InterSmart Robotic Systems Co.

Langfang, China

InterSmart Robotic Systems Co.

Langfang, China
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Lv H.,Tsinghua National Laboratory for Information Sciences and Technology | Song Y.,Tsinghua National Laboratory for Information Sciences and Technology | Jia P.,Tsinghua National Laboratory for Information Sciences and Technology | Gan Z.,InterSmart Robotic Systems Co. | Qi L.,InterSmart Robotic Systems Co.
2010 IEEE International Conference on Information and Automation, ICIA 2010 | Year: 2010

Robotic belt grinding system has good prospect to release hand-grinder from their dirty and noisy working environment. However, as a kind of non-rigid processing system, it is a challenge to model its processes precisely for free-form surface because its performance is unstable due to a variety of factors, such as belt wear and belt replacement. In order to adapt to the variability, an adaptive modeling approach based on echo state network (ESN) is presented, whose major idea is to exhaust information from new data by using sliding window technique to select training samples. With machine learning paradigm this approach is more flexible than traditional ones which often base on formula and experimental curves. Experimental results of grinding turbine blades demonstrate this approach is workable and effective. ©2010 IEEE.


Wu S.,University of Connecticut | Kazerounian K.,University of Connecticut | Gan Z.,InterSmart Robotic Systems Co. | Sun Y.,InterSmart Robotic Systems Co.
Machining Science and Technology | Year: 2014

Robotic belt grinding is an effective process for manufacturing workpieces with complicated free-form geometries. However, due to the relatively low stiffness in the system, more sophisticated modeling and control strategies are called for. This article presents a novel model for estimation of the material removal in the robotic belt grinding process. In particular, two process parameters, robot velocity and contact force between the workpiece and the contact wheel, are analyzed in the presented process model. A superposition method is introduced to estimate the pressure distribution in the contact area. The presented method greatly reduces the computation time compared to finite element analysis (FEA) methods and provides explicit equations for real-time system analysis. Additionally, a shape-dependent model is proposed to estimate the material removal. The model introduces local coefficients to denote the material removal ability of the system at certain locations. This developed methodology can essentially adapt to workpieces with complicated geometries. Experimental results verified the effectiveness and accuracy of the model. © 2014 Taylor & Francis Group, LLC.


Wu S.,University of Connecticut | Kazerounian K.,University of Connecticut | Gan Z.,InterSmart Robotic Systems Co. | Sun Y.,InterSmart Robotic Systems Co.
International Journal of Advanced Manufacturing Technology | Year: 2013

Robotic belt grinding is an effective process for removing material from geometrically complex workpieces. However, due to the relatively low stiffness of the system, the grinding quality is prone to inaccuracies caused by system dynamics. In order to control the quality of the grinding process, a profound understanding of the system is required. This paper presents a platform for comprehensive modeling and simulation of the robotic belt grinding system. The system kinematics model is based on the CAD model of the workpiece in composition with robot kinematics. The dynamics model is a comprehensive combination of the dynamics of the robot, the grinder, and the interaction between the grinder and the workpiece. A material removal model of the grinding process, which can adapt to workpieces with complicated shapes, is also developed and presented. The system simulation shows that optimal selection of key control parameters of the grinder and proper selection of robot control strategies can efficiently suppress chatter in the grinding process. Furthermore, having the ability to predict material removal rate, the comprehensive simulation platform is also demonstrated to be a strong tool in selecting the grinding process key parameters, namely, robotic velocity and contact force, for the control of material removal to meet dimensional accuracy requirements on workpieces. © 2012 Springer-Verlag London Limited.


Wu S.,University of Connecticut | Kazerounian K.,University of Connecticut | Gan Z.,InterSmart Robotic Systems Co. | Sun Y.,InterSmart Robotic Systems Co.
Proceedings of the ASME Design Engineering Technical Conference | Year: 2010

This paper presents a robotic grinding system for work pieces with free-form geometries. A mathematical model representing the kinematics and dynamics of the system is built in the first part of the paper. Offline programming, calibration and a novel method for robotic error compensation are utilized to accurately generate the robotic grinding path. Models of the robot, the grinder and the grinding process are integrated to obtain the dynamics of the system. In the second part of the paper, an actual system is presented, with experiments done to verify the kinematic accuracy of the system. A controller based on the target tracking theory is designed to extend the system's capability of material removal control, the effectiveness of which is shown by the simulation results. In the future, the target-tracking control strategy will be integrated with the actual system to develop a robotic grinding system capable of material removal control for free-form work pieces. © 2010 by ASME.


Qi L.,Beihang University | Qi L.,InterSmart Robotic Systems Co. | Gan Z.,InterSmart Robotic Systems Co. | Yun C.,Beihang University | Tang Q.,InterSmart Robotic Systems Co.
2010 International Conference on Computer, Mechatronics, Control and Electronic Engineering, CMCE 2010 | Year: 2010

This paper presents a method for the removed-material measurement for aero engine blade based on the robotic 3D laser scanning system. The component of the robotic scanning system, its workflow and the removed-material measurement processes are introduced in detail. The measurement processes contain the steps as follows: 1) scan the semifinished blade by using the robotic 3D scanning system, and then acquire the scanning model of the semifinished blade (SM-SFB); 2) register the SM-SFB and the designed model of the finished blade (DMFB) to position the two model's locate surfaces (LS) coincide; 3) get the removed-material (RM) for every point on DM-FB by calculating the distance between the point and the intersection of the SM-SFB and the DM-FB's normal through this point. © 2010 IEEE.


Yang Y.,Tsinghua University | Song Y.,Tsinghua University | Liang W.,Tsinghua University | Wang J.,Tsinghua University | Qi L.,Inter Smart Robotic Systems Co.
Jiqiren/Robot | Year: 2010

To improve the removal control for robot grinding process, we propose a modeling method based on SVM (support vector machine) regression. By analyzing a group of measurable variables relevant to grinding removal, such as robot's speed, contact force and curvature of the workpiece's surface, a regression model is built using machine learning method to predict the grinding removal. In this way, the analysis on a series of complicated dynamic variables could be avoided. The experimental results show that this method could achieve good performance. The prediction accuracy of the model reaches higher than 90%, which basically meets the demand of practical grinding.


Yang Y.,Tsinghua University | Song Y.,Tsinghua University | Wang J.,Tsinghua University | Gan Z.,InterSmart Robotic Systems Co. | Qi L.,InterSmart Robotic Systems Co.
Proceedings - 2010 3rd IEEE International Conference on Computer Science and Information Technology, ICCSIT 2010 | Year: 2010

The performance of a model, which is trained with offline data, is highly relied on the conditions in which the system is working. When the working conditions change, the prediction accuracy of the model will be reduced significantly. To solve this problem, we propose an adaptive SVR modeling method based on vector-field-smoothed (VFS) algorithm. This method can adapt the model quickly to new working conditions by using only a few adaptive samples. Also, it can extend the feature subspace which the model covers so as to enhance the generalization ability of the model. The experimental results show that the model using this method can achieve a much better performance than the original model, as well as the model using other adaptive SVR modeling method. © 2010 IEEE.


Li J.,University of Electronic Science and Technology of China | Chen M.,University of Electronic Science and Technology of China | Jin X.,University of Electronic Science and Technology of China | Chen Y.,University of Electronic Science and Technology of China | And 3 more authors.
Optik | Year: 2011

A multiple axes 3-D laser scanning system consisting of a portable 3-D laser scanner, a industrial robot and a turntable is demonstrated. By using a criterion sphere, a robot tool center point (TCP) calibration approach is proposed to calibrate the relation between the laser 3-D scanner and the robot end-effector. In this approach, two different translational motions of robot are first made to determine the rotation part, and then at least three different rotational motions are made to determine the translation part. Meanwhile, by using the criterion sphere, a turntable approach is proposed to calibrate the pose of the turntable relative to the robot. In this approach, several rotational angles of turntable and two different heights of the sphere are made to determine the rotational axis of turntable. Experiment is performed on a portable laser scanner mounted on an industrial robot ABB IRB4400 with a turntable. The experiment results show that the two proposed calibration algorithms are stable and flexible. The application of 3-D measurement is also given to demonstrate the effectiveness and stability of the multiple axes 3-D laser scanning system. © 2010 Elsevier GmbH. All rights reserved.


Liang W.,Intelligent Systems Technology, Inc. | Song Y.,Intelligent Systems Technology, Inc. | Lv H.,Intelligent Systems Technology, Inc. | Jia P.,Intelligent Systems Technology, Inc. | And 2 more authors.
2010 International Conference on Intelligent Computation Technology and Automation, ICICTA 2010 | Year: 2010

In this paper, a novel method for robotic belt grinding based on support vector machine and particle swarm optimization algorithm is presented. Firstly, the dynamic model of the robotic belt grinding process is built using support vector machine method. This is the basis of our work because the dynamic model shows the relation between the removal and control parameters contact force and robot's speed of robot. Secondly, the method of reverse solution of the dynamic model is introduced. According to this method, control parameters of robot can be accurately calculated by the given value of removal. Finally, the PSO algorithm is introduced to get smooth and stable trajectories of the control parameters, because the trajectory jitter of the control parameters has a great influence on the grinding accuracy. The experiment results show that the novel method for robotic belt grinding performs well in the control of the robot parameters and the grinding accuracy is improved. © 2010 IEEE.


Ma B.,Nankai University | Fang Y.,Nankai University | Huang X.,InterSmart Robotic Systems Co. | Wu S.,InterSmart Robotic Systems Co.
High Technology Letters | Year: 2010

This paper proposes a feasible force/position control method for industrial robots utilized for such tasks as grinding, polishing, deburring, and so on. Specifically, an adaptive force/position control strategy is designed in this paper which regulates the contact force between a robot and a workpiece to reach any given set-point exponentially fast, and enables the robot to follow a chosen trajectory simultaneously without requiring prior knowledge of the system parameters. The stability of the closed-loop system is analyzed by Lyapunov techniques. To test the validity of the force/position control method, some simulation results are first collected for the closed-loop system. Furthermore, some experiments are implemented on a 5DOF (degree of freedom) industrial robot for the constructed adaptive force controller. Both simulation and experiment results demonstrate the superior performance of the designed adaptive force/position control strategy. Copyright © by HIGN TECHNOLOGY LETTERS PRESS.

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