Dynamic compensation robot with a new high-speed vision system for flexible manufacturing

  • Shouren Huang
  • Kenta Shinya
  • Niklas Bergström
  • Yuji Yamakawa
  • Tomohiro Yamazaki
  • Masatoshi Ishikawa


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.


Dynamic compensation robot High-speed vision Contour tracing Uncertainty Flexible manufacturing Machine flexibility 


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The authors would like to thank Kenji Uehara from Sony Semiconductor Solutions for his support in developing the high-speed vision system.


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Copyright information

© Springer-Verlag London Ltd., part of Springer Nature 2018

Authors and Affiliations

  1. 1.Graduate School of Information Science and TechnologyUniversity of TokyoBunkyo-kuJapan
  2. 2.Autonomous Control Systems Laboratory Ltd.Chiba-cityJapan
  3. 3.Sony Semiconductor Solutions CorporationAtsugi-shiJapan
  4. 4.Institute of Industrial ScienceUniversity of TokyoMeguro-kuJapan

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