In-line stereo-camera assisted robotic spot welding quality control system

Deniz, Cengiz; Çakır, Mustafa

doi:10.1108/ir-06-2017-0117

Cited by 9 publications

(6 citation statements)

References 18 publications

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“…To transfer the position data obtained on the camera plane to the robot base plane, hand–eye calibration must be performed, which defines the geometrical relationship between the camera and the robot flange (Deniz et al , 2018). One of the different forms of equations (5)–(8) related with position data can be reorganized for vision system as follows.…”

Section: Testing the Approachmentioning

confidence: 99%

“…Rokhim et al (2021) develop an intelligent system to reduce uncertainty and decision-making for some varying object or workpieces in pick and place robot applications. Deniz et al (2018) present an inline stereo camera based robot application to perform robotics nondestructive test for welding process in automotive industry. For all of these vision-based applications, work objects have different positions for every cycle due to process flow.…”

Section: Introductionmentioning

confidence: 99%

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A robust and simple collision avoidance approach for pick and place robot applications

Deniz

2023

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Purpose The aim of this study is to create a robust and simple collision avoidance approach based on quaternion algebra for vision-based pick and place applications in manufacturing industries, specifically for use with industrial robots and collaborative robots (cobots). Design/methodology/approach In this study, an approach based on quaternion algebra is developed to prevent any collision or breakdown during the movements of industrial robots or cobots in vision system included pick and place applications. The algorithm, integrated into the control system, checks for collisions before the robot moves its end effector to the target position during the process flow. In addition, a hand–eye calibration method is presented to easily calibrate the camera and define the geometric relationships between the camera and the robot coordinate systems. Findings This approach, specifically designed for vision-based robot/cobot applications, can be used by developers and robot integrator companies to significantly reduce application costs and the project timeline of the pick and place robotics system installation. Furthermore, the approach ensures a safe, robust and highly efficient application for robotics vision applications across all industries, making it an ideal solution for various industries. Originality/value The algorithm for this approach, which can be operated in a robot controller or a programmable logic controller, has been tested as real-time in vision-based robotics applications. It can be applied to both existing and new vision-based pick and place projects with industrial robots or collaborative robots with minimal effort, making it a cost-effective and efficient solution for various industries.

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Section: Testing the Approachmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A robust and simple collision avoidance approach for pick and place robot applications

Deniz

2023

Self Cite

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“…This method has great application prospects and needs to be further studied. At present, the non-destructive testing methods of spot welding are radiographic testing [15], acoustic emission testing [16], ultrasonic testing [17][18][19], infrared thermography testing [20,21], dynamic resistance testing [22,23], eddy current testing [24,25], magnetic flux leakage testing [26,27], and so on.…”

Section: Introductionmentioning

confidence: 99%

Magneto-Optical Imaging of Arbitrarily Distributed Defects in Welds under Combined Magnetic Field

Gao

Tian

et al. 2022

Metals

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Using the traditional magneto-optical detection methods, micro-weld defects parallel with the magnetic field direction may be overlooked. In order to overcome this, a non-destructive testing method based on magneto-optical imaging under a vertical combined magnetic field (VCMF) is proposed. To demonstrate this, the experimental results of the magneto-optical imaging of weld defects excited by a vertical combined magnetic field (VCMF) or parallel combined magnetic field (PCMF) are compared with those of traditional magnetic fields (constant magnetic field (CMF), alternating magnetic field (AMF), and rotating magnetic field (RMF)). It is found that the magneto-optical imaging under a VCMF can accurately detect weld defects of any shape and distribution. In addition, the center difference method is used to eliminate the influence of noise on the defect contour extraction of magneto-optical images, and the active contour of weld defects in the magneto-optical images is extracted. The results show that many noises can be identifiedby the robustness of the level set method, operating in low-pass filtering, so that much information that is usually lost can be retained.

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“…It is therefore of great significance to suppress the residual vibration of robots. The spot welding robot [5], [6] and assembly robot [7]- [9] need to wait until the residual vibration of the working arm is reduced before they can perform their next work task [10], [11]. To enable industrial robots to complete maneuvering tasks both quickly and accurately, many researchers have conducted extensive and in-depth research on the residual vibration of robots from different aspects [12]- [14].…”

Section: Introductionmentioning

confidence: 99%

Research on the Residual Vibration Suppression of a Controllable Mechanism Robot

et al. 2022

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The motors and reducers of traditional industrial robots are installed at the joints, which leads to large moment of inertia and difficult to effectively improve the dynamic performance of the robots. In particular, the residual vibration at the end of the robots will significantly reduce its working efficiency and fatigue life. Therefore, this paper proposes a new method to reinstall the motor and reducer near the frame, which can effectively suppress the residual vibration of the robots and simultaneously reduce the moment of inertia. Taking the series industrial robot as the research object, four types of CM robots are designed based on the theory of a multi-DOF controllable mechanism (CM). The motor and reducer of the robot are reinstalled near the frame through different branch chains, and their moments of inertia are calculated and compared. The dynamic equations of residual vibration of the four CM robots considering concentrated mass are established based on the finite element method (FEM) and Timoshenko space beam element (SBE) model, and the correctness of the equations are verified by experiments. The results show that the installation position of motor and reducer has a significant influence on the value of moment of inertia of the robot. The motor and reducer of configuration D are reinstalled near the frame by three branches, which can effectively reduce the attenuation time and amplitude of residual vibration at the end of the robot. The research provides a new idea for improving the dynamic performance of industrial robots.INDEX TERMS Controllable mechanism robot, finite element method, moment of inertia, residual vibration suppression.

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In-line stereo-camera assisted robotic spot welding quality control system

Cited by 9 publications

References 18 publications

A robust and simple collision avoidance approach for pick and place robot applications

A robust and simple collision avoidance approach for pick and place robot applications

Magneto-Optical Imaging of Arbitrarily Distributed Defects in Welds under Combined Magnetic Field

Research on the Residual Vibration Suppression of a Controllable Mechanism Robot

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