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Sensor-assisted Flexible Industrial Robot Workcell: A Case Study

Tutkimustuotos

Yksityiskohdat

AlkuperäiskieliEnglanti
OtsikkoProceedings of the 1st Annual SMACC Research Seminar 2016
Sivut61-64
Sivumäärä4
TilaJulkaistu - 2016
OKM-julkaisutyyppiD3 Artikkeli ammatillisessa konferenssijulkaisussa
TapahtumaSMACC Research seminar - Tampere
Kesto: 10 lokakuuta 2016 → …

Conference

ConferenceSMACC Research seminar
KaupunkiTampere
Ajanjakso10/10/16 → …

Tiivistelmä

Industrial robots are operated in the factories to support the production line for assembly, material handling, inspection, etc. Use of auxiliary devices on the robot arm has been a trend for decades. Moreover, with advances in sensor technology and development of control systems, robots become more flexible and handling the tasks is more intelligent.
This paper presents the concept of flexible industrial robot workcell which consist of industrial robot equipped with affordable price commercial 3D/2D vision sensor (Kinect v2), electrical nut runner and pneumatically controlled magnetic gripper. Communication between the robot and vision sensor is realized by ROS-Industrial interface which can be used to communicate with other devices as well. The workcell was demonstrated as an autonomous ground vehicle (AGV), in this case a wheel loader, service station. In the demonstration maintenance operations were
done to the AGV without using additional fixtures by locating the loader and its parts by sensors. The results show that use of the sensor system increases the robot system flexibility and the sensor assisted cell can be built with low cost commercial products. The demonstration showed that technical challenges can be solved with proper design and programming. The methods presented can be used widely in robot operations in manufacturing industry.

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