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[IEEE 2018 25th International Conference on Mechatronics and Machine Vision in Practice (M2VIP) - Stuttgart, Germany (2018.11.20-2018.11.22)] 2018 25th International Conference on Mechatronics and Machine Vision in Practice (M2VIP) - Camera based path planning for low quantity - high variant manufacturing with industrial robots
摘要： The acquisition costs for industrial robots have been steadily decreasing in past years. Nevertheless, they still face significant drawbacks in the required effort for the preparation of complex robot tasks which causes these systems to be rarely present so far in small and medium-sized enterprises (SME) that focus mainly on small volume, high variant manufacturing. In this paper, we propose a camera-based path planning framework that allows the fast preparation and execution of robot tasks in dynamic environments which leads to less planning overhead, fast program generation and reduced cost and hence overcomes the major impediments for the usage of industrial robots for automation in SMEs with focus on low volume and high variant manufacturing. The framework resolves existing problems in different steps. The exact position and orientation of the workpiece are determined from a 3D environment model scanned by an optical sensor. The so retrieved information is used to plan a collision-free path that meets the boundary conditions of the specific robot task. Experiments show the potential and effectiveness of the framework presented here by evaluating a case study.
关键词： high variant,low volume,Industrial robot,SME,Automatic robot programming,matching,machine vision,path planning
更新于2025-09-23 15:22:29
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[IEEE 2017 IEEE 7th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (CYBER) - Honolulu, HI, USA (2017.7.31-2017.8.4)] 2017 IEEE 7th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (CYBER) - Modeling and Stability Analysis of Robot Calibration System Based on Dual PSD
摘要： Industrial robot repeat positioning accuracy is high, but the absolute positioning accuracy is low, which greatly affects the application of offline programming. Compared with the traditional method, calibration method based on dual-PSD provides more efficient way for improving absolute positioning accuracy of robot. However, the required alignment of laser beam to shoot at the two PSD centers was performed separately, which required to pre-known some parameters for the alignment task. This paper proposes a simultaneous laser beam alignment method without knowing these parameters to perform the laser beam alignment task. In this paper, the motion of the end-effector is divided into translational motion and rotational motion. By designing translational motion and rotational motion controller of the robot end-effector respectively, the unknown parameters in the model are estimated, and the laser spot is alligned with the double PSD at the same time. Stability analysis.
关键词： calibration,industrial robot,dual PSD
更新于2025-09-23 15:21:21
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A Robot-Driven 3D Shape Measurement System for Automatic Quality Inspection of Thermal Objects on a Forging Production Line
摘要： The three-dimensional (3D) geometric evaluation of large thermal forging parts online is critical to quality control and energy conservation. However, this online 3D measurement task is extremely challenging for commercially available 3D sensors because of the enormous amount of heat radiation and complexity of the online environment. To this end, an automatic and accurate 3D shape measurement system integrated with a fringe projection-based 3D scanner and an industrial robot is presented. To resist thermal radiation, a double filter set and an intelligent temperature control loop are employed in the system. In addition, a time-division-multiplexing trigger is implemented in the system to accelerate pattern projection and capture, and an improved multi-frequency phase-shifting method is proposed to reduce the number of patterns required for 3D reconstruction. Thus, the 3D measurement efficiency is drastically improved and the exposure to the thermal environment is reduced. To perform data alignment in a complex online environment, a view integration method is used in the system to align non-overlapping 3D data from different views based on the repeatability of the robot motion. Meanwhile, a robust 3D registration algorithm is used to align 3D data accurately in the presence of irrelevant background data. These components and algorithms were evaluated by experiments. The system was deployed in a forging factory on a production line and performed a stable online 3D quality inspection for thermal axles.
关键词： production line,thermal axles,industrial robot,3D measurement,3D data alignment
更新于2025-09-19 17:15:36