scholarly journals Voice Control for an Industrial Robot as a Combination of Various Robotic Assembly Process Models

2017 ◽  
Vol 05 (11) ◽  
pp. 1-15 ◽  
Author(s):  
Svitlana Maksymova ◽  
Rami Matarneh ◽  
Vyacheslav V. Lyashenko ◽  
Nataliya V. Belova
Keyword(s):  
Industrial Robot ◽  
Process Models ◽  
Robotic Assembly ◽  
Assembly Process ◽  
Voice Control

scholarly journals Sensor-Guided Assembly of Segmented Structures with Industrial Robots

2021 ◽  
Vol 11 (6) ◽  
pp. 2669
Author(s):  
Yuan-Chih Peng ◽  
Shuyang Chen ◽  
Devavrat Jivani ◽  
John Wason ◽  
William Lawler ◽  
...  
Keyword(s):  
Composite Structures ◽  
Industrial Robot ◽  
Robot Vision ◽  
Laminated Composite ◽  
Ground Truth ◽  
Industrial Robots ◽  
Robotic Assembly ◽  
Assembly Process ◽  
Finite State ◽  
Robot Wrist

This paper presents a robotic assembly methodology for the manufacturing of large segmented composite structures. The approach addresses three key steps in the assembly process: panel localization and pick-up, panel transport, and panel placement. Multiple stationary and robot-mounted cameras provide information for localization and alignment. A robot wrist-mounted force/torque sensor enables gentle but secure panel pick-up and placement. Human-assisted path planning ensures reliable collision-free motion of the robot with a large load in a tight space. A finite state machine governs the process flow and user interface. It allows process interruption and return to the previous known state in case of error condition or when secondary operations are needed. For performance verification, a high resolution motion capture system provides the ground truth reference. An experimental testbed integrating an industrial robot, vision and force sensors, and representative laminated composite panels demonstrates the feasibility of the proposed assembly process. Experimental results show sub-millimeter placement accuracy with shorter cycle times, lower contact force, and reduced panel oscillation than manual operations. This work demonstrates the versatility of sensor guided robotic assembly operation in a complex end-to-end tasks using the open source Robot Operating System (ROS) software framework.

Qualitative Template Matching Using Dynamic Process Models for State Transition Recognition of Robotic Assembly

1993 ◽  
Vol 115 (2A) ◽  
pp. 261-269 ◽  
Author(s):  
B. J. McCarragher ◽  
H. Asada
Keyword(s):  
State Transition ◽  
Process Models ◽  
New Method ◽  
Robotic Assembly ◽  
State Transitions ◽  
Assembly Process ◽  
Recognition Method ◽  
Discrete State ◽  
Model Based ◽  
Short Period

This paper presents a model-based approach to the recognition of discrete state transitions for robotic assembly. Sensor signals, in particular, force and moment, are interpreted with reference to the physical model of an assembly process in order to recognize the state of assembly in real time. Assembly is a dynamic as well as a geometric process. Here, the model-based approach is applied to the unique problems of the dynamics generated by geometric interactions in an assembly process. First, a new method for the modeling of the assembly process is presented. In contrast to the traditional quasi-static treatment of assembly, the new method incorporates the dynamic nature of the process to highlight the discrete changes of state, e.g., gain and loss of contact. Second, a qualitative recognition method is developed to understand a time series of force signals. The qualitative technique allows for quick identification of the change of state because dynamic modelling provides much richer and more copious information than the traditional quasi-static modeling. A network representation is used to compactly present the modelling state transition information. Lastly, experimental results are given to demonstrate the recognition method. Successful transition recognition was accomplished in a very short period of time: 7-10 ms.

Human skill integrated motion planning of assembly manipulation for 6R industrial robot

2019 ◽  
Vol 46 (1) ◽  
pp. 171-180
Author(s):  
Yi Liu ◽  
Ming Cong ◽  
Hang Dong ◽  
Dong Liu
Keyword(s):  
Deep Learning ◽  
Motion Planning ◽  
Industrial Robot ◽  
Robotic Assembly ◽  
3D Vision ◽  
Content Type ◽  
Human Skill ◽  
Depth Images ◽  
Positioning Method ◽  
Assembly Technology

Purpose The purpose of this paper is to propose a new method based on three-dimensional (3D) vision technologies and human skill integrated deep learning to solve assembly positioning task such as peg-in-hole. Design/methodology/approach Hybrid camera configuration was used to provide the global and local views. Eye-in-hand mode guided the peg to be in contact with the hole plate using 3D vision in global view. When the peg was in contact with the workpiece surface, eye-to-hand mode provided the local view to accomplish peg-hole positioning based on trained CNN. Findings The results of assembly positioning experiments proved that the proposed method successfully distinguished the target hole from the other same size holes according to the CNN. The robot planned the motion according to the depth images and human skill guide line. The final positioning precision was good enough for the robot to carry out force controlled assembly. Practical implications The developed framework can have an important impact on robotic assembly positioning process, which combine with the existing force-guidance assembly technology as to build a whole set of autonomous assembly technology. Originality/value This paper proposed a new approach to the robotic assembly positioning based on 3D visual technologies and human skill integrated deep learning. Dual cameras swapping mode was used to provide visual feedback for the entire assembly motion planning process. The proposed workpiece positioning method provided an effective disturbance rejection, autonomous motion planning and increased overall performance with depth images feedback. The proposed peg-hole positioning method with human skill integrated provided the capability of target perceptual aliasing avoiding and successive motion decision for the robotic assembly manipulation.

Mathematical model of a robotized assembly in the presence of vibrations and gripper rotation

2020 ◽  
pp. 299-304
Author(s):  
M.V. Vartanov ◽  
Trung Ta Tran
Keyword(s):  
Mathematical Model ◽  
Friction Force ◽  
Rotational Motion ◽  
Robotic Assembly ◽  
Assembly Process ◽  
Dynamics Model ◽  
Assembly Method ◽  
Robot Gripper

The assembly method using the effect of rotational motion and vibration is considered. The presence of rotation allows to signifi cantly reducing the friction force in connection, which prevents the assembly process. The effect is achieved due to using the rotation of robot gripper and the vibrating device. A mathematical dynamics model of the robotic assembly process is presented

Passive Aligning of Ribbon Cable in Sliding Surface Gripper for Assembly Task

2020 ◽  
pp. 1-20
Author(s):  
June-Sup Yi ◽  
Francisco Yumbla ◽  
Eugene Auh ◽  
Meseret Abayebas ◽  
Tuan Anh Luong ◽  
...  
Keyword(s):  
Visual Recognition ◽  
Industrial Robot ◽  
Position Error ◽  
Assembly Process ◽  
Sliding Surface ◽  
Male And Female ◽  
Assembly Task ◽  
Grasping Force ◽  
The Relationship

Abstract A passive aligning strategy for the assembly task of a ribbon cable is presented using a sliding surface gripper. Once the gripper grasps the ribbon cable, the sliding surface of the gripper pulls the cable in one direction, and at the end of the pulling process, the box-shaped structure of the fingertip of the gripper passively aligns the cable to a predictable pose. The relationship between the alignment speed of the cable on the sliding surface and the grasping force was modeled and verified by experiments. The maximum position error of the ribbon cable connector aligned by the proposed method was 0.7 mm, which was smaller than the mating tolerance between typical male-and-female connectors. The mating of the connectors was successfully conducted with an industrial robot (ABB IRB120) whose repeatability is less than a millimeter. The entire assembly process of ribbon cable connectors, including visual recognition of the ribbon cable pose, grasping and aligning of the ribbon cable, and mating a pair of cable connectors, was successfully implemented.

scholarly journals Bridging the Gap between Automated Manufacturing of Fuel Cell Components and Robotic Assembly of Fuel Cell Stacks

Energies ◽  
2019 ◽  
Vol 12 (19) ◽  
pp. 3604
Author(s):  
Devin Fowler ◽  
Vladimir Gurau ◽  
Daniel Cox
Keyword(s):  
Fuel Cell ◽  
Alternative Energy ◽  
Vision System ◽  
Department Of Energy ◽  
Robotic Assembly ◽  
Assembly Process ◽  
Work Cycle ◽  
Cell Components ◽  
Dual Arm Robot ◽  
Manufacturing Technologies

Recently demonstrated robotic assembling technologies for fuel cell stacks used fuel cell components manually pre-arranged in stacks (presenters). Identifying the original orientation of fuel cell components and loading them in presenters for a subsequent automated assembly process is a difficult, repetitive work cycle which if done manually, deceives the advantages offered by either the automated fabrication technologies for fuel cell components or by the robotic assembly processes. We present for the first time a robotic technology which enables the integration of automated fabrication processes for fuel cell components with a robotic assembly process of fuel cell stacks into a fully automated fuel cell manufacturing line. This task uses a Yaskawa Motoman SDA5F dual arm robot with integrated machine vision system. The process is used to identify and grasp randomly placed, slightly asymmetric fuel cell components, to reorient them all in the same position and stack them in presenters in preparation for a subsequent robotic assembly process. The process was demonstrated as part of a larger endeavor of bringing to readiness advanced manufacturing technologies for alternative energy systems, and responds the high priority needs identified by the U.S. Department of Energy for fuel cells manufacturing research and development.

Software Framework for Robot-Assisted Large Structure Assembly

2018 ◽  
Author(s):  
Shuyang Chen ◽  
Yuan-Chi Peng ◽  
John Wason ◽  
Jinda Cui ◽  
Glenn Saunders ◽  
...  
Keyword(s):  
Industrial Robot ◽  
Industrial Robots ◽  
Robotic Assembly ◽  
Software Framework ◽  
Multiple Sensors ◽  
Robot Positioning ◽  
Autonomous Assembly ◽  
Visualization And Simulation ◽  
Joint Limits ◽  
Structure Assembly

This paper presents the design and initial results of a project involving the robotic assembly of a large segmented structure. This project aims to develop an operator-guided semi-autonomous assembly process using industrial robots integrated with multiple sensors. The goal is to demonstrate the potential of robotic technology to reduce cycle time, enhance assembly quality, and improve worker ergonomics, as compared to the current manual or fixture-based approaches. The focus is primarily on the software framework which is composed of a collection of commercial and customized components for robot positioning, motion planning, low latency teleoperation, visualization and simulation. A foundation step of the implementation is safe teleoperation which allows the user to operate the robot without concern of collision or joint limits. The concept has been demonstrated in RobotStudio, the simulation environment for ABB robots, and a physical ABB robot. While some of the software is specific to the ABB industrial robot used in the project, the framework is readily adapted to other industrial robots that allow externally commanded motion.

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