Dynamic compensation robot with a new high-speed vision system for flexible manufacturing
Dynamic compensation robot with a new high-speed vision system for flexible manufacturing
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DOI：
10.1007/s00170-017-1491-7
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发表时间：
2018-04-01
影响因子：
3.4
通讯作者：
Ishikawa, Masatoshi
中科院分区：
文献类型：
--
作者：
Huang, Shouren;Shinya, Kenta;Ishikawa, Masatoshi
本文旨在使工业机器人能够实现对不确定性的实时适应，这通常与柔性制造系统(FMS)的机器柔性问题有关。提出了一种采用新型高速视觉系统的动态补偿机器人方案。在该方案下，传统的多关节工业机器人被指定用于快速而粗略的全局运动，而直接驱动的附加模块则实现对累积不确定性的局部补偿。在新的高速视觉系统中实现了1000fps的图像传感和处理。高速视觉反馈的总潜伏期在3.0ms以内。作为柔性制造应用的早期展示，对具有不确定性的平面目标轮廓跟踪进行了评估。实验结果验证了该方法和新的高速视觉的有效性。
This paper aims to enable an industrial robot to realize real-time adaptation to uncertainty, which is generally associated with the issue of machine flexibility of a flexible manufacturing system (FMS). A new robotic scheme called dynamic compensation robot with a new high-speed vision system is presented. Under the proposed scheme, a traditional multi-joint industrial robot is designated for fast and coarse global motion, whereas a direct-driven add-on module is realizing local compensation of accumulated uncertainty. 1000 fps image sensing and processing is realized within the new high-speed vision system. Overall latency of high-speed visual feedback was measured to be within 3.0 ms. As an early stage showcase towards flexible manufacturing application, contour tracing of planar target with uncertainty was evaluated. Effectiveness of the proposed method as well as the new high-speed vision was validated by experimental results.