Remote monitoring and controlling for robotic path following operations
2012 (English)In: Proceedings of the SPS12 conference 2012, The Swedish Production Academy , 2012, 27-33 p.Conference paper (Refereed)
Controlling a robot's movement requires a prior knowledge about the needed path and configurations to accomplish the movement. The lack of this knowledge causes limitations in the robot's adaptability in dynamic environments. The objectives of this paper are: (1) to improve the ability of the robot to follow any arbitrary path defined by an operator, and (2) to provide the ability for an authorized distant operator to access the system for monitoring and controlling both the robot and the stages of the process. The system developed in this research consists of a calibrated network camera, an industrial robot and an application server. The process starts by having a sketch drown by an operator representing the paths that the robot needs to follow, then the operator can remotely take a snapshot of the paths and retrieve the contours that represent the paths; after that the system sends them to the robot controller to perform the task of path following. The results have shown that the system can perform the required task within a relatively short time and with a reasonable level of quality. This research proves that it is possible to build an adaptive robotic system that can follow efficiently any arbitrary path without the need for defining it in advance.
Place, publisher, year, edition, pages
The Swedish Production Academy , 2012. 27-33 p.
Robotic Sketching, Adaptive Manufacturing, Path Following
Research subject Technology
IdentifiersURN: urn:nbn:se:his:diva-7167ISBN: 978-91-7519-752-4OAI: oai:DiVA.org:his-7167DiVA: diva2:604075
The 5th International Swedish Production Symposium 6th – 8th of November 2012 Linköping, Sweden