5,464 research outputs found
Augmented reality in robot programming
Industrial robots have been traditionally programmed using teaching pendants, whereas offline programming methods are getting increasingly popular in recent years. Although the above two methods are widely-used in the industry, they both have certain disadvantages. For instance, the teaching pendant method requires a shutdown of the production line during the programming process, while offline programming method requires 3D CAD models of both the robot and the workpiece. In this paper, an augmented reality (AR) application which alleviates the aforementioned problems was proposed for robot programming purposes. The application is created using commercially available AR software, with the addition of our JavaScript code. The use of commercially available software allows an easier sharing and widespread adoption of the application
Online programming system for robotic fillet welding in Industry 4.0
Purpose Fillet welding is one of the most widespread types of welding in the industry, which is still carried out manually or automated by contact. This paper aims to describe an online programming system for noncontact fillet welding robots with "U"- and "L"-shaped structures, which responds to the needs of the Fourth Industrial Revolution. Design/methodology/approach In this paper, the authors propose an online robot programming methodology that eliminates unnecessary steps traditionally performed in robotic welding, so that the operator only performs three steps to complete the welding task. First, choose the piece to weld. Then, enter the welding parameters. Finally, it sends the automatically generated program to the robot. Findings The system finally managed to perform the fillet welding task with the proposed method in a more efficient preparation time than the compared methods. For this, a reduced number of components was used compared to other systems: a structured light 3 D camera, two computers and a concentrator, in addition to the six-axis industrial robotic arm. The operating complexity of the system has been reduced as much as possible. Practical implications To the best of the authors' knowledge, there is no scientific or commercial evidence of an online robot programming system capable of performing a fillet welding process, simplifying the process so that it is completely transparent for the operator and framed in the Industry 4.0 paradigm. Its commercial potential lies mainly in its simple and low-cost implementation in a flexible system capable of adapting to any industrial fillet welding job and to any support that can accommodate it. Originality/value In this study, a robotic robust system is achieved, aligned to Industry 4.0, with a friendly, intuitive and simple interface for an operator who does not need to have knowledge of industrial robotics, allowing him to perform a fillet welding saving time and increasing productivity
Adaptive Robot Framework: Providing Versatility and Autonomy to Manufacturing Robots Through FSM, Skills and Agents
207 p.The main conclusions that can be extracted from an analysis of the current situation and future trends of the industry,in particular manufacturing plants, are the following: there is a growing need to provide customization of products, ahigh variation of production volumes and a downward trend in the availability of skilled operators due to the ageingof the population. Adapting to this new scenario is a challenge for companies, especially small and medium-sizedenterprises (SMEs) that are suffering first-hand how their specialization is turning against them.The objective of this work is to provide a tool that can serve as a basis to face these challenges in an effective way.Therefore the presented framework, thanks to its modular architecture, allows focusing on the different needs of eachparticular company and offers the possibility of scaling the system for future requirements. The presented platform isdivided into three layers, namely: interface with robot systems, the execution engine and the application developmentlayer.Taking advantage of the provided ecosystem by this framework, different modules have been developed in order toface the mentioned challenges of the industry. On the one hand, to address the need of product customization, theintegration of tools that increase the versatility of the cell are proposed. An example of such tools is skill basedprogramming. By applying this technique a process can be intuitively adapted to the variations or customizations thateach product requires. The use of skills favours the reuse and generalization of developed robot programs.Regarding the variation of the production volumes, a system which permits a greater mobility and a faster reconfigurationis necessary. If in a certain situation a line has a production peak, mechanisms for balancing the loadwith a reasonable cost are required. In this respect, the architecture allows an easy integration of different roboticsystems, actuators, sensors, etc. In addition, thanks to the developed calibration and set-up techniques, the system canbe adapted to new workspaces at an effective time/cost.With respect to the third mentioned topic, an agent-based monitoring system is proposed. This module opens up amultitude of possibilities for the integration of auxiliary modules of protection and security for collaboration andinteraction between people and robots, something that will be necessary in the not so distant future.For demonstrating the advantages and adaptability improvement of the developed framework, a series of real usecases have been presented. In each of them different problematic has been resolved using developed skills,demonstrating how are adapted easily to the different casuistic
Combining Homotopy Methods and Numerical Optimal Control to Solve Motion Planning Problems
This paper presents a systematic approach for computing local solutions to
motion planning problems in non-convex environments using numerical optimal
control techniques. It extends the range of use of state-of-the-art numerical
optimal control tools to problem classes where these tools have previously not
been applicable. Today these problems are typically solved using motion
planners based on randomized or graph search. The general principle is to
define a homotopy that perturbs, or preferably relaxes, the original problem to
an easily solved problem. By combining a Sequential Quadratic Programming (SQP)
method with a homotopy approach that gradually transforms the problem from a
relaxed one to the original one, practically relevant locally optimal solutions
to the motion planning problem can be computed. The approach is demonstrated in
motion planning problems in challenging 2D and 3D environments, where the
presented method significantly outperforms a state-of-the-art open-source
optimizing sampled-based planner commonly used as benchmark
Digital Twin for Industrial Robotics
This thesis aims to develop a Digital Twin model for robot programming that incorporates
Virtual Reality (VR). The digital twin is a concept of creating a digital replica of a physical
object (such as a robot), which is similar to establishing a model simulation along
with some additional functionalities. Simulation software, such as robot operating system
(ROS) or other industrial-owned simulation platforms, simulates a robot operation and
sends the details to the robot controller. In contrast to this, the Digital Twin model establishes
a two-way communication channel between the digital and the physical models.
In this thesis, the proposed Digital Twin model can help in online/remote programming
of a robotic cell with high accuracy by creating a 3D digital environment of a real-world
physical setup, which is similar to watching a movie with 3D glasses. To create a Digital
Twin model, the gaming platform is used that comes with specialized plugins for virtual
and augmented reality devices. One of the main challenges in any robotic system is
writing a code for a defined path and modifying it for future requirements. Programming
robot via this traditional approach requires a lot of time and often disturbs the running
process. Whereas, in the case of a Digital Twin model, the program can be adjusted or
regenerated without disturbing the execution cycle of a physical robot
Data analysis for trajectory generation for a robot manipulator using data from a 2D industrial laser
Nowadays, the automation of factory floors is necessary for extensive manufacturing processes to meet the ever-increasing competitiveness of current markets. The technological advances applied to the digital platforms have led many businesses to automate their manufacturing processes, introducing robotic manipulators collaborating with human operators to achieve new productivity, manufacturing quality, and safety levels. However, regardless of the amount of optimization implemented, some quality problems may be introduced in production lines with many products being designed and produced. This project proposes a solution for feature extraction that can be applied to automatic shape- and position-detection using a 2-dimension (2D) industrial laser to extract 3-dimension (3D) data where the movement of the item adds the third dimension through the laser’s beam. The main goal is data acquisition and analysis. This analysis will later lead to the generation of trajectories for a robotic manipulator. The results of this application proved reliable given their small measurement error values of a maximum of 2 mm.info:eu-repo/semantics/publishedVersio
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