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

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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.

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Acknowledgements

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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Authors and Affiliations

  1. Graduate School of Information Science and Technology, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, 113-8656, Japan

    Shouren Huang, Kenta Shinya & Masatoshi Ishikawa

  2. Autonomous Control Systems Laboratory Ltd., 2-6-1 Nakase, Mihama-ku, Chiba-city, Chiba, 261-7132, Japan

    Niklas Bergström

  3. Sony Semiconductor Solutions Corporation, 4-14-1 Asahi-cho, Atsugi-shi, Kanagawa, 243-0014, Japan

    Tomohiro Yamazaki

  4. Institute of Industrial Science, University of Tokyo, 4-6-1 Komaba, Meguro-ku, Tokyo, 153-8505, Japan

    Yuji Yamakawa

Authors
  1. Shouren Huang
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  2. Kenta Shinya
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  3. Niklas Bergström
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  4. Yuji Yamakawa
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  5. Tomohiro Yamazaki
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  6. Masatoshi Ishikawa
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Corresponding author

Correspondence to Shouren Huang.

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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

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  • DOI: https://doi.org/10.1007/s00170-017-1491-7

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