Abstract
Robots are essential for the rapid development of Industry 4.0. In order to truly achieve autonomous robot control in customizable production lines, robots need to be accurate enough and capable of recognizing the geometry and orientation of an arbitrarily shaped object. This paper presents a method of inline inspection with an industrial robot (IIIR) for mass-customization production lines. A 3D scanner was used to capture the geometry and orientation of the object to be inspected. As the object entered the working range of the robot, the end effector moved along with the object and the camera installed at the end effector performed the requested optical inspections. The detailed information about the developed methodology was introduced in this paper. The experiments showed there was a relative movement between the moving object and the following camera and the speed was around 0.34 mm per second (worst case was around 0.94 mm per second). For a camera of 60 frames per second, the relative moving speed between the object and the camera was around 6 micron (around 16 micron for the worst case), which was stable enough for most industrial production inspections.
Highlights
With the rapidly developing trend of Industry 4.0, industrial robots have been widely used in various applications, such as automotive manufacturing lines [1], semiconductor production lines [2], etc
The 3D scanner was used to captured these th end effector position capturedthin S was denoted as Qi
The i transformed 3D scanned position was end effector positions and satisfy effector position captured in S was denoted as S Qi
Summary
With the rapidly developing trend of Industry 4.0, industrial robots have been widely used in various applications, such as automotive manufacturing lines [1], semiconductor production lines [2], etc. One of the most important features in the inline inspection system for mass-customization production lines is high-accuracy manipulation Juan and his colleagues [6,7] measured the absolute position errors of the end effector of a 6-revolute-joint (6R) robot arm in the working space by laser. Shih and Lin [11] started to investigate how the end effector positioning under various levels of payloads could be improved using trilateration based on three cable encoder measurements and coordinate correction based on kriging models of error fields. Any target position of the end effector in the plane could be computed with its coordinate in the live image This approach was good for in situ measurement and robot manipulation but it only worked for positioning in a given plane and not suitable for moving target positions.
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