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Modelling an Industrial Robot and Its Impact on Productivity

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Modelling an Industrial Robot and Its Impact on Productivity

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dc.contributor.author Llopis-Albert, Carlos es_ES
dc.contributor.author Rubio Montoya, Francisco José es_ES
dc.contributor.author Valero Chuliá, Francisco José es_ES
dc.date.accessioned 2021-05-28T03:35:11Z
dc.date.available 2021-05-28T03:35:11Z
dc.date.issued 2021-04 es_ES
dc.identifier.uri http://hdl.handle.net/10251/166924
dc.description.abstract [EN] This research aims to design an efficient algorithm leading to an improvement of productivity by posing a multi-objective optimization, in which both the time consumed to carry out scheduled tasks and the associated costs of the autonomous industrial system are minimized. The algorithm proposed models the kinematics and dynamics of the industrial robot, provides collision-free trajectories, allows to constrain the energy consumed and meets the physical characteristics of the robot (i.e., restriction on torque, jerks and power in all driving motors). Additionally, the trajectory tracking accuracy is improved using an adaptive fuzzy sliding mode control (AFSMC), which allows compensating for parametric uncertainties, bounded external disturbances and constraint uncertainties. Therefore, the system stability and robustness are enhanced; thus, overcoming some of the limitations of the traditional proportional-integral-derivative (PID) controllers. The trade-offs among the economic issues related to the assembly line and the optimal time trajectory of the desired motion are analyzed using Pareto fronts. The technique is tested in different examples for a six-degrees-of-freedom (DOF) robot system. Results have proved how the use of this methodology enhances the performance and reliability of assembly lines. es_ES
dc.language Inglés es_ES
dc.publisher MDPI AG es_ES
dc.relation.ispartof Mathematics es_ES
dc.rights Reconocimiento (by) es_ES
dc.subject Adaptive fuzzy sliding mode control es_ES
dc.subject Controller es_ES
dc.subject Multi-objective optimization es_ES
dc.subject Robotics es_ES
dc.subject Trajectory planning es_ES
dc.subject Pareto frontier es_ES
dc.subject Trade-offs es_ES
dc.subject Productivity assessment es_ES
dc.subject.classification INGENIERIA MECANICA es_ES
dc.title Modelling an Industrial Robot and Its Impact on Productivity es_ES
dc.type Artículo es_ES
dc.identifier.doi 10.3390/math9070769 es_ES
dc.rights.accessRights Abierto es_ES
dc.contributor.affiliation Universitat Politècnica de València. Departamento de Ingeniería Mecánica y de Materiales - Departament d'Enginyeria Mecànica i de Materials es_ES
dc.description.bibliographicCitation Llopis-Albert, C.; Rubio Montoya, FJ.; Valero Chuliá, FJ. (2021). Modelling an Industrial Robot and Its Impact on Productivity. Mathematics. 9(7):1-13. https://doi.org/10.3390/math9070769 es_ES
dc.description.accrualMethod S es_ES
dc.relation.publisherversion https://doi.org/10.3390/math9070769 es_ES
dc.description.upvformatpinicio 1 es_ES
dc.description.upvformatpfin 13 es_ES
dc.type.version info:eu-repo/semantics/publishedVersion es_ES
dc.description.volume 9 es_ES
dc.description.issue 7 es_ES
dc.identifier.eissn 2227-7390 es_ES
dc.relation.pasarela S\432146 es_ES
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