Balancing a robotic spot welding manufacturing line: An industrial case study

Lopes, Thiago Cantos; Sikora, Celso Gustavo Stall; Molina, Rafael Gobbi; Schibelbain, Daniel; Rodrigues, Luiz Carlos; Magatão, Leandro

doi:10.1016/j.ejor.2017.06.001

Cited by 56 publications

(14 citation statements)

References 40 publications

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“…With the rapid development of science and technology, industrial robots are widely used in various fields, such as welding (Liu and Zhang 2017;Lopes et al 2017), shipbuilding (Kermorgant 2018) and automotive (Michalos et al 2018). In order to further improve the adaptability and application range of robots to the external environment, more and more people are beginning to study the visual servo of robots (Radcliffe et al 2018;Chethan et al 2018;Mendikute et al 2018;Dong and Zhu 2019).…”

Section: System Designmentioning

confidence: 99%

Automatic drill pipe emission control system based on machine vision

Zhang

Guan

2019

J Petrol Explor Prod Technol

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Drilling is not as modern as other industries and still has great potential for automatic control. Automatic drill pipe emission control system is mostly used for offshore drilling, and the derrick of the land drilling rig cannot be directly compatible with the mature drill pipe emission system of the offshore drilling rig because of its unique structure. Drill pipe emissions from land drilling are usually done by worker-assisted mechanical arm. In this kind of working environment, workers are labor intensive and prone to fatigue and safety cannot be effectively guaranteed. In order to reduce labor intensity and improve drilling efficiency, this paper presents an automatic control system of drill pipe emission based on machine vision. In the control process of the tripping operations, visual servo control is added, and the visual sensor is used to detect the centerline of the drill pipe in real time. After the system finding the deviation between the drill pipe and the mechanical arm, the posture of the arm is adjusted in real time to compensate for the deviation. When the claw mechanism is aligned with the centerline of the drill pipe, the drill pipe manipulator grabs the drill pipe to complete the emission task. In this paper, four methods for extracting the centerline are compared, and the linear regression method is the best. Keywords Machine vision • Mechanical arm • Drill pipe emission • Image processing List of symbols mm A unit of length in the metric system (millimeter) kN Common unit of mechanical calculation (1 kN = 1000 kg × 1 m/s 2) EX The abscissa of the intersection minus the abscissa of the center point of the lens (pixel) FPS Frame per second (Hz)

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Section: System Designmentioning

confidence: 99%

Automatic drill pipe emission control system based on machine vision

Zhang

Guan

2019

J Petrol Explor Prod Technol

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“…In Group 2: Equations (8) and (9) are time constraints for each robot to perform the task, and each robot can wait more than one unit time in place; Equations (10) and (11) are the time connectivity constraint for each robot to perform tasks; Equations (12) and (13) guarantee that each robot can only perform one task per unit time.…”

Section: Variablementioning

confidence: 99%

“…In [11], the collision-free path coordination of two robots is realized by the c-space method. In [12], mixed integer programming and standard solvers are used to solve the problem, and tasks are divided into different groups and subgroups. It is assumed that the motion time of robots between groups is constant, and conflicts can be avoided by prohibiting specific robot groups and task groups.…”

Section: Introductionmentioning

confidence: 99%

Routing of a Multi-Robot System Using a Time-Space Network Model

Meng

Xin

Peng

et al. 2019

2019 Chinese Automation Congress (CAC)

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In this paper, we study the collision-free routing of a multi-robot system to complete given tasks in the shortest time. In a robotic assembly unit, several stations work serially and in parallel. In a station, multiple robots share the same workspace and face the challenge of minimizing the cycle time and avoiding collisions at the same time. For this problem, we propose a new mathematical model that is the so-called timespace network (TSN) model. The TSN model can map the robot location constraints into the routing planning framework, leading a mixed integer programming problem. By solving this mixed integer programming problem, the collision-free path of multiple robots can be obtained. Finally, The simulation results illustrate the proposed TSN model can obtain the collision-free route of the multi-robot system.

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“…In manufacturing systems, a robotic assembly line consists of several stations that are placed serially or in parallel to reach production goals [1]. At each station, multiple robots, often sharing the same workspace, work together to carry out complex operations (e.g., stud, welding or sealing) within a predetermined period [2].…”

Section: Introductionmentioning

confidence: 99%

“…In the station, a robot is referred to as a manipulator. The total number of tasks assigned at a station can be obtained by solving an assembly line balancing problem [1]. To complete the assigned tasks together, the station operation process needs to be optimized.…”

Section: Introductionmentioning

confidence: 99%

A Time-Space Network Model for Collision-Free Routing of Planar Motions in a Multirobot Station

Xin

Meng

Schulte

et al. 2020

IEEE Trans. Ind. Inf.

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This paper investigates a new collision-free routing problem of a multi-robot system. The objective is to minimize the cycle time of operation tasks for each robot while avoiding collisions. The focus is set on the operation of the end effector and its connected joint, and the operation is projected onto a circular area on the plane. We propose to employ a time-space network (TSN) model that maps the robot location constraints into the route planning framework, leading to a mixed integer programming (MIP) problem. A dedicated genetic algorithm is proposed for solving this MIP problem and a new encoding scheme is designed to fit the TSN formulation. Simulation experiments indicate that the proposed model can obtain the collision-free route of the considered multi-robot system. Simulation results also show that the proposed genetic algorithm can provide fast and high-quality solutions, compared to two state-of-the-art commercial solvers and a practical approach.

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Balancing a robotic spot welding manufacturing line: An industrial case study

Cited by 56 publications

References 40 publications

Automatic drill pipe emission control system based on machine vision

Automatic drill pipe emission control system based on machine vision

Routing of a Multi-Robot System Using a Time-Space Network Model

A Time-Space Network Model for Collision-Free Routing of Planar Motions in a Multirobot Station

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