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Prototyping an intelligent robotic welding workplace by a cyber-physic tool

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Abstract 

The aim of this paper is to describe the methods used to adapt the robotic system as well as the design, simulation, digitization, and verification of the robotic workplace for intelligent welding of small-scale production. Small-scale production in small and medium-sized enterprises is characterized by a high level of type variability of products. It was a requirement to design and verify a robotic positioning and welding workplace with a high degree of ability to automatically adapt to processing of various objects. This paper deals with the design and verification of robotic smart systems that contribute to variability of a robotic workplace for intelligent welding of small-scale production such as positioning and holding of the to-be-welded parts by two synchronized robotic manipulators, robotic welding, robotic picking systems using 3D scanners, 2D laser scanner measurement of gap geometry, and quick-change system of robotic grippers with a force-torque sensor. Before testing the robotic manipulation and robotic welding of products of various sizes and shapes, the design of the workplace was verified using its digital twin. The robotic workplace for intelligent welding of small-scale production also includes tools for digitization.

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Funding

This work was supported by the Operational Program Integrated Infrastructure for the project: “Robotic workplace for intelligent welding of small-scale production (IZVAR),” code ITMS2014 + : 313012P386, co-financed by the European Regional Fund Development and under the DIH2, grant agreement ID: 824964, and under the Better Factory, grant agreement ID: 951813.

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Authors and Affiliations

  1. Institute of Robotics and Cybernetics, Faculty of Electrical Engineering and Information Technology, Slovak University of Technology in Bratislava, Ilkovicova 3, 812 19, Bratislava, Slovakia

    Zuzana Kovarikova, Frantisek Duchon, Marek Trebula, Martin Dekan & Andrej Babinec

  2. VUEZ, a. s, Hviezdoslavova 35, 934 39, Levice, Slovakia

    Zuzana Kovarikova, Frantisek Nagy & Dusan Labat

Authors
  1. Zuzana Kovarikova
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  2. Frantisek Duchon
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  3. Marek Trebula
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  4. Frantisek Nagy
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  5. Martin Dekan
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  6. Dusan Labat
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  7. Andrej Babinec
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Contributions

Zuzana Kovarikova: design and development of the robotic workplace for intelligent welding of small-scale production; Frantisek Duchon: verification and validation of the robotic workplace; Marek Trebula: development of automatic optimization of the weld gap and generation of welding trajectory; Frantisek Nagy: testing of the robotic workplace; Martin Dekan: data extraction from 2D laser scanner measurements; Dusan Labat: design and simulation of robotic grippers; Andrej Babinec: simulation of the robotic workplace.

Corresponding author

Correspondence to Zuzana Kovarikova.

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The authors declare no competing interests.

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Notations

video of simulation: https://youtu.be/kWdImhZLZ2c.

video of verification: https://youtu.be/uktqNrnMPKI.

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Kovarikova, Z., Duchon, F., Trebula, M. et al. Prototyping an intelligent robotic welding workplace by a cyber-physic tool. Int J Adv Manuf Technol 125, 4855–4882 (2023). https://doi.org/10.1007/s00170-023-10986-1

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  • DOI: https://doi.org/10.1007/s00170-023-10986-1

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