Advanced Robotics and Intelligent Automation in Manufacturing

374 Pages·2019·15.85 MB·English

by  Maki K. Habib (editor)

Advanced Robotics and
Intelligent Automation in
Manufacturing
Maki K. Habib
The American University in Cairo, Egypt
A volume in the Advances in
Computational Intelligence and
Robotics (ACIR) Book Series
Published in the United States of America by
IGI Global
Engineering Science Reference (an imprint of IGI Global)
701 E. Chocolate Avenue
Hershey PA, USA 17033
Tel: [phone]
Fax: [phone]
E-mail: [e-mail]
Web site: http://www.igi-global.com
Copyright © 2020 by IGI Global. All rights reserved. No part of this publication may be
reproduced, stored or distributed in any form or by any means, electronic or mechanical, including
photocopying, without written permission from the publisher.
Product or company names used in this set are for identification purposes only. Inclusion of the
names of the products or companies does not indicate a claim of ownership by IGI Global of the
trademark or registered trademark.
Library of Congress Cataloging-in-Publication Data
Names: Habib, Maki K., 1955- editor.
Title: Advanced robotics and intelligent automation
in manufacturing / Maki K. Habib, editor.
Description: Hershey, PA : Engineering Science Reference, an imprint of IGI
Global, 2019. | Includes bibliographical references and index. |
Summary: “This book examines recent advances and state-of-the-art
technologies in the field of robotics engineering and mechatronics for
advanced intelligent manufacturing”-- provided by publisher.
Identifiers: LCCN 2019027722 (print) | LCCN 2019027723 (ebook) | ISBN
9781799813828 (hardcover) | ISBN 9781799813835 (ebook) | ISBN(softcover) 9781799823223
Subjects: LCSH: Manufacturing processes--Automation--Manuals,
etc. | Robots, Industrial--Manuals, etc.
Classification: LCC TS183 .H35945 2019 (print) | LCC TS183 (ebook) | DDC
670.42/72--dc23
LC record available at https://lccn.loc.gov/2019027722
LC ebook record available at https://lccn.loc.gov/2019027723

This book is published in the IGI Global book series Advances in Computational Intelligence and
Robotics (ACIR) (ISSN: 2327-0411; eISSN: 2327-042X)
British Cataloguing in Publication Data
A Cataloguing in Publication record for this book is available from the British Library.
All work contributed to this book is new, previously-unpublished material.
The views expressed in this book are those of the authors, but not necessarily of the publisher.
For electronic access to this publication, please contact: [e-mail].
Advances in Computational
Intelligence and Robotics
Ivan Giannoccaro
(ACIR) Book Series University of Salento, Italy
ISSN:2327-0411
EISSN:2327-042X
Editor-in-Chief: Ivan Giannoccaro, University of Salento, Italy
Mission
While intelligence is traditionally a term applied to humans and human cognition, technology
has progressed in such a way to allow for the development of intelligent systems able to
simulate many human traits. With this new era of simulated and artificial intelligence, much
research is needed in order to continue to advance the field and also to evaluate the ethical
and societal concerns of the existence of artificial life and machine learning.
The Advances in Computational Intelligence and Robotics (ACIR) Book Series
encourages scholarly discourse on all topics pertaining to evolutionary computing, artificial
life, computational intelligence, machine learning, and robotics. ACIR presents the latest
research being conducted on diverse topics in intelligence technologies with the goal of
advancing knowledge and applications in this rapidly evolving field.
Coverage
• Cyborgs
IGI Global is currently accepting
• Computational Intelligence
manuscripts for publication within this
• Artificial Life series. To submit a proposal for a volume in
• Intelligent control this series, please contact our Acquisition
• Agent technologies Editors at [e-mail] or
• Automated Reasoning visit: http://www.igi-global.com/publish/.
• Machine Learning
• Algorithmic Learning
• Pattern Recognition
• Natural Language Processing
The Advances in Computational Intelligence and Robotics (ACIR) Book Series (ISSN 2327-0411) is published by
IGI Global, 701 E. Chocolate Avenue, Hershey, PA 17033-1240, USA, www.igi-global.com. This series is composed of
titles available for purchase individually; each title is edited to be contextually exclusive from any other title within the
series. For pricing and ordering information please visit http://www.igi-global.com/book-series/advances-computational-
intelligence-robotics/73674. Postmaster: Send all address changes to above address. ©© 2020 IGI Global. All rights,
including translation in other languages reserved by the publisher. No part of this series may be reproduced or used in any
form or by any means – graphics, electronic, or mechanical, including photocopying, recording, taping, or information and
retrieval systems – without written permission from the publisher, except for non commercial, educational use, including
classroom teaching purposes. The views expressed in this series are those of the authors, but not necessarily of IGI Global.
Titles in this Series
For a list of additional titles in this series, please visit:
https://www.igi-global.com/book-series/advances-computational-intelligence-robotics/73674
Handbook of Research on the Internet of Things Applications in Robotics and utomation
Rajesh Singh (Lovely Professional University, India) Anita Gehlot (Lovely Professional
University, India) Vishal Jain (Bharati Vidyapeeth’s Institute of Computer Applications and
Management (BVICAM), New Delhi, India) and Praveen Kumar Malik (Lovely Professional
University, India)
Engineering Science Reference • ©2020 • 433pp • H/C (ISBN: 9781522595748) • US $295.00
Handbook of Research on Applications and Implementations of Machine Learning Techniques
Sathiyamoorthi Velayutham (Sona College of Technology, India)
Engineering Science Reference • ©2020 • 461pp • H/C (ISBN: 9781522599029) • US $295.00
Handbook of Research on Advanced Mechatronic Systems and Intelligent Robotics
Maki K. Habib (The American University in Cairo, Egypt)
Engineering Science Reference • ©2020 • 466pp • H/C (ISBN: 9781799801375) • US $295.00
Edge Computing and Computational Intelligence Paradigms for the IoT
G. Nagarajan (Sathyabama Institute of Science and Technology, India) and R.I. Minu (SRM
Institute of Science and Technology, India)
Engineering Science Reference • ©2019 • 347pp • H/C (ISBN: 9781522585558) • US $285.00
Semiotic Perspectives in Evolutionary Psychology, Artificial Intelligence, and the Study of
Mind Emerging Research and Opportunities
Marcel Danesi (University of Toronto, Canada)
Information Science Reference • ©2019 • 205pp • H/C (ISBN: 9781522589242) • US $175.00
Handbook of Research on Human-Computer Interfaces and New Modes of Interactivity
Katherine Blashki (Victorian Institute of Technology, Australia) and Pedro Isaías (The
University of Queensland, Australia)
Engineering Science Reference • ©2019 • 488pp • H/C (ISBN: 9781522590699) • US $275.00
For an entire list of titles in this series, please visit:
https://www.igi-global.com/book-series/advances-computational-intelligence-robotics/73674
701 East Chocolate Avenue, Hershey, PA 17033, USA
Tel: [phone] x100 • Fax: [phone]
E-Mail: [e-mail] • www.igi-global.com
xiv
Preface
Robotics, automation, intelligence and autonomy together with the evolution of
industry 4.0 (I4.0) are opening new dimensions to develop strategies that are shaping
the way to develop new customized products. Speed, quality, capabilities, and
opportunities all play crucial roles in establishing competitive advantages.
Many studies pointed to the manufacturing sector’s need for technology innovation
and to identify novel science and technology solutions with the need to develop
technical capabilities for advanced manufacturing. The new rising of manufacturing
is associated with the rise of I4.0 era where automation is going to be heavily
used and integrated with robotics and heavy data exchange processes that include
mainly Internet of Things (IoT), cloud computing, cyber physical systems (CPSs),
new form of human-machine interaction in real time, sustainability and intelligent
decision making, etc. This facilitate the way to the development of smart factories
that could provide new levels of production quality and speed, new capabilities,
customer tailored products and broader opportunities for products that could not
be realized with current manufacturing methods. However, these technologies
are not easy to develop or to adapt broadly across industries. For this reason and
others, advanced robots and intelligent automation that represent greater agility,
flexibility, and autonomy has been identified as a viable solution to achieving
these objectives. Robotics with greater mobility and environment interaction is the
driver for developments in different dimensions and concurrency. Multi robotic
systems will allow tasks to be decomposed in ways that exceed human capabilities
through seamless communications and synchronizations; human-robot interaction;
cooperation between multiple robots achieves a common goal by carrying out the
task together or by decomposition. Cooperation can be achieved without explicit
representation of actions and will use skill-based or learning-based automation.
This new book presents the challenge in the field of robotics, automation,
intelligence and production processes by introducing major multiple research and
knowledge areas in the field that are quickly growing and have potential in the
Preface
evolution of new technologies. This book aims to highlight the state-of-the-art
technologies and try to maximize the insights of the readers in understanding the
recent advancements in robotics engineering and Mechatronics for advanced intelligent
manufacturing. In addition, this book aims to enable engineers, researchers, scientist,
industrial managers and the industry to have the latest knowledge and development
in the subject field supported by theory, innovative design and applications.
This book includes 11 chapters that have the following titles with brief on their
focus.
Chapter 1, “Development of Robotic CAM System that Generates Online Motion
Supported by CLS and NC Data,” by Fusaomi Nagata, Maki Habib, Takamasa
Kusano, and Keigo Watanabe, describes the development of a robotic CAM system
for six-DOFs articulated industrial robot to generate online motion supported by
cutter location source (CLS) data and numerical control (NC) data. The robotic
CAM system realizes a practical data interface between industrial robots with open
architecture controllers and commercially available CAD/CAM systems.
Chapter 2, “Industrial Exoskeletons With Gravity Compensation Elements,” by
Sergey Jatsun and Andrey Yatsun, South-West State University, Russian Federation
covers the issues related to the mathematical modeling of load lifting by a person while
wearing an exoskeleton. The classification of existing gravitational compensation
systems for industrial exoskeletons is shown, as well as examples of its use.
Chapter 3, “Cable-Driven Robots in Physical Rehabilitation: From Theory to
Practice,” by Rogério Gonçalves, Thiago Alves, Giuseppe Carbone, and Marco
Ceccarelli, deals with cable-driven robots when applied in physical rehabilitation.
In general, neurorehabilitation is limited to physical therapy that is delivered by
clinicians and potentially augmented by robotic tools, to facilitate neurorehabilitation
and to reduce the consequences of central nervous system injury.
Chapter 4, “Intelligent Processes in Automated Production Involving Industry
4.0 Technologies and Artificial Intelligence: Industry 4.0,” presents and Intelligence,
by Alessandro Massaro, Nicola Contuzzi, and Angelo Galiano proposes different
case studies related to technology upgrading involving Industry 4.0 technologies
and artificial intelligence. The work analyzes four cases of study of industry projects
related to manufacturing process of kitchen, tank production, pasta production, and
electronic welding check.
Chapter 5, “Framework for Quick & Intuitive Programming of Robot Applications,”
by Asad Tirmizi, Patricia Leconte, Karel Janssen, and Jean Hoyos, Maarten Witters,
proposes a framework to make the programming of cobots faster, user-friendly
and flexible for assembly tasks. The work focusses on an industrial case of a small
xv
Preface
(<10kg) air compressor and investigates the technologies that can be used to
automate this task with Human-Robot collaboration.
Chapter 6, “Designing a Robot for Manufacturing Fiberglass Reinforced Plastic
(FRP) Molded Grating,” by Marcos Carnevale, and Armando Carlos Pina Filho
aims to confirm the possibility of using a robot to manufacture fiberglass reinforced
plastic (FRP), by introducing cost and time analysis about the whole molded gratings
manufacturing process. Research on robotizing the process was taken in parallel
with the conception of the robot (named “roving-robot”). Applying computer aided
design (CAD), technical drawing and bill of materials were generated, to permit
the robot assembling.
Chapter 7, “Modeling, Model Reduction and Control of a Hands-free Two
Wheeled Self-Balancing Scooter,” by Qiong Li, Wangling Yu, and H. Henry Zhang,
focuses on designing a two wheeled self-balancing scooter involves in the synergistic
approach of multidisciplinary engineering fields with mutual relationships of power
transmission, mass transmission and information transmission. The scooter consists
of several subsystems and forms a large-scale system.
Chapter 8, “An Efficient Learning of Neural Networks to Acquire Inverse
Kinematics Model,” by Fusaomi Nagata, Maki K. Habib, and Keigo Watanabe,
presents an effective learning approach of inverse kinematics using neural networks
with efficient weights update ability has been presented for a serial link structure
and industrial robot.
Chapter 9, “Hybrid Dynamic Modelling and Bioinspired Control Based on Central
Pattern Generator of Biped Robotic Gait,” by João Maurício Rosário, Luis Izquierdo-
Córdoba, and Darío Amaya Hurtado, introduces the theoretical foundations and the
methodology to develop bioinspired hybrid control architecture for a biped robotic
device that reproduces gait and human motor control strategies with the ability to
adapt the robot trajectory to environmental conditions.
Chapter 10, “Model-Based Multi-Objective Reinforcement Learning by a
Reward Occurrence Probability Vector,” by Tomohiro Yamaguchi, Shota Nagahama,
Yoshihiro Ichikawa, Yoshimichi Honma, and Keiki Takadama, describes solving
multi-objective reinforcement learning (MORL) problems where there are multiple
conflicting objectives with unknown weights. Previous model-free MORL methods
take large number of calculations to collect a Pareto optimal set for each V/Q-value
vector. In contrast, model-based MORL can reduce such a calculation cost than
model-free MORLs.
Chapter 11, “Autonomous Surgical Robotics at Task and Subtask Levels,” by
Tamás Nagy, and Tamás Haidegger, introduces the current research directions of
subtask automation in surgery. In addition, it discusses the recent advances in motion
xvi
Preface
planning, perception and human—machine interaction, along with the limitations
of the task-level autonomy.
The development and the advancement in the field of Robotics, Intelligence and
manufacturing and its integration with industry 4.0 toward smart factories help to
motivate graduate students, researchers and scientist in all different engineering
disciplines who are looking to broaden their knowledge and expertise to develop
innovative, intelligent, interdisciplinary and sustainable intelligent robotics and
manufacturing systems. The book widens the opportunities and open new roads
to the future.
Maki K. Habib
The American University in Cairo, Egypt
xvii
Table of Contents
Preface.................................................................................................................xiv
Chapter 1
Development.of.Robotic.CAM.System.That.Generates.Online.Motion.
Supported.by.CLS.and.NC.Data.............................................................................1
Fusaomi Nagata, Sanyo-Onoda City University, Japan
Maki K. Habib, The American University in Cairo, Egypt
Takamasa Kusano, SOLIC Co. Ltd., Japan
Keigo Watanabe, Okayama University, Japan
Chapter 2
Industrial.Exoskeletons.With.Gravity.Compensation.Elements...........................28
Sergey Fedorovich Jatsun, South-West State University, Russia
Andrey Yatsun, South-West State University, Russia
Chapter 3
Cable-Driven.Robots.in.Physical.Rehabilitation:.From.Theory.to.Practice.........52
Rogério Sales Gonçalves, Federal University of Uberlândia, Brazil
Thiago Alves, Federal University of Uberlândia, Brazil
Giuseppe Carbone, DIMEG, Università della Calabria, Italy
Marco Ceccarelli, University of Rome Tor Vergata, Italy
Chapter 4
Intelligent.Processes.in.Automated.Production.Involving.Industry.4.0.
Technologies.and.Artificial.Intelligence...............................................................97
Alessandro Massaro, Dyrecta Lab srl, Italy
Nicola Contuzzi, Dyrecta Lab srl, Italy
Angelo Galiano, Dyrecta Lab srl, Italy

Chapter 5
Framework.for.Quick.and.Intuitive.Programming.of.Robot.Applications.........123
Asad Tirmizi, Flanders Make, Belgium
Patricia Leconte, Flanders Make, Belgium
Karel Janssen, Flanders Make, Belgium
Jean Hoyos, Flanders Make, Belgium
Maarten Witters, Flanders Make, Belgium
Chapter 6
Designing.a.Robot.for.Manufacturing.Fiberglass.Reinforced.Plastic.(FRP).
Molded.Grating...................................................................................................147
Marcos Vinícius Ramos Carnevale, Federal University of Rio de
Janeiro, Brazil
Armando Carlos de Pina Filho, Federal University of Rio de Janeiro,
Brazil
Chapter 7
Modeling,.Model.Reduction,.and.Control.of.a.Hands-Free.Two-Wheeled.
Self-Balancing.Scooter.......................................................................................185
Qiong Li, Purdue University, USA
Wangling Yu, Purdue University Northwest, USA
H. Henry Zhang, Purdue University, USA
Chapter 8
An.Efficient.Learning.of.Neural.Networks.to.Acquire.Inverse.Kinematics.
Model..................................................................................................................203
Fusaomi Nagata, Sanyo-Onoda City University, Japan
Maki K. Habib, The American University in Cairo, Egypt
Keigo Watanabe, Okayama University, Japan
Chapter 9
Hybrid.Dynamic.Modelling.and.Bioinspired.Control.Based.on.Central.
Pattern.Generator.of.Biped.Robotic.Gait............................................................233
Luis Miguel Izquierdo-Córdoba, University of Campinas, Brazil
João Maurício Rosário, University of Campinas, Brazil
Darío Amaya Hurtado, Nueva Granada Military University, Colombia