Manufacturing Technology on a Mechatronics Line Assisted by Autonomous Robotic Systems, Robotic Manipulators and Visual Servoing Systems

Abstract

This paper proposes the implementation of an assisting technology to a processing/reprocessing mechatronics line (P/RML), comprising the following: two autonomous robotic systems (ARSs), two robotic manipulators (RMs) and three visual servoing systems (VSSs). The P/RML has four line-shaped workstations assisted by two ARSs—wheeled mobile robots (WMRs): one of them equipped with an RM, used for manipulation, and the other one used for transport. Two types of VSSs—eye to hand and eye in hand—are used as actuators for precise positioning of RMs to catch and release the work-piece. The work-piece visits stations successively as it is moved along the line for processing. If the processed piece does not pass the quality test, it is taken from the last stations of the P/RML and it is transported to the first station where it will be considered for reprocessing. The P/RML, assisted by ARSs, RMs and VSSs, was modelled with the synchronized hybrid Petri nets (SHPN). To control the ARSs, we propose the use of trajectory-tracking and sliding-mode control (TTSMC). The precise positioning that allows the picking up and releasing of the work-piece was performed using two types of VSSs. In the case of the first one, termed eye to hand VSS, the cameras have a fixed position, located at the last and the first workstations of the P/RML. For the second one, named eye in hand VSS, the camera is located at the end effector of the RM.

Autonomous 6-DOF Manipulator Operation for Moving Target by a Capture and Placement Control System

“…Especially, the autonomous operation for the objects moving on the pipeline in industrial production or warehousing logistics is a great challenge. The inaccurate or unstable operation will lead to high costs and even damage to manipulator [1][2][3]. On one hand, the precise knowledge of the moving target needs to be obtained by machine vision technology.…”

Mobile Visual Servoing Based Control of a Complex Autonomous System Assisting a Manufacturing Technology on a Mechatronics Line

“…Task planning, simulation, monitoring, and real-time control are some of the tools used to fulfill the objectives of this study, like workpiece recovery for reprocessing or the increase of the automation level o for the P/RML so that a human operator is no longer needed after the program is started. Moreover, the CAS improves the reusability feature of the production line [1][2][3][4][5].…”

“…The manufacturing line is characterized by the operations to be performed in the workstations using the monitoring and control systems, CAS, ARS, RM, MVS which give reparability and flexibility features for processing and reprocessing operations [4][5][6][7][8]. The structure of the P/RML highlights the system's overall functions: the automatic processing of parts, transport, handling, storing and the automatic control of all the devices integrated in the system using the PLCs in different configurations: centralized or distributed.…”

“…Position Based Visual Servoing (PBVS) [13][14][15];  Image Based Visual Servoing (IBVS) [13,16,17];  Hybrid Visual Servoing (HVS) [4,11,16].…”

Modeling and Analysis in Trajectory Tracking Control for Wheeled Mobile Robots with Wheel Skidding and Slipping: Disturbance Rejection Perspective

“…Wheeled mobile robots (WMRs) have wide applications in space exploration, manufacturing, services, etc. [1][2][3][4]. High performance motion control of WMR is the prerequisite for completing various tasks efficiently.…”