Managing delays for realtime error correction and compensation of an industrial robot in an open network

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dc.contributor.authorAsif, Seemal
dc.contributor.authorWebb, Phil
dc.date.accessioned2023-09-06T10:51:54Z
dc.date.available2023-09-06T10:51:54Z
dc.date.issued2023-08-28
dc.description.abstractThe calibration of articulated arms presents a substantial challenge within the manufacturing domain, necessitating sophisticated calibration systems often reliant on the integration of costly metrology equipment for ensuring high precision. However, the logistical complexities and financial burden associated with deploying these devices across diverse systems hinder their widespread adoption. In response, Industry 4.0 emerges as a transformative paradigm by enabling the integration of manufacturing devices into networked environments, thereby providing access through cloud-based infrastructure. Nonetheless, this transition introduces a significant concern in the form of network-induced delays, which can significantly impact realtime calibration procedures. To address this pivotal challenge, the present study introduces an innovative framework that adeptly manages and mitigates network-induced delays. This framework leverages two key components: controller and optimiser, specifically the MPC (Model Predictive Controller) in conjunction with the Extended Kalman Filter (EKF), and a Predictor, characterised as the Dead Reckoning Model (DRM). Collectively, these methodologies are strategically integrated to address and ameliorate the temporal delays experienced during the calibration process. Significantly expanding upon antecedent investigations, the study transcends prior boundaries by implementing an advanced realtime error correction system across networked environments, with particular emphasis on the intricate management of delays originating from network traffic dynamics. The fundamental aim of this research extension is twofold: firstly, it aims to enhance realtime system performance on open networks, while concurrently achieving an impressive level of error correction precision at 0.02 mm. The employment of the proposed methodologies is anticipated to effectively surmount the intricacies and challenges associated with network-induced delays. Subsequently, this endeavour serves to catalyse accurate and efficient calibration procedures in the context of realtime manufacturing scenarios. This research significantly advances the landscape of error correction systems and lays a robust groundwork for the optimised utilisation of networked manufacturing devices within the dynamic realm of Industry 4.0 applications.en_UK
dc.identifier.citationAsif S, Webb P. (2023) Managing delays for realtime error correction and compensation of an industrial robot in an open network. Machines, Volume 11, Issue 9, August 2023, Article number 863en_UK
dc.identifier.issn2075-1702
dc.identifier.urihttps://doi.org/10.3390/machines11090863
dc.identifier.urihttps://dspace.lib.cranfield.ac.uk/handle/1826/20176
dc.language.isoenen_UK
dc.publisherMDPIen_UK
dc.rightsAttribution 4.0 International*
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/*
dc.subjectrobotics calibrationen_UK
dc.subjectnetwork delays managementen_UK
dc.subjectresource sharingen_UK
dc.subjecttemporal delaysen_UK
dc.subjectrealtime calibrationen_UK
dc.subjectrealtime application over the networken_UK
dc.titleManaging delays for realtime error correction and compensation of an industrial robot in an open networken_UK
dc.typeArticleen_UK

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