多功能机器人感知系统实现闭环控制,实现大型部件涂胶过程的零缺陷制造

IF 4.3 2区 计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS Robotics and Autonomous Systems Pub Date : 2024-08-08 DOI:10.1016/j.robot.2024.104778
Loukas Prezas, Zoi Arkouli, George Michalos, Panagiotis Angelakis, Christos Gkournelos, Sotiris Makris
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引用次数: 0

摘要

机器人感知技术取得了长足进步,促进了先进自动化在广泛应用中的部署,但针对大型部件制造的解决方案通常很少。本文介绍了一种多功能机器人感知系统,旨在提高机器人点胶过程的灵活性和精确性。该解决方案能够应对在大型部件制造中实施自动化解决方案所面临的独特挑战,例如小批量制造的灵活性、复杂任务序列的感知能力,以及处理单个相机帧无法捕捉的大尺寸部件。本文介绍了一种基于单个视觉传感器的解决方案,可用于零件类型识别、零件定位、过程监控和质量检测。其中包括这些感知功能的算法和一个旨在实现零缺陷制造的闭环控制框架。任务规划和执行架构以行为树为基础,允许模块化和可扩展的机器人任务建模和执行,而知识数据库则通过名为事件管理器的模块根据过程监控结果进行更新,以防止缺陷传播到后续生产步骤。受公共汽车和长途客车行业案例研究的启发,我们在一个点胶机器人单元中对所提出的方法进行了测试和验证。结果表明,该系统能够容忍位置不确定性和随机零件进料,能够处理流程中的中断或触发流程后的纠正措施,并能轻松适应新的变体。
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A multi-purpose robot perception system enabling closed-loop control for zero defect manufacturing in gluing processes of large parts

Significant progress has been made in robot perception facilitating the deployment of advanced automation across a wide range of applications however typically little solutions are presented for large parts manufacturing. This paper presents a versatile robot perception system designed to enhance the flexibility and precision of robotic adhesive dispensing processes. This solution is capable of addressing the unique challenges of implementing automation solutions in large parts manufacturing, such as flexibility to manufacture small lot sizes, perception for complex task sequences, and handling parts with large dimensions that cannot be captured in single camera frames. A solution based on one single vision sensor is presented for part type recognition, part localization, process monitoring, and quality inspection. This includes algorithms for these perception functionalities and a closed-loop control framework aimed at zero-defect manufacturing. The task planning and execution architecture is based on Behavior Trees to allow modular and scalable robot task modeling and execution, whereas a knowledge database updated with process monitoring results via a module named event manager serves to prevent the propagation of defects to the following production steps. The proposed approach was tested and validated in a robotic cell for glue dispensing for a case study inspired by the bus and coach sector. The results indicate that the system can tolerate position uncertainties and random parts feeding, address disruptions in-process or trigger corrective actions post-process, and easily accommodate new variants.

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来源期刊
Robotics and Autonomous Systems
Robotics and Autonomous Systems 工程技术-机器人学
CiteScore
9.00
自引率
7.00%
发文量
164
审稿时长
4.5 months
期刊介绍: Robotics and Autonomous Systems will carry articles describing fundamental developments in the field of robotics, with special emphasis on autonomous systems. An important goal of this journal is to extend the state of the art in both symbolic and sensory based robot control and learning in the context of autonomous systems. Robotics and Autonomous Systems will carry articles on the theoretical, computational and experimental aspects of autonomous systems, or modules of such systems.
期刊最新文献
Editorial Board A sensorless approach for cable failure detection and identification in cable-driven parallel robots Learning latent causal factors from the intricate sensor feedback of contact-rich robotic assembly tasks GPS-free autonomous navigation in cluttered tree rows with deep semantic segmentation Robust trajectory tracking for omnidirectional robots by means of anti-peaking linear active disturbance rejection
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