Mobile Diagnostic Robot: a new frontier for a flexible test platform. Dr. Cristina Cristalli Research for Innovation Loccioni Group

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1 Mobile Diagnostic Robot: a new frontier for a flexible test platform Dr. Cristina Cristalli Research for Innovation Loccioni Group

2 Outline Robot Classification Manufacturing Environment: Production Line Life & Statistical Test Laboratories Mobile Diagnostic Robot Simulation Environment Software Architecture Move, Sense and Control Characteristics Conclusion

3 ROBOT CLASSIFICATION

4 Manufacturing Environment KEY WORDS FLEXIBILITY ADAPTABILITY ZERO DEFECTS

5 Manufacturing Environment COMPONENT ASSEMBLY COMPONENT ASSEMBLY FINAL ASSEMBLY SHORT QUALITY CONTROL TESTS 100% OF PRODUCTION STATISTICAL QUALITY CONTROL TESTS 1% OF PRODUCTION LIFE TEST LABORATORY CERTIFICATION TEST PACKAGING

6 Life & Statistical Test Labs Outside the production line Low level of automation (human operators) 0,1% of the production Simulation of the whole working life of the products (~ days) Products remain in their positions Only few quantities are under control: time, energy, water

7 Mobile Diagnostic Robot Mo.Di.Bot is a mobile and flexible quality control station

8 Motivations System flexibility respect to environment, products and tasks Reduction of costs by complex measuring instruments sharing Measurement and diagnosis operations automated Improvement of tests in terms of repeatability and reproducibility Help human operators to avoid repetitive and wearing tasks

9 Requirements Autonomous navigation in simply structured environment Transport and positioning of measurement instruments Products detection and physical interaction/manipulation Safety for humans operators and products under test On-board diagnosis and quality control capabilities Integration with existing laboratories equipments

10 Solution: Mo.Di.Bot Schunk dextrous Hand SDH with 3 fingers for a total of 7 DOF with tactile sensors MINI45 6-Axis force/torque transducer by ATI Industrial Automation Schunk Lightweight Arm LWA 3 with 7 DOF Kinect Microsoft SICK S3000 collision avoidance and safety laser system Mobile platform

11 Ni Robotic Simulation Environment

12 Block Diagram

13 Software Architecture Measurement mission Application layer Move Acquire Detect Manipulate Middleware Mobile robot system Arm control Platform control Manipulator Sensors Platform

14 Detect: 3D Sensors Camera Angle of View ( ) Minimum Horizontal Vertical Range (m) Kinect (Microsoft) CamBoard (PMD) STOC-6cm (Videre) Suitable for 63,27 51,48 1 Collision free navigation 73,16 70,16 0,18 Collision free manipulation Detect distance of elements to manipulate 87,5 71,5 0,4 Detect distance of elements to manipulate

15 Kinect Get RGB Image Get Depth Image Get Tilt Angle Get Accelerometer Data Set Tilt Angle Set Led Status

16 SENSE: 2D Machine Vision 2D Camera for the visual check of the product under test LEDs and display status detection

17 SENSE: Vibration and Noise Microphones to analyze the noise emitted by the product under test Laser Vibrometer (Polytec IVS 300) for low-frequence vibration measurement, in order to detect mechanical defects of the product under test

18 CONTROL: Tactile sensors Customized 3DOF Robotic Arm + Tactile Sensor simple operations like pushing buttons

19 Manipulation and Product Interactions 7DOF Robotic Arm + 7DOF Robotic Hand + F/T Sensor + Tactile Sensors complex operations pushing buttons turning knobs opening and closing door

20 Mo.Di.Bot VIDEO

21 InterAID: Interactive Robot manupulators for Advanced Industrial Diagnostics Project funded by the European Community under the FP VII ECHORD Programme Contract Number FP7 ICT Echord Project Start date: 1 October 2010 Duration: 15 months Project Partners

22 Conclusions and Future works Experiments show the feasibility and the effectiveness of the solution The solution can be applied to other industrial environments characterized by the need to replicate sensors and actuators The developed architecture allows to easily improve and add functionalities to the system

23 THANKS FOR YOUR ATTENTION Ing. Cristina Cristalli Research for Innovation Manager Loccioni Group AEA srl Angeli di Rosora Ancona ITALY research.loccioni.com