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

Abstract

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.

This is a preview of subscription content, log in to check access.

References

  1. 1.

    Jain A, Jain PK, Chan FTS, Singh S (2013) A review on manufacturing flexibility. Int J Prod Res 51(19):5946–5970

    Article  Google Scholar 

  2. 2.

    Kochan A (2005) BMW Uses even more robots for both flexibility and quality. Industrial Robot: An International Journal 32(4):318–320

    Article  Google Scholar 

  3. 3.

    Maeda Y, Nakamura T (2015) View-based teaching/playback for robotic manipulation. ROBOMECH J 2:1–12

    Article  Google Scholar 

  4. 4.

    Cheah CC, Hirano M, Kawamura S, Arimoto S (2003) Approximate Jacobian control for robots with uncertain kinematics and dynamics. IEEE Trans Robot Autom 19(4):692–702

    Article  Google Scholar 

  5. 5.

    Wang H, Liu YH, Zhou D (2008) Adaptive visual servoing using point and line features with an uncalibrated eye-in-hand camera. IEEE Trans Robot 24(4):843–856

    Article  Google Scholar 

  6. 6.

    Bauchspiess A, Alfaro S, Dobrzanski L (2001) Predictive sensor guided robotic manipulators in automated welding cells. J Mater Process Technol 109:13–19

    Article  Google Scholar 

  7. 7.

    Lange F, Hirzinger G (2003) Predictive visual tracking of lines by industrial robots. Int J Rob Res 22 (10-11):889–903

    Article  Google Scholar 

  8. 8.

    Baeten J, De Schutter J (2002) Hybrid vision/force control at corners in planar robotic-contour following. IEEE/ASME Trans Mechatronics 7(2):143–151

    Article  Google Scholar 

  9. 9.

    Huang S, Yamakawa Y, Senoo T, Ishikawa M (2014) Dynamic compensation by fusing a high-speed actuator and high-speed visual feedback with its application to fast peg-and-hole alignment. Adv Robot 28(9):613–624

    Google Scholar 

  10. 10.

    Huang S, Bergström N, Yamakawa Y, Senoo T, Ishikawa M (2016) High-performance robotic contour tracing based on the dynamic compensation. In: Proceedings IEEE international conference on robotics and automation, pp 3886–3893

  11. 11.

    Huang S, Bergström N, Yamakawa Y, Senoo T, Ishikawa M (2016) Applying high-speed vision sensing to an industrial robot for high-performance position regulation under uncertainties. Sensors 16(8:1195):1–15

    Google Scholar 

  12. 12.

    Sharon A, Hogan N, Hardt ED (1993) The macro/micro manipulator: an improved architecture for robot control. Robot Comput-Integr Manuf 10:209–222

    Article  Google Scholar 

  13. 13.

    Lew JY, Trudnowski DJ (1996) Vibration control of a micro/macro-manipulator system. IEEE Control Syst Mag 16(1):26–31

    Article  Google Scholar 

  14. 14.

    Arakawa K, Kakizaki T, Omyo S (1998) A method of robust seam feature detection from profiles for robotic sealing. In: Proceedings of the MVA1998 IAPR workshop on machine vision applications , pp 81–84

  15. 15.

    Hodac A, Siegwart R (1999) Decoupled macro/micro-manipulator for fast and precise assembly operations: design and experiments. In: Proceedings of SPIE 3834, microrobotics and microassembly, pp 122–130

  16. 16.

    Schneider U, Olofsson B, Sornmo O, Drusta M, Robertssonb A, Hägelea M, Johansson R (2014) Integrated approach to robotic machining with macro/micro-actuation. Robot Comput-Integr Manuf 30(6):636–647

    Article  Google Scholar 

  17. 17.

    Yamazaki T, Katayama H, Uehara S, Nose A, Kobayashi M, Shida S, Odahara M, Takamiya K, Hisamatsu Y, Matsumoto S, Miyashita L, Watanabe Y, Izawa T, Muramatsu Y, Ishikawa M (2017) A 1 ms high-speed vision chip with 3D-stacked 140GOPS column-parallel PEs for spatio-temporal image processing. In: International solid-state circuits conference (ISSCC, vol 2017, pp 82–83

  18. 18.

    Video for experiment. Available from: http://www.k2.t.u-tokyo.ac.jp/fusion/tracing/tracing.mp4 Accessed on 4 Oct. 2017

  19. 19.

    Huang S, Yamakawa Y, Senoo T, Ishikawa M (2015) A pre-compensation fuzzy logic algorithm designed for the dynamic compensation robotic system. Int J Adv Robot 12(3):1–12

    Google Scholar 

Download references

Acknowledgements

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

Author information

Affiliations

Authors

Corresponding author

Correspondence to Shouren Huang.

Rights and permissions

Reprints and Permissions

About this article

Verify currency and authenticity via CrossMark

Cite this article

Huang, S., Shinya, K., Bergström, N. et al. Dynamic compensation robot with a new high-speed vision system for flexible manufacturing. Int J Adv Manuf Technol 95, 4523–4533 (2018). https://doi.org/10.1007/s00170-017-1491-7

Download citation

Keywords

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