In the last years the usage of industrial robotic manipulators is being extended to new applications, like laser or machining-based manufacturing. These applications require new user interface functionalities coming from common NC control systems, as well as increased demands in path tracking, dynamics, and accuracy. In this paper, a Dynamic Accuracy Optimization strategy is applied on a NC controlled industrial manipulator to minimize robot Tool Center Point errors during path execution. A state-of-the-art laser tracker system is used for online characterization of the TCP position which is fed to the compensation algorithm integrated in the NC controller. A drastic reduction of static and dynamic errors has been observed in both linear and orientation degrees of freedom, impacting also in the resulting path errors.

Intelligent motion control is integral to modern cyber-physical systems. However, smart integration of intelligent motion control with commercial and industrial systems requires domain expertise, industrial ‘know-how’ of the production processes, and resilient adaptation for the various engineering phases. The challenge is amplified with the adoption of advanced digital twin approaches, big data and artificial intelligence in the various industrial domains. This paper proposes the IMOCO4.E reference framework for the smart integration of intelligent motion control with commercial platforms (e.g. from SMEs) and industrial systems. The IMOCO4.E reference framework brings together the architecture, data management, artificial intelligence and digital twin viewpoints from the industrial users of the large-scale ‘Intelligent Motion Control under Industry4.E’ (IMOCO4.E) consortium. The framework envisions a generic platform for designing, developing, and implementing novice and complex motion-controlled industrial systems. Refinements and instantiations of the framework for the IMOCO4.E industrial cases validate the framework’s applicability for various industrial domains throughout the engineering phases and under different constraints imposed on the industrial cases.

Industrial robot manipulators have been historically used for applications requiring high flexibility and repeatability. However, in the last years new applications linked to direct involvement of the robots in manufacturing processes have arisen, with increased demands in path tracking, dynamics, and accuracy. In this paper, an external Numerical Control based controller is used to command an industrial 6 dof manipulator, allowing the possibility to command the robot using ISO G-Code, and integrating control functionalities like kinematic transformations and Adaptative Impedance Control. An adaptive and force controlled robotic polishing cell has been set-up as a demonstrator, showing successful polishing performance.

This paper presents a controller for a robotic manipulator for spacecraft docking operations oriented to on-orbit servicing. The proposed controller combines visual and force/torque feedback in order to complete the approach and contact phases of the docking. Visual servoing is used not only for guiding the end-effector during the approach phase, but also to maintain the end-effector probe correctly aligned during the contact phase. During the contact phase, an impedance controller generates the compliant behavior needed to minimize the peak forces that could result in a failed docking. The proposed controller has been tested experimentally in a hardware-in-the-loop robotic test-bench showing that in this ground-testing environment docking can be completed successfully for a set of initial conditions (relative speed of the spacecraft).

Model Based System Engineering (MBSE) allows an optimized development of new mechatronic systems and/or functionalities. In this paper a MBSE approach is proposed where two control functionalities are applied to improve the dynamic performance of a Scara Robot. Acceleration feedback is used to increase vibration damping capacity and Iterative Learning Control is applied to reduce path errors. A simulation model combining Scara Robot mechanics, developed in Simcenter Amesim™ software from Siemens Digital Industries Software, and control loops, developed in Simulink, has been used to implement and evaluate the functionalities. Finally, both algorithms were implemented in a real Scara robot that was previously adapted to be controlled by a FAGOR CNC.

On-orbit satellite servicing is a technology that is expected to transform the space sector in the coming years. Space robotics is a promising approach to refuel, repair, update, and transport satellites on orbit. However, safe and reliable docking with the client satellite, needed as part of most servicing operations, is still considered a challenge. This paper presents an autonomous robot-based approach for this purpose. An impedance control strategy is added to the controller of a conventional robotic manipulator to allow compliant and safe manipulation of a spacecraft docking mechanism. This setup is expected to facilitate autonomous docking and manipulation operations with cooperative and non-cooperative on-orbit serviced satellites. Platform-art©, a dynamic test bench for hardware-in-the-loop validation of space GNC technologies is used to test the proposed approach.