Intelligent Robotics in Manufacturing Applications: Technologies and Case applications

Transcription

1 Intelligent Robotics in Manufacturing Applications: Technologies and Case applications Mikko Sallinen WAMS2010, Ylivieska

2 21/10/ Content Current trends in Manufacturing Technologies supporting the trends Case projects Future vision

3 21/10/ Networked Intelligence Vision Wireless sensor and control networks enables measurement and control with required frequency using minumum energy in professional applications Solutions Mobile wiress sensors Power management Wireless sensor and control networks Networked control platforms System interoperability Application domains Industry: manufacturing, condition monitoring, service Heavy workmachines and vehicles Rescue, Security and environment Professional atletics Contact Mikko.sallinen@vtt.fi

4 21/10/ Motivation: Current trends in Manufacturing Challenges for production: Number of product variants & parts is very hight Lot sizes are very short, even prototype deliveries Time to delivery very short Labour costs are getting higher Flexibility comes (too) often by manual work => Automation technologies enable cost efficiency, if it just were applicable to very flexible production

5 21/10/ Current trends in Manufacturing (2) Two approaches: Human in the loop Requirement: Flexible manufacturing Full automation

6 21/10/2010 6

7 21/10/ High level research Challenges in Manufacturing 1. Sustainable manufacturing a) Environmental frendliness b) Economic growth c) Social well beeing 2. ICT-Enabled intelligent manufacturing a) Smart factories b) Virtual factories c) Digital factories 3. High-performance manufacturing a) Flexible adaptive production equipment b) High precision micro-manufacturing machines and systems c) Open reconfigurable manufacturing systems d) Zero-defect manufacturing 4. New materials in manufacturing a) New functionalities (e.g. roll-to-roll printing) b) Reuse of materials

8 21/10/ Technology enablers for flexible automation CAD/CAM systems, digital product data Product data management systems Robots, tools, sensors, peripherals Programming tools and systems for automation Digital automation systems User interface technologies

9 21/10/ Are all the technological challenges solved? Definately not but we have made many good examples See next pages

10 21/10/ Flexibly Assembly Systems through Workpace-Sharing and Time-Sharing Human- Machine Cooperation, FP6 NMP Target Physical interaction in the assembly process of body parts enabled by force control assisted by vision sensors Cobot made from heavy industrial robot A testbed for human centric heavy assembly applications

11 21/10/ LUOVI Natural Interaction Goal: Develop measuring and programming tools for flexible production Industrial pilots: Localization Stereo vision system Task planning for contact motions Based on force control Flexible path planning Automatic path finding Joint project with VTT - CENTRIA

12 21/10/ Deburring - Sensor based flexible polishing Target Polish of fine metal surfaces Easy adaptation to geometrical changes of the piece Industrial robot is able to carry out the task Solution 3D laser scanning On-line segmentation based path generation Task planning segment 1 x z y p1 p0 p2 segment

13 21/10/ R3-COP Robust & Safe Mobile Co-operative Autonomous Systems Goal: Tools to develop autonomous, cognitive and co-operative robot systems Design methodology and frame over the several application domain European scale: Project under Artemis programme with nearly 30 partners, 4 from Finland Expected real impact on European level

14 21/10/ Flexible Calibration of Base Stations for Real Time Location Systems Target An accurate localization using RFbased system Based on angle-of-array measurements Two stage calibration: 1) internal (based on reference maps) 2) external based on pose estimation Flexible 6 DOF pose estimation Implementation UbiSense RTLS Base stations Accuracy [pos:10mm, rot 0.14deg], 1st std dev y w Sensors Sensors z w x P (X i, Y i ) y Camera w model geometry Measured points Measured points c z c f x c 5 m 5 m (0,0) 11 m (0,0) 11 m

15 21/10/ Location aware Multi hop WSN and RTLS Goal Develop a protocol for multi-hop WSN Light but easy to modify High syncronization rate Implementation Test 4 sensor nodes: 8 bit AVR-based microcontroller (Atmega1281) with nanonet and khz oscillator Fixed network topology, 3 hops Timing drift stays after three hops in the level of +/- 85 microsec Error [m] 1,4 1,2 1 0,8 0,6 0,4 Distance errors to each anchor node with different distances , Anchor node no

16 Video: human-robot co-operation 21/10/

17 21/10/ Future vision Manufacturing in Finland will focus on pilot series and highend products Robots will be used for manufacturing of large products not just as a part of the manufacturing line Movability will be major trend Advanced sensing capabilites enables robot to be flexible and adjustable manifacturing partner = industrial service robot

18 21/10/ CONTACT INFORMATION Mikko Sallinen

19 21/10/ VTT creates business from technology