Visual servoing based dynamic groove following with an industrial robot

Gorka Sarabia, Alberto Izaguirre, Xabier Elkorobarrutia, Virginia Ruiz, Fares J. Abu-Dakka, Imanol Andonegui

Abstract: The evolving landscape of industrial automation demands adaptive solutions to cope with dynamic manufacturing processes. This paper presents a novel methodology for laser-based dynamic groove following by an industrial robot, aimed at addressing the challenges posed by modern manufacturing environments. Unlike conventional offline trajectory programming, our approach employs real-time trajectory generation, facilitated by a specially designed tool integrating a mastic extruder and a laser line sensor. Control points defining the groove’s geometry are accurately determined using laser sensor readings, while smooth trajectories are generated through Catmull-Rom spline (CR) interpolation for Cartesian motion and Squad interpolation for angular motion. The trajectory is communicated to the robot using Robot Sensor Interface (RSI) software, ensuring precise execution. Experimental validation demonstrates the efficacy and adaptability of our methodology in a simulated industrial environment, highlighting its potential for enhancing manufacturing flexibility and quality.

External IDs:dblp:conf/case/SarabiaIERAA24