Mixed reality-based user interface for quality control inspection of car body surfaces

Muñoz, Adolfo; Mahiques, Xavier; Solanes, J. Ernesto; Martí, Amparo Pons; Gracia, Luis; Tornero, Josep

doi:10.1016/j.jmsy.2019.08.004

Cited by 63 publications

(24 citation statements)

References 31 publications

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“…In this process, the operator has to visually spot in the real image of the workpiece surface the points that require the treatment and teleoperate the robot to these points. In order to assist the operator, some marks can be added in the real or virtual workpiece [53] to help the user locating these points. For this purpose, some automatic system could be used to obtain the points that require the treatment, such as [54,55,5] in the automotive industry.…”

Section: Level 3: Tool Teleoperationmentioning

confidence: 99%

Advanced teleoperation and control system for industrial robots based on augmented virtuality and haptic feedback

González

Solanes

Muñoz

et al. 2021

Journal of Manufacturing Systems

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There are some industrial tasks that are still mainly performed manually by human workers due to their complexity, which is the case of surface treatment operations (such as sanding, deburring, finishing, grinding, polishing, etc.) used to repair defects. This work develops an advanced teleoperation and control system for industrial robots in order to assist the human operator to perform the mentioned tasks. On the one hand, the controlled robotic system provides strength and accuracy, holding the tool, keeping the right tool orientation and guaranteeing a smooth approach to the workpiece. On the other hand, the advanced teleoperation provides security and comfort to the user when performing the task. In particular, the proposed teleoperation uses augmented virtuality (i.e., a virtual world that includes non-modeled real-world data) and haptic feedback to provide the user an immersive virtual experience when remotely teleoperating the tool of the robot system to treat arbitrary regions of the workpiece surface. The method is illustrated with a car body surface treatment operation, although it can be easily extended to other surface treatment applications or even to other industrial tasks where the human operator may benefit from robotic assistance. The effectiveness of the proposed approach is shown with several experiments using a 6R robotic arm.

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Section: Level 3: Tool Teleoperationmentioning

confidence: 99%

Advanced teleoperation and control system for industrial robots based on augmented virtuality and haptic feedback

González

Solanes

Muñoz

et al. 2021

Journal of Manufacturing Systems

Self Cite

View full text Add to dashboard Cite

show abstract

“…where M tasks or equalities are considered in (4), which are given by matrix A i and vector b i (i = 1 and i = M denote the highest and lowest priority, respectively), and the solution x M is computed with the recursive formulation given by (5) and (6) in order to minimize the tasks errors, where x 0 = 0 (zero column vector), N 0 = I (identity matrix) and superscript † represents the Moore-Penrose pseudoinverse [34].…”

Section: Task Prioritization Frameworkmentioning

confidence: 99%

“…Therefore, the acceleration equality for this level is given by: error; K p1 and K d1 are the gains to correct tool orientation error and its derivative, respectively;α andβ are computed from the first-order kinematics in (2); u + 1 is the gain for the last switching term; and A 1 and b 1 are the matrix and vector for the first task in (4).…”

Section: B Level 1: Orientation Control To Ensure Perpendicularity Tmentioning

confidence: 99%

“…However, this process remains one of the least automated ones in the manufacturing industry [1]. In particular, whereas there are industrial solutions for detecting surface defects using machine vision systems [2]- [4], the elimination of surface defects by surface treatment is still largely depending on manual labor and the personal skills of the human operator.…”

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Human-Robot Cooperation for Surface Repair Combining Automatic and Manual Modes

et al. 2020

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This article develops a human-robot cooperation to carry out treatments such as sanding, polishing, etc. on the surface of a known rigid object. For this purpose, a vision system is considered to get the object location to ensure not only the perpendicularity of the robot tool to the object surface but also a smooth approach of the tool to the surface. In order to add flexibility, the proposal includes the simultaneous combination of automatic and manual modes of operation. Thus, the human user can guide the robot tool to treat arbitrary areas (manual mode) and, when the operator releases the tool, the robot goes into the automatic mode to treat prior established areas. The method uses a task prioritization framework and three types of controllers: an admittance controller for the tool guidance; a hybrid controller to modify the tool orientation and, in the automatic mode, the tool position; and a sliding mode controller to limit the velocity at which the tool approaches the object surface. The applicability and efficacy of the proposed method is demonstrated experimentally using a conventional 6R robot arm. INDEX TERMS Cooperative sanding, robot cooperation, vision system I. INTRODUCTION A. MOTIVATION

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“…A metodologia de design e as funcionalidades de interface propostas mostraram eficácia comprovadas por resultados experimentais. [40].…”

Section: Controle De Qualidade De Superfícieunclassified

Aplicações da Realidade Aumentada na Manufatura: uma Revisão da Literatura

Bender¹,

Cecconello²

2020

SCI

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No cenário empresarial tem sido cada vez mais comum o emprego de inovações tecnológicas avançadas, mediante o surgimento do conceito de Indústria 4.0, que vem propiciando a otimização dos recursos e elevando a produtividade no setor fabril. Neste contexto, tem-se a Realidade Aumentada, tecnologia habilitadora que utiliza a visualização computacional e o processamento das imagens e das técnicas de computação gráfica. Este estudo teve o objetivo de verificar o estado da arte das aplicações da Realidade Aumentada na Indústria 4.0 por meio de uma revisão sistemática da literatura. Para atingir o objetivo proposto foi desenvolvida uma revisão sistemática da literatura utilizando a base de dados SCOPUS, considerando-se os estudos publicados no período de 2015 a 2020. A Realidade Aumentada é utilizada para aumentar o mundo real por meio de informações digitais, fornecendo uma interação em tempo real com os objetos reais e virtuais. Os resultados da revisão sistemática da literatura indicaram que a Realidade Aumentada se faz presente em várias aplicações na manufatura, incluindo: a criação de manuais virtuais de manutenção; visualização das instruções de trabalho e design de produto; desenvolvimento de modelagens e simulações, com a finalidade de aprimorar continuamente as atividades no setor fabril; para facilitar as atividades dos operadores nos processos fabris e de manutenção; e para auxiliar nas atividades apoiadoras desses processos. Palavras-chave Indústria 4.0, Realidade aumentada, Manufatura.

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Mixed reality-based user interface for quality control inspection of car body surfaces

Cited by 63 publications

References 31 publications

Advanced teleoperation and control system for industrial robots based on augmented virtuality and haptic feedback

Advanced teleoperation and control system for industrial robots based on augmented virtuality and haptic feedback

Human-Robot Cooperation for Surface Repair Combining Automatic and Manual Modes

Aplicações da Realidade Aumentada na Manufatura: uma Revisão da Literatura

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