Classifying Compliant Manipulation Tasks for Automated Planning in Robotics

Many household chores and industrial manufacturing tasks require a certain compliant behavior to make deliberate physical contact with the environment. This compliant behavior can be implemented by modern robotic manipulators. However, in order to plan the task execution, a robot requires generic process models of these tasks which can be adapted to different domains and varying environmental conditions. In this work we propose a classification of compliant manipulation tasks meeting these requirements, to derive related actions for automated planning. We also present a classification for the sub-category of wiping tasks, which are most common and of great importance in service robotics. We categorize actions from an object-centric perspective to make them independent of any specific robot kinematics. The aim of the proposed taxonomy is to guide robotic programmers to develop generic actions for any kind of robotic systems in arbitrary domains

Edge finishing of large turbine casings using defined multi-edge and abrasive tools in automated cells

Automate finishing processes is a global challenge in several industrial sectors. Concretely, when dealing with aero-engine components, only simple finishing processes are automated nowadays. Most of the high-added value components manufactured are finished hand working, using deburring and polishing manual techniques. The driver of the proposed work is to achieve the necessary knowledge to introduce in a production line a complete finishing process for automated robotic deburring applications with low machinability materials (Inconel 718 in this case-study) on aero-engine casings with complex geometries: extruded casting bosses, internal features, etc. For this purpose, a three-step methodology is presented and analysed, providing a feasible workflow combining visual inspection for part positioning and edge location, with multi-edge solid tools and flexible abrasive tools to automate finishing operations, taking into account all process singularities. Results show that, using correct techniques, processes and parameters, an automated finishing process reducing operating time can be implemented in production lines.Thanks are addressed to the HAZITEK program from the Department of Economic Development and Infrastructures of the Basque Government and from FEDER founds, related to the project with acronym FAKTORIA. Authors are also grateful to the Basque government group IT IT1337-19. Finally, thanks are owed to the Ministry of Mineco REF DPI2016-74845-R and PID2019-109340RB-I00

Factories of the Future

Engineering; Industrial engineering; Production engineerin