intelligent industrial robotics - hkstp

1

Intelligent Industrial Robotics

Heping Chen

[email protected]

Shenzhen Academy of Robotics

Shenzhen, China

Texas State University

San Marcos, TX78666 1

Robotics Laboratory

2

Outline

Moving Line Assembly

Intelligent Robotic Assembly

Optimal Welding Process

Optimal Robot Path Planning

Summary

3


4


5

Complex Assembly Process

6

Online Optimization Process

7

Process

Coordination

Parameter Evaluation

LCBVR

GPR Modeling

ProductionSuccess?

Candidate

Exploitation?

LCB

Optimization

Random

Acquisition

Add Variance

Production

Op

tim

iza

tio

n

Yes

No

Yes

No

Update

Model?

Yes

No

Initial Parameter Set

Optimal Parameter Set

New Parameter Set

Online Parameter Optimization

8

Arc Welding

9

A

Clamping Jig

B

Workpiece

Welding Torch

Robot Arm

Optimal Welding Technique

10

Welding

Process

Welder or Robotic

Welding system

Welding Quality

Evaluation

Optimal Welding Parameter

Learning Method

Spray Painting

11

Spray Forming

12

Optimal Path Planning

Constraints

Verification

Tool Model

Optimal Tool Path

CAD Model

TMROBCAD

Optimization

Criteria

Optimal

Tool

Path

Planner

13


Patch forming algorithm

Given conditions

Tool trajectory planning for one patch

Optimal tool trajectory planning

Tool trajectory integration

Optimal Tool trajectory Connection

1

2 3 4 5

6

7

14



Given conditions





1

2 3 4 5

6

7

1

15



Given conditions





1

3 4 5

6

7

1

2

16



Given conditions





1

2 3 4 5

6

7

17


1

2 3 4 5

6

7

18


A Multi-objective Constraint Optimization Problem 19

Summary

Industrial robotics

Intelligence

Robotic manufacturing process optimization

Technology Trend

Many opportunities

Challenges

Ease of use

Intelligence

Safety

Field robotics: Oil&gas

20

Thank you

? 21

intelligent industrial robotics - hkstp

Documents