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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.
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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.
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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.
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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.
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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
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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
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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
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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
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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.
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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.
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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.
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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.
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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
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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.
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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.
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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
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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
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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
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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.
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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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1966:"OSHA Technical Manual (OTM) | Section IV: Chapter 4 - Industrial Robots and Robot System Safety | Occupational Safety and Health Administration"
710:. Automation was achieved using punched paper tape to energise solenoids, which would facilitate the movement of the crane's control levers. The
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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
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2080:"Grey Walter Constructs the First Electronic Autonomous Robots; the Origin of Social Robotics : History of Information"
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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
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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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2168:. Mechanisms and Machine Science. Vol. 83. Cham: Springer International Publishing. pp. 242–252.
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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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1020:. Accuracy can vary with speed and position within the working envelope and with payload (see compliance).
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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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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.
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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"
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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
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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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698:, March 1938. The crane-like device was built almost entirely using
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2159:"Algebraic Insight on the Concomitant Motion of 3RPS and 3PRS PKMS"
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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.
490:
438:
427:
375:
361:
176:
2613:
510:
which is the movement that occurs in response to light stimulus.
3649:
2275:
1075:
921:
827:
822:
Industrial robotics took off quite quickly in Europe, with both
782:
3057:
2665:
1172:
Teaching the robot positions may be achieved a number of ways:
1431:
1179:
770:
462:
2055:"The very first robot "brains" were made of old alarm clocks"
877:
for 107 million U.S. dollars. Westinghouse sold Unimation to
1802:
1513:, which has a similar root cause of axes becoming lined up.
640:
A full parallel manipulator can move an object with up to 6
3053:
1178:
The robot can be directed to the required position using a
636:
Lower mobility parallel manipulators and concomitant motion
2618:
2565:
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)
2608:
2164:. In Larochelle, Pierre; McCarthy, J. Michael (eds.).
1509:
Singularities are closely related to the phenomena of
477:
allow the articulated arms a wide range of movements.
366:
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
1544:
889:
applications and even bought the robotic division of
2609:
International Federation of Robotics IFR (worldwide)
1379:
At position to take part from bin B. (defined as P5)
3683:
3577:
3501:
3464:
3419:
3317:
3161:
3091:
2939:
2882:
2866:
2830:
2788:
2753:
2746:
2703:
1373:
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:
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1960:
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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
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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:
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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:
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2503:
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2495:
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2470:
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2445:
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2429:
2423:. Archived from
2422:
2414:
2408:
2407:
2405:
2403:
2397:
2386:
2378:
2367:
2366:
2364:
2362:
2357:on 10 March 2016
2353:. Archived from
2347:
2341:
2340:
2338:
2337:
2331:
2325:. 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:
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1980:
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1941:
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1911:
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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:
18:Industrial Robot
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
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2511:
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2506:
2497:
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2458:
2456:
2454:Axios (website)
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2307:Wayback Machine
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2014:
2012:
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1983:
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1938:
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1773:Wayback Machine
1758:
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1492:
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1475:
1472:
1457:
1441:
1430:
1384:Define program:
1355:
1329:
1301:
1145:molding machine
1099:
1058:electric motors
943:
938:
726:
692:
668:
648:and 3 rotation
638:
618:
609:
603:
591:
585:
576:parallel joints
572:
566:
558:machine tending
551:
538:
522:
516:
495:Elmer and Elsie
483:
471:manipulator arm
459:
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426:
356:
327:
289:
232:
167:
163:Vending machine
133:Semi-automation
35:
28:
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3718:Terrainability
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3330:Cloud robotics
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2895:list of probes
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2589:External links
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1300:
1297:
1278:conveyor belts
1262:user interface
1209:paint spraying
1198:deadman switch
1194:emergency stop
1186:Teach pendant:
1163:robot software
1098:
1095:
1094:
1093:
1087:
1086:is often used.
1084:harmonic drive
1069:
1051:
1048:spray painting
1044:Motion control
1028:
1027:
1021:
1011:
1005:
999:
990:
974:
966:
958:
947:Number of axes
942:
939:
937:
934:
893:in late 2004.
855:FANUC Robotics
850:(which formed
848:General Motors
813:General Motors
722:George Devol,
691:
688:
680:machine vision
667:
664:
637:
634:
617:
614:
605:Main article:
602:
599:
587:Main article:
584:
581:
568:Main article:
565:
562:
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518:Main article:
515:
512:
499:W. Grey Walter
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455:Main article:
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395:pick and place
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192:Vacuum cleaner
183:
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153:Teller machine
150:
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93:Highway system
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26:
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14:
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3673:
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3670:Wolf Robotics
3668:
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3648:
3646:
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3544:Developmental
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3333:
3331:
3328:
3326:
3323:
3322:
3320:
3316:
3310:
3309:Soft robotics
3307:
3305:
3304:BEAM robotics
3302:
3300:
3297:
3295:
3292:
3290:
3287:
3285:
3282:
3280:
3277:
3275:
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3259:Entertainment
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3112:
3110:
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3097:
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3094:
3092:Main articles
3090:
3086:
3079:
3074:
3072:
3067:
3065:
3060:
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3056:
3044:
3041:
3039:
3038:Radio control
3036:
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3020:
3018:
3015:
3013:
3010:
3008:
3005:
3003:
3000:
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2990:
2988:
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2980:
2978:
2977:BEAM robotics
2975:
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2698:
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2693:Mobile robots
2687:
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2607:
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2600:
2596:
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2592:
2588:
2583:
2579:
2575:
2572:
2571:91-7736-467-8
2568:
2564:
2561:
2560:0-471-17783-0
2557:
2553:
2549:
2548:
2544:
2536:
2534:9780309454025
2530:
2526:
2522:
2518:
2517:
2508:
2505:
2500:
2494:
2491:
2486:
2482:
2481:
2480:The Economist
2476:
2469:
2466:
2455:
2451:
2444:
2441:
2430:on 2019-10-11
2426:
2419:
2413:
2410:
2394:
2390:
2383:
2377:
2375:
2373:
2369:
2356:
2352:
2346:
2343:
2332:on 2012-12-24
2328:
2321:
2315:
2312:
2308:
2304:
2301:
2296:
2293:
2281:
2277:
2271:
2268:
2263:
2256:
2253:
2248:
2244:
2237:
2234:
2223:on 2012-01-27
2222:
2218:
2214:
2213:
2208:
2201:
2198:
2193:
2189:
2185:
2179:
2175:
2171:
2167:
2160:
2153:
2150:
2139:on 2021-04-15
2138:
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2011:
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1537:operational.
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1500:
1490:
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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:
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1375:
1372:
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1359:
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1350:
1346:
1345:
1344:robot control
1340:
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1318:
1314:
1310:
1306:
1298:
1296:
1294:
1289:
1287:
1283:
1279:
1275:
1274:end effectors
1271:
1267:
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1234:
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1223:
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1210:
1205:
1201:
1199:
1195:
1191:
1190:teach pendant
1187:
1183:
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1177:
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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:
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1049:
1045:
1042:
1041:
1040:
1037:
1033:
1025:
1024:Repeatability
1022:
1019:
1015:
1012:
1009:
1006:
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1000:
997:
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991:
988:
984:
980:
979:
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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:
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423:
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419:
414:
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408:
404:
400:
396:
392:
388:
383:
381:
380:manufacturing
377:
373:
364:
353:
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339:
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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
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:.
20:)
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