Enabling robotic adaptive behaviour capabilities for new Industry 4.0 automated quality inspection paradigms
Enabling robotic adaptive behaviour capabilities for new Industry 4.0 automated quality inspection paradigms
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DOI：
10.1784/insi.2020.62.6.338
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发表时间：
2020-06-01
期刊：
影响因子：
1.1
通讯作者：
Cross, E. J.
中科院分区：
文献类型：
--
作者：
Mineo, C.;Vasilev, M.;Cross, E. J.
工业机器人手臂与服务器计算机、传感器和执行器的无缝集成可以彻底改变自动化无损检测（NDT）的执行和构思方式。实现有效的集成和实现机器人系统的全部潜力提出了重大挑战，因为机器人，传感器和末端执行器工具通常不一定被设计成放在一起并形成一个整体系统。本文介绍了最近的突破，为先进制造业的产品质量检测开辟了新的场景。多年的研究使软件平台能够将外部数据采集仪器与工业机器人集成，以提高NDT的检测速度，精度和可重复性。机器人操纵器通常由通过离线路径规划软件应用程序生成的预定义工具路径操作。最近的发展为数据驱动的自主机器人检测铺平了道路，实现了实时路径规划和自适应控制。本文提出了一个工具箱，具有高效的算法和软件功能，开发用于通过高级编程语言平台（例如MATLAB，LabVIEW和Python）和/或集成在低级语言（例如C#和C++）应用程序。该工具箱的使用可以加快具有实时自适应能力的新型机器人无损检测系统的开发和稳健集成，并与所有配备机器人传感器接口（RSI）软件插件的六自由度（DOF）库卡机器人兼容。本文介绍了工具箱的架构，并展示了两个应用示例，其中提供了性能结果。本文中描述的概念与新兴的工业4.0范式保持一致，并具有超越NDT的更广泛的适用性。
The seamless integration of industrial robotic arms with server computers, sensors and actuators can revolutionise the way in which automated non-destructive testing (NDT) is performed and conceived. Achieving effective integration and realising the full potential of robotic systems presents significant challenges, since robots, sensors and end-effector tools are often not necessarily designed to be put together and form a holistic system. This paper presents recent breakthroughs, opening up new scenarios for the inspection of product quality in advanced manufacturing. Many years of research have brought to software platforms the ability to integrate external data acquisition instrumentation with industrial robots to improve the inspection speed, accuracy and repeatability of NDT. Robotic manipulators have typically been operated by predefined tool-paths generated through offline path-planning software applications. Recent developments pave the way to data-driven autonomous robotic inspections, enabling real-time path planning and adaptive control. This paper presents a toolbox with highly efficient algorithms and software functions, developed to be used through high-level programming language platforms (for example MATLAB, LabVIEW and Python) and/ or integrated within low-level language (for example C# and C++) applications. The use of the toolbox can speed up the development and the robust integration of new robotic NDT systems with real-time adaptive capabilities and is compatible with all KUKA robots with six degrees of freedom (DOF), which are equipped with the Robot Sensor Interface (RSI) software add-on. The paper describes the architecture of the toolbox and shows two application examples, where performance results are provided. The concepts described in the paper are aligned with the emerging Industry 4.0 paradigms and have wider applicability beyond NDT.