Intuitive task programming of stud welding robots for ship construction

Andersen, Rasmus; Bøgh, Simon; Moeslund, Thomas B.; Madsen, Ole

doi:10.1109/icit.2015.7125587

Cited by 19 publications

(8 citation statements)

References 18 publications

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“…Indeed, besides of the investments required to enable efficient and profitable use of robot technology, the efforts needed to program robots are only economically viable in case of large lot sizes. Research efforts have been put into developing more intuitive programming methods to reduce the programming time [10]. In some specific scenarios (e.g.…”

Section: Motivationmentioning

confidence: 99%

Autonomous 3D geometry reconstruction through robot-manipulated optical sensors

Mineo

Cerniglia

Ricotta

et al. 2021

Int J Adv Manuf Technol

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Many industrial sectors face increasing production demands and the need to reduce costs, without compromising the quality. The use of robotics and automation has grown significantly in recent years, but versatile robotic manipulators are still not commonly used in small factories. Beside of the investments required to enable efficient and profitable use of robot technology, the efforts needed to program robots are only economically viable in case of large lot sizes. Generating robot programs for specific manufacturing tasks still relies on programming trajectory waypoints by hand. The use of virtual simulation software and the availability of the specimen digital models can facilitate robot programming. Nevertheless, in many cases, the virtual models are not available or there are excessive differences between virtual and real setups, leading to inaccurate robot programs and time-consuming manual corrections. Previous works have demonstrated the use of robot-manipulated optical sensors to map the geometry of samples. However, the use of simple user-defined robot paths, which are not optimized for a specific part geometry, typically causes some areas of the samples to not be mapped with the required level of accuracy or to not be sampled at all by the optical sensor. This work presents an autonomous framework to enable adaptive surface mapping, without any previous knowledge of the part geometry being transferred to the system. The novelty of this work lies in enabling the capability of mapping a part surface at the required level of sampling density, whilst minimizing the number of necessary view poses. Its development has also led to an efficient method of point cloud down-sampling and merging. The article gives an overview of the related work in the field, a detailed description of the proposed framework and a proof of its functionality through both simulated and experimental evidences.

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Section: Motivationmentioning

confidence: 99%

Autonomous 3D geometry reconstruction through robot-manipulated optical sensors

Mineo

Cerniglia

Ricotta

et al. 2021

Int J Adv Manuf Technol

View full text Add to dashboard Cite

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“…MORO was capable of navigating on the shopfloor and executing pick and place tasks. Based on this pioneering work, many further develop ments were carried out, focusing on different industrial applications: part feeding [15][16][17] transportation and assembly [18][19][20], as well as large-space manufacturing [21][22][23]. In re cent years, inspection robots have become more present in different domains, such as the oil and gas industry [24,25], the power industry [26,27], and civil infrastructure [28] Therefore, the idea to utilize an AIMM for inspection tasks is obvious.…”

Section: Introductionmentioning

confidence: 99%

A Robot-Assisted Large-Scale Inspection of Wind Turbine Blades in Manufacturing Using an Autonomous Mobile Manipulator

et al. 2021

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Wind energy represents the dominant share of renewable energies. The rotor blades of a wind turbine are typically made from composite material, which withstands high forces during rotation. The huge dimensions of the rotor blades complicate the inspection processes in manufacturing. The automation of inspection processes has a great potential to increase the overall productivity and to create a consistent reliable database for each individual rotor blade. The focus of this paper is set on the process of rotor blade inspection automation by utilizing an autonomous mobile manipulator. The main innovations include a novel path planning strategy for zone-based navigation, which enables an intuitive right-hand or left-hand driving behavior in a shared human–robot workspace. In addition, we introduce a new method for surface orthogonal motion planning in connection with large-scale structures. An overall execution strategy controls the navigation and manipulation processes of the long-running inspection task. The implemented concepts are evaluated in simulation and applied in a real-use case including the tip of a rotor blade form.

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“…In the project CARLoS, an AIMM was developed for automatic stud welding inside a ship hull. It features an intuitive human–robot interaction (HRI) by implementing a cursor based interface [ 25 ]. A new concept of a dreaming robot is introduced in the project RobDream [ 26 ].…”

Section: Introductionmentioning

confidence: 99%

OMNIVIL—An Autonomous Mobile Manipulator for Flexible Production

Engemann

Kallweit

et al. 2020

Sensors

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Flexible production is a key element in modern industrial manufacturing. Autonomous mobile manipulators can be used to execute various tasks: from logistics, to pick and place, or handling. Therefore, autonomous robotic systems can even increase the flexibility of existing production environments. However, the application of robotic systems is challenging due to their complexity and safety concerns. This paper addresses the design and implementation of the autonomous mobile manipulator OMNIVIL. A holonomic kinematic design provides high maneuverability and the implemented sensor setup with the underlying localization strategies are robust against typical static and dynamic uncertainties in industrial environments. For a safe and efficient human–robot collaboration (HRC), a novel workspace monitoring system (WMS) is developed to detect human co-workers and other objects in the workspace. The multilayer sensor setup and the parallel data analyzing capability provide superior accuracy and reliability. An intuitive zone-based navigation concept is implemented, based on the workspace monitoring system. Preventive behaviors are predefined for a conflict-free interaction with human co-workers. A workspace analyzing tool is implemented for adaptive manipulation, which significantly simplifies the determination of suitable platform positions for a manipulation task.

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Intuitive task programming of stud welding robots for ship construction

Cited by 19 publications

References 18 publications

Autonomous 3D geometry reconstruction through robot-manipulated optical sensors

Autonomous 3D geometry reconstruction through robot-manipulated optical sensors

A Robot-Assisted Large-Scale Inspection of Wind Turbine Blades in Manufacturing Using an Autonomous Mobile Manipulator

OMNIVIL—An Autonomous Mobile Manipulator for Flexible Production

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