 3682: 3676: 3673: 3671: 3670:Wolf Robotics 3668: 3666: 3663: 3661: 3658: 3656: 3653: 3651: 3648: 3646: 3643: 3641: 3638: 3636: 3633: 3631: 3628: 3626: 3625:Foster-Miller 3623: 3621: 3618: 3616: 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2171: 2167: 2160: 2153: 2150: 2139:on 2021-04-15 2138: 2134: 2130: 2124: 2121: 2109: 2105: 2099: 2096: 2085: 2081: 2075: 2072: 2060: 2056: 2050: 2047: 2035: 2031: 2025: 2022: 2011: 2007: 2000: 1998: 1996: 1994: 1992: 1990: 1988: 1986: 1982: 1971: 1967: 1961: 1959: 1957: 1955: 1953: 1951: 1949: 1947: 1943: 1940: 1936: 1934: 1932: 1928: 1925: 1921: 1919: 1917: 1913: 1910: 1905: 1902: 1897: 1893: 1887: 1884: 1878: 1874: 1871: 1869: 1866: 1864: 1861: 1859: 1856: 1854: 1851: 1848: 1845: 1843: 1840: 1838: 1835: 1833: 1830: 1829: 1825: 1823: 1820: 1815: 1811: 1808: 1804: 1799: 1797: 1793: 1789: 1785: 1781: 1777: 1774: 1770: 1767: 1763: 1757: 1749: 1738: 1730: 1722: 1714: 1706: 1698: 1690: 1682: 1674: 1666: 1658: 1650: 1642: 1634: 1626: 1618: 1610: 1602: 1594: 1586: 1578: 1570: 1562: 1554: 1550: 1547: 1546: 1543: 1542: 1538: 1537:operational. 1534: 1530: 1528: 1524: 1516: 1514: 1512: 1507: 1504: 1500: 1490: 1487: 1479: 1469: 1465: 1461: 1455: 1454: 1450: 1445:This section 1443: 1439: 1434: 1433: 1428:Singularities 1427: 1425: 1423: 1415: 1412: 1409: 1406: 1403: 1400: 1398:Close gripper 1397: 1394: 1391: 1388: 1387: 1386: 1385: 1378: 1375: 1372: 1369: 1366: 1365: 1364: 1363: 1359: 1352: 1350: 1346: 1345: 1344:robot control 1340: 1335: 1326: 1324: 1322: 1318: 1314: 1310: 1306: 1298: 1296: 1294: 1289: 1287: 1283: 1279: 1275: 1274:end effectors 1271: 1267: 1263: 1259: 1255: 1254: 1250: 1246: 1242: 1238: 1234: 1231: 1223: 1219: 1216: 1212: 1210: 1205: 1201: 1199: 1195: 1191: 1190:teach pendant 1187: 1183: 1181: 1177: 1173: 1170: 1166: 1164: 1160: 1156: 1152: 1150: 1146: 1142: 1137: 1135: 1131: 1127: 1123: 1120:The setup or 1116: 1111: 1103: 1096: 1091: 1088: 1085: 1081: 1077: 1073: 1070: 1067: 1063: 1060:, others use 1059: 1055: 1052: 1049: 1045: 1042: 1041: 1040: 1037: 1033: 1025: 1024:Repeatability 1022: 1019: 1015: 1012: 1009: 1006: 1003: 1000: 997: 996: 991: 988: 984: 980: 979: 975: 972: 971: 967: 964: 963: 959: 956: 952: 948: 945: 944: 940: 935: 933: 931: 927: 923: 922:KUKA Robotics 919: 915: 911: 907: 903: 899: 894: 892: 888: 884: 880: 876: 872: 868: 864: 860: 856: 853: 852:joint venture 849: 845: 840: 838: 833: 829: 828:KUKA Robotics 825: 820: 818: 814: 810: 807: 803: 799: 796:invented the 795: 791: 786: 784: 780: 776: 772: 768: 764: 763: 757: 754: 750: 746: 742: 738: 734: 720: 716: 713: 709: 708:grab rotation 705: 701: 697: 689: 687: 685: 681: 675: 673: 665: 663: 660: 655: 651: 647: 643: 635: 633: 631: 627: 623: 615: 613: 608: 600: 598: 595: 590: 582: 580: 577: 571: 563: 561: 559: 555: 548: 546: 543: 535: 533: 529: 527: 521: 513: 511: 509: 504: 500: 496: 492: 488: 480: 478: 476: 472: 468: 464: 458: 450: 448: 441: 435: 430: 423: 421: 419: 414: 412: 408: 404: 400: 396: 392: 388: 383: 381: 380:manufacturing 377: 373: 364: 353: 348: 346: 341: 339: 334: 333: 331: 330: 324: 321: 319: 316: 314: 311: 309: 306: 304: 301: 300: 298: 297: 292: 286: 283: 279: 276: 274: 271: 270: 269: 266: 264: 261: 257: 254: 253: 252: 249: 247: 244: 243: 241: 240: 235: 229: 226: 222: 219: 218: 217: 214: 212: 209: 205: 202: 198: 195: 194: 193: 190: 189: 188: 185: 184: 182: 181: 178: 174: 170: 164: 161: 159: 156: 154: 151: 147: 144: 142: 139: 138: 136: 134: 131: 129: 126: 124: 121: 119: 116: 114: 111: 109: 106: 104: 101: 99: 96: 94: 91: 87: 84: 83: 82: 79: 77: 74: 73: 71: 70: 67: 63: 59: 55: 54: 51: 47: 43: 39: 38: 33: 19: 3752: 3740: 3509:Evolutionary 3456:Robotic fins 3409:Robotic fish 3394:Telerobotics 3367:Nanorobotics 3357:Mobile robot 3294:Food service 3289:Agricultural 3231: 3139:Competitions 3124:Hall of Fame 2987:Nanorobotics 2972:Agricultural 2551: 2515: 2507: 2493: 2478: 2468: 2457:. Retrieved 2453: 2443: 2432:. Retrieved 2425:the original 2412: 2400:. Retrieved 2388: 2359:. Retrieved 2355:the original 2345: 2334:. Retrieved 2327:the original 2314: 2295: 2283:. Retrieved 2279: 2270: 2261: 2255: 2246: 2242: 2236: 2225:. Retrieved 2221:the original 2216: 2210: 2200: 2165: 2152: 2141:. Retrieved 2137:the original 2133:www.fanuc.eu 2132: 2123: 2112:. Retrieved 2107: 2098: 2087:. Retrieved 2083: 2074: 2063:. Retrieved 2061:. 2012-03-07 2058: 2049: 2038:. Retrieved 2033: 2024: 2013:. Retrieved 2010:DIY-Robotics 2009: 1973:. Retrieved 1970:www.osha.gov 1969: 1904: 1895: 1886: 1868:Gantry robot 1842:Drum handler 1800: 1759: 1540: 1539: 1535: 1531: 1526: 1525:(IFR) study 1520: 1508: 1505: 1501: 1497: 1482: 1473: 1458:Please help 1446: 1419: 1410:Open gripper 1383: 1382: 1361: 1360: 1356: 1347: 1330: 1305:end effector 1302: 1290: 1257: 1256: 1236: 1235: 1229: 1228: 1214: 1213: 1203: 1202: 1185: 1184: 1175: 1174: 1171: 1167: 1154: 1153: 1138: 1119: 1089: 1080:direct drive 1079: 1071: 1054:Power source 1053: 1043: 1029: 1023: 1013: 1008:Acceleration 1007: 1001: 992: 976: 968: 960: 950: 946: 895: 841: 831: 824:ABB Robotics 821: 802:arm solution 798:Stanford arm 787: 759: 748: 733:George Devol 731: 707: 703: 693: 676: 669: 658: 653: 649: 645: 639: 619: 610: 596: 592: 583:Delta robots 573: 564:SCARA robots 552: 539: 530: 523: 486: 484: 460: 446: 415: 384: 371: 369: 215: 118:Pool cleaner 3529:Open-source 3382:Space probe 3372:Necrobotics 3362:Microbotics 3325:Biorobotics 3254:Educational 3237:Articulated 3218:Animatronic 3203:Claytronics 2982:Microbotics 2738:Ornithopter 2285:16 December 2110:(in French) 2034:www.iso.org 1896:www.iso.org 1511:gimbal lock 1476:August 2021 1339:jointed arm 1266:touchscreen 1122:programming 762:coordinates 727: 1982 630:closed-loop 589:Delta robot 570:SCARA robot 467:robotic arm 407:palletizing 391:disassembly 146:Switchboard 3770:Categories 3569:Ubiquitous 3559:Perceptual 3466:Navigation 3421:Locomotion 3399:Underwater 3284:Disability 3232:Industrial 3034:Categories 2967:Disability 2831:Underwater 2459:2019-03-01 2434:2019-10-26 2402:10 October 2336:2012-10-27 2227:2011-11-29 2143:2020-11-15 2114:2020-11-15 2089:2024-01-11 2065:2024-01-11 2040:2020-11-15 2015:2020-11-15 1975:2020-11-15 1879:References 1832:Automation 1413:Move to P4 1407:Move to P5 1404:Move to P4 1401:Move to P2 1395:Move to P3 1392:Move to P2 1389:Move to P1 1293:controller 1270:peripheral 1128:, desktop 1090:Compliance 989:and SCARA. 978:Kinematics 508:phototaxis 246:Manumation 216:Industrial 204:Lawn mower 137:Telephone 98:Laboratory 50:Automation 3620:Figure AI 3578:Companies 3554:Paradigms 3539:Adaptable 3519:Simulator 3213:Automaton 3208:Companion 3119:Geography 2192:218789290 1447:does not 1313:pneumatic 1284:systems, 1282:interlock 1159:interface 1155:Software: 1066:explosion 1062:hydraulic 887:cleanroom 867:Automatix 865:included 756:actuators 753:hydraulic 741:Unimation 463:human arm 158:Vehicular 141:Attendant 128:Reasoning 123:Pop music 108:Broadcast 3742:Category 3660:Symbotic 3610:FarmWise 3564:Situated 3534:Software 3502:Research 3446:Climbing 3269:Military 3264:Juggling 3249:Domestic 3181:Humanoid 3104:Glossary 3085:Robotics 2992:Robotics 2952:Military 2947:Domestic 2763:Humanoid 2653:Archived 2641:Archived 2485:Archived 2393:Archived 2361:17 April 2303:Archived 1826:See also 1814:alliance 1769:Archived 1743:553,052 1735:517,385 1727:383,545 1719:373,240 1711:422,271 1703:381,335 1695:294,312 1687:253,748 1679:229,261 1671:178,132 1663:159,346 1655:118,000 1639:113,000 1631:114,000 1623:112,000 1615:120,000 1141:workcell 1130:computer 1014:Accuracy 987:parallel 928:company 924:and the 920:company 912:company 819:(PUMA). 788:In 1969 781:Inc. of 775:Unimates 672:autonomy 666:Autonomy 187:Domestic 173:Robotics 81:Building 42:a series 40:Part of 18:ISO 8373 3754:Outline 3684:Related 3675:Yaskawa 3590:Anybots 3470:mapping 3439:Hexapod 3434:Walking 3279:Service 3274:Medical 3186:Android 3171:Aerobot 3114:History 3099:Outline 2962:Medical 2867:Surface 2773:Hexapod 2768:Android 2755:Walking 2728:Helicam 2723:Aerobot 2389:ifr.org 2059:Gizmodo 1809:(ANSI). 1647:60,000 1607:97,000 1599:81,000 1591:69,000 1583:78,000 1575:99,000 1567:79,000 1559:69,000 1551:Supply 1468:removed 1453:sources 1321:magnets 1286:barcode 1134:network 995:payload 926:Italian 906:Swedish 902:Stäubli 837:FAMULUS 737:patents 700:Meccano 690:History 434:welding 387:welding 303:ASP-DAC 103:Library 76:Banking 3645:IRobot 3429:Tracks 3350:ground 3345:aerial 3299:Retail 3196:Gynoid 3191:Cyborg 3129:Ethics 2957:Rescue 2747:Ground 2704:Aerial 2580: 2569: 2558: 2531: 2190: 2180: 2036:. 2012 1849:(iiwa) 1533:2017. 1317:vacuum 1258:Others 1126:laptop 983:joints 918:German 916:, the 904:, the 883:France 846:, and 760:joint 654:3T3R m 503:robots 285:Threat 197:Roomba 177:robots 3615:FANUC 3524:Suite 3389:Swarm 3163:Types 3109:Index 2940:Other 2883:Space 2789:Other 2628:NIOSH 2601:, so 2428:(PDF) 2421:(PDF) 2396:(PDF) 2385:(PDF) 2330:(PDF) 2323:(PDF) 2188:S2CID 2162:(PDF) 1740:2022 1732:2021 1724:2020 1716:2019 1708:2018 1700:2017 1692:2016 1684:2015 1676:2014 1668:2013 1660:2012 1652:2010 1644:2009 1636:2008 1628:2007 1620:2006 1612:2005 1604:2004 1596:2003 1588:2002 1580:2001 1572:2000 1564:1999 1556:1998 1115:mouse 1076:gears 1072:Drive 1002:Speed 951:wrist 930:Comau 910:Swiss 891:Bosch 859:FANUC 857:with 712:robot 491:robot 489:is a 376:robot 374:is a 323:ICCAD 221:Paint 3650:KUKA 3514:Kits 3468:and 3134:Laws 2929:list 2816:list 2778:list 2695:and 2599:OSHA 2597:(by 2578:ISBN 2567:ISBN 2556:ISBN 2529:ISBN 2404:2019 2363:2015 2287:2018 2178:ISBN 1760:The 1548:Year 1451:any 1449:cite 869:and 826:and 783:Ohio 769:and 706:and 704:grab 540:The 397:for 313:DATE 256:Bias 175:and 86:Home 3242:arm 2626:by 2521:doi 2170:doi 1462:by 1319:or 1311:or 1180:GUI 1149:PLC 881:of 806:MIT 792:at 771:GKN 485:An 469:or 370:An 308:DAC 251:OOL 228:ODD 113:Mix 3772:: 2605:). 2527:. 2519:. 2483:. 2477:. 2452:. 2391:. 2387:. 2371:^ 2278:. 2247:23 2245:. 2217:35 2215:. 2209:. 2186:. 2176:. 2131:. 2106:. 2082:. 2057:. 2032:. 2008:. 1984:^ 1968:. 1945:^ 1930:^ 1915:^ 1894:. 1424:. 1211:. 1136:. 932:. 900:, 809:AI 724:c. 659:3T 650:3R 646:3T 420:. 413:. 405:, 401:, 393:, 44:on 3077:e 3070:t 3063:v 2685:e 2678:t 2671:v 2584:. 2573:. 2562:. 2537:. 2523:: 2501:. 2462:. 2437:. 2406:. 2365:. 2339:. 2289:. 2230:. 2194:. 2172:: 2146:. 2117:. 2092:. 2068:. 2043:. 2018:. 1978:. 1898:. 1489:) 1483:( 1478:) 1474:( 1470:. 1456:. 908:- 351:e 344:t 337:v 34:. 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