Robust auto tool change for industrial robots using visual servoing
| Autor: | Muñoz-Benavent, Pau, Solanes Galbis, Juan Ernesto, Gracia Calandin, Luis Ignacio, Tornero Montserrat, Josep |
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| Rok vydání: | 2019 |
| Předmět: |
0209 industrial biotechnology
Sliding mode control Computer science Control engineering 02 engineering and technology Visual servoing Tool change INGENIERIA DE SISTEMAS Y AUTOMATICA Computer Science Applications Theoretical Computer Science 020901 industrial engineering & automation Robotic systems Control and Systems Engineering Robustness (computer science) Robot system 0202 electrical engineering electronic engineering information engineering Robot 020201 artificial intelligence & image processing |
| Zdroj: | RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia instname |
| ISSN: | 1464-5319 0020-7721 |
| DOI: | 10.1080/00207721.2018.1562129 |
| Popis: | [EN] This work presents an automated solution for tool changing in industrial robots using visual servoing and sliding mode control. The robustness of the proposed method is due to the control law of the visual servoing, which uses the information acquired by a vision system to close a feedback control loop. Furthermore, sliding mode control is simultaneously used in a prioritised level to satisfy the constraints typically present in a robot system: joint range limits, maximum joint speeds and allowed workspace. Thus, the global control accurately places the tool in the warehouse, but satisfying the robot constraints. The feasibility and effectiveness of the proposed approach is substantiated by simulation results for a complex 3D case study. Moreover, real experimentation with a 6R industrial manipulator is also presented to demonstrate the applicability of the method for tool changing. This work was supported in part by the Ministerio de Economia, Industria y Competitividad, Gobierno de Espana under Grant BES-2010-038486 and Project DPI2017-87656-C2-1-R. |
| Databáze: | OpenAIRE |
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