Automated Calibration of Robot Coordinates for Reconfigurable Assembly Systems

Arai, Tamio; Maeda, Yusuke; Kikuchi, Haruka; Sugi, Michio

doi:10.1016/s0007-8506(07)61454-1

Cited by 43 publications

(15 citation statements)

References 8 publications

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“…System ramp-up and dignosibility are other design issues. Arai et al (2002) used some robots to calibrate a reconfigurable assembly system automatically to reduce ramp-up time. Mehrabi and Kannatey-Asibu (2001) have built a multi-sensor monitoring system to increase system dignosibility.…”

Section: Reconfigurable Assembly Systemsmentioning

confidence: 99%

Reconfigurable manufacturing systems: the state of the art

Bi¹,

Lang²,

Shen³

et al. 2008

International Journal of Production Research

344

147

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/npsi/ctrl?lang=en http://nparc.cisti-icist.nrc-cnrc.gc.ca/npsi/ctrl?lang=fr Access and use of this website and the material on it are subject to the Terms and Conditions set forth at http://nparc.cisti-icist.nrc-cnrc.gc.ca/npsi/jsp/nparc_cp.jsp?lang=en NRC Publications Archive Archives des publications du CNRCThis publication could be one of several versions: author's original, accepted manuscript or the publisher's version. / La version de cette publication peut être l'une des suivantes : la version prépublication de l'auteur, la version acceptée du manuscrit ou la version de l'éditeur. For the publisher's version, please access the DOI link below./ Pour consulter la version de l'éditeur, utilisez le lien DOI ci-dessous.http://dx.doi.org/10.1080/00207540600905646International Journal of Production Research, 46, 4, pp. 967-992, 2007-05-17 Reconfigurable manufacturing systems: the state of the art Bi, Z.; Lang, S.; Shen, W.http://www.nrc-cnrc.gc.ca/irc Re c onfigura ble m a nufa c t uring syst e m s: t he st a t e of t he a rt IMTI-XP-530Bi, Z.; Lang, S.; Shen, W. May 2007A version of this document is published in / Une version de ce document se trouve dans:International Journal of Production Research, 46, (4), pp. 967-992, May 17, 2007, DOI: 10.1080 The material in this document is covered by the provisions of the Copyright Act, by Canadian laws, policies, regulations and international agreements. Such provisions serve to identify the information source and, in specific instances, to prohibit reproduction of materials without written permission. For more information visit http://laws.justice.gc.ca/en/showtdm/cs/C-42Les renseignements dans ce document sont protégés par la Loi sur le droit d'auteur, par les lois, les politiques et les règlements du Canada et des accords internationaux. Ces dispositions permettent d'identifier la source de l'information et, dans certains cas, d'interdire la copie de documents sans permission écrite. Pour obtenir de plus amples renseignements : http://lois.justice.gc.ca/fr/showtdm/cs/C-42 Abstract: In this paper, general requirements of next generation manufacturing systems are discussed, and the strategies to meet these requirements are considered. The production paradigms which apply these strategies are also classified. Particular emphasis is put on the paradigm of Reconfigurable Manufacturing System (RMS). Some key issues of the RMS design are discussed, and a critical review is presented concerning the developments of RMSs. Finally, suggestions of the RMS research are made and future research directions are identified. Reconfigurable Keywords: Reconfigurable Manufacturing Systems (RMS),system architecture, system configuration, Open Architecture Control (OAC), reconfigurability, modularity IntroductionDue to excessive production capability and economic globalization, the manufacturing environment becomes turbulent and uncertain. Manufacturing enterprises are forced to reassess their production paradigms, so that a manufacturing system can be designed and operated efficient...

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Section: Reconfigurable Assembly Systemsmentioning

confidence: 99%

Reconfigurable manufacturing systems: the state of the art

Bi¹,

Lang²,

Shen³

et al. 2008

International Journal of Production Research

344

147

View full text Add to dashboard Cite

show abstract

“…The cameras are freely positioned, and then a set of motions is commanded to each manipulator. By detecting the motion with the cameras, the relative position of the two robots is obtained [5] (Figure 15). Scholz-Reiter et al proposed a methodology to reactively generate process plans for flexible disassembly of obsolete appliances [75].…”

Section: Automatic Assembly Cellsmentioning

confidence: 99%

Autonomous Processes in Assembly Systems

2007

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Today's assembly systems have to be flexible to adapt quickly to an increasing number and variety of products and changing demand volume. To manage these dynamics, flexible, reconfigurable, and autonomous assembly systems were proposed and partly realised in the last two decades. The flexibility and adaptability is realised by clustering the assembly system into subsystems and modules which get a certain degree of autonomy and control themselves in a decentralised way. This keynote paper will present the general principles of autonomy and the proposed concepts, methods and technologies to realise autonomous processes in assembly systems. Different approaches for design and autonomous operation of assembly will be explained and future trends towards fully autonomous components of an assembly system as well as autonomous parts and products will be discussed.

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“…Robot base frame calibration, which determines position and orientation of a robot base relative to a world coordinate system, is a fundamental problem for robotic systems and has been extensively studied [8][9][10][11][12][13][14][15][16][17]. Description of a robot base frame in a world coordinate system can be measured directly with a laser tracker [8].…”

Section: Introductionmentioning

confidence: 99%

“…Due to the nature of high cost-effective and non-contact, vision systems are widely used in various industrial scenarios, such as robotic drilling [7,18], robotic welding [19,20], robotic assembly [21][22][23], burr detection [24], and automated micromanipulation [25]. For a robotic system with a vision system deployed on its end-effector, the robot base frame and the hand-eye relationship are often calibrated simultaneously [11][12][13][14][15][16][17]26]. In [11], the robot base frame and the sensor/ end-effector relationship are estimated by solving a homogeneous transformation system AX=YB; drawbacks of which are estimation errors accumulation and need of complete robot pose measurement.…”

Section: Introductionmentioning

confidence: 99%

“…For a noisy real world, a closed-form solution is not adequate, thus an iterative approach for calibrating base-world and hand-eye relationships is developed in [16]. To achieve higher reconfigurability of an assembly system, an automated system based on Direct Linear Transformation method is constructed to calibrate the quick plug-in and plug-out of robots by using two CCD cameras [17]. With the automated calibration system, the relationship of two robots can be estimated.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Robot base frame calibration with a 2D vision system for mobile robotic drilling

Mei

Zhu

Yuan

et al. 2015

Int J Adv Manuf Technol

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Mobile robotic drilling for flight control surface assembly at multiple stations demands high positioning accuracy of the equipped industrial robot. However, disturbances, arising from movement from station to station, significantly deteriorate the positioning accuracy. This paper proposes a novel in-process robot base frame calibration method with a 2D vision system. A proposal layout of flight control surface assembly, the developed mobile robotic drilling system, and the 2D vision system are first introduced. Then an iterative measurement scheme is proposed to eliminate measurement errors induced by non-perpendicularity and erroneous object distance during 2D vision-based positioning of preset reference holes. In order to obtain the third-dimension Cartesian coordinates of the reference holes, depth control with autofocus is achieved by using a new sharpness function. Based on the acquired Cartesian coordinates of the reference holes in the robot base frame, and their counterparts measured in advance in the world coordinate system, the description of the robot base frame with respect to the world coordinate system can be obtained with least-squares fitting. Numerical experiments show that depth control with autofocus contributes to enhanced accuracy of robot base frame calibration. Experiments performed on the developed mobile drilling system indicate that the maximum positioning error is about 0.6 mm with the proposed calibration method. Since position errors of drilled fastener holes will be further measured and compensated for based on the 2D vision system, the proposed in-process robot base frame calibration method is effective.

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Automated Calibration of Robot Coordinates for Reconfigurable Assembly Systems

Cited by 43 publications

References 8 publications

Reconfigurable manufacturing systems: the state of the art

Reconfigurable manufacturing systems: the state of the art

Autonomous Processes in Assembly Systems

Robot base frame calibration with a 2D vision system for mobile robotic drilling

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