As robots are becoming more and more widespread in manufacturing, the desire and need for more advanced robotic solutions are increasingly expressed. This is especially the case in Denmark where products with natural variances like agricultural products takes up a large share of the produced goods. For such production lines, it is often not possible to use primitive preprogrammed industrial robots to handle the otherwise repetitive tasks due to the uniqueness of each product. To handle such products it is necessary to use sensors to determine the size, shape, and position of the product before a proper trajectory can be calculated in real-time for the robot to execute. This introduces a multitude of different challenges, some of which this project seeks to find the answer to. The production environment of agricultural products is not very well suited for advanced machinery. Handling crops often releases a lot of dust, livestock releases bodily fluids, and all naturally grown products plays host to different kinds of bacterial flora. To ensure food safety it is thus necessary to clean the production facilities daily. This is often done with high-pressure water which can easily cause small changes in the position or orientation of sensors and robots if hit, which in turn corrupts their internal relative calibration. And if the entire robot motion is based on a miscalibrated sensor measurement, the end result could easily be suboptimal or destroyed products, or even destroyed machinery. To avoid such outcomes and thus make sensor based control more reliable, an accurate calibration method has been developed as part of this project. After initial placement of a calibration target mounted on the robot end effector under a laser range scanner, the method can autonomously control the robot to determine the transformation between the laser scanner and the robot. And once the robot has a rough idea of the position of the scanner, the method can be used complete autonomously to correct for small misalignment after the ...
Sensor based real-time control of robots
2015-01-01
Andersen , T T 2015 , Sensor based real-time control of robots . Technical University of Denmark, Department of Electrical Engineering .
Buch
Elektronische Ressource
Englisch
DDC: | 629 |