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Proceedings Paper

Performance characterization of precision micro robot using a machine vision system over the Internet for guaranteed positioning accuracy
Author(s): Yongjin Kwon; Richard Chiou; Shreepud Rauniar; Horacio Sosa
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Paper Abstract

There is a missing link between a virtual development environment (e.g., a CAD/CAM driven offline robotic programming) and production requirements of the actual robotic workcell. Simulated robot path planning and generation of pick-and-place coordinate points will not exactly coincide with the robot performance due to lack of consideration in variations in individual robot repeatability and thermal expansion of robot linkages. This is especially important when robots are controlled and programmed remotely (e.g., through Internet or Ethernet) since remote users have no physical contact with robotic systems. Using the current technology in Internet-based manufacturing that is limited to a web camera for live image transfer has been a significant challenge for the robot task performance. Consequently, the calibration and accuracy quantification of robot critical to precision assembly have to be performed on-site and the verification of robot positioning accuracy cannot be ascertained remotely. In worst case, the remote users have to assume the robot performance envelope provided by the manufacturers, which may causes a potentially serious hazard for system crash and damage to the parts and robot arms. Currently, there is no reliable methodology for remotely calibrating the robot performance. The objective of this research is, therefore, to advance the current state-of-the-art in Internet-based control and monitoring technology, with a specific aim in the accuracy calibration of micro precision robotic system for the development of a novel methodology utilizing Ethernet-based smart image sensors and other advanced precision sensory control network.

Paper Details

Date Published: 16 November 2005
PDF: 9 pages
Proc. SPIE 5999, Intelligent Systems in Design and Manufacturing VI, 599906 (16 November 2005); doi: 10.1117/12.629910
Show Author Affiliations
Yongjin Kwon, Drexel Univ. (United States)
Richard Chiou, Drexel Univ. (United States)
Shreepud Rauniar, Drexel Univ. (United States)
Horacio Sosa, Drexel Univ. (United States)

Published in SPIE Proceedings Vol. 5999:
Intelligent Systems in Design and Manufacturing VI
Bhaskaran Gopalakrishnan, Editor(s)

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