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Virtual triangulation sensor development, behavior simulation and CAR integration applied to robotic arc-welding

Cederberg, Per LU ; Olsson, Magnus LU and Bolmsjö, Gunnar LU (2002) In Journal of Intelligent & Robotic Systems 35(4). p.365-379
Abstract
Background: An increasing number of industrial robots are being programmed using CAR (Computer Aided Robotics). Sensor guidance offers a means of coping with frequent product changes in manufacturing systems. However, sensors increase the uncertainty and to preserve system robustness, a tool is needed that makes it possible to understand a sensor guided robot system before and during its actual operation in real life. Scope: A virtual sensor is developed and integrated in a CAR hosted environment. The real sensor is of a type commonly used in the arc-welding industry and uses a triangulation method for depth measurements. The sensor is validated both statically and dynamically by matching it with a real sensor through measurements in... (More)
Background: An increasing number of industrial robots are being programmed using CAR (Computer Aided Robotics). Sensor guidance offers a means of coping with frequent product changes in manufacturing systems. However, sensors increase the uncertainty and to preserve system robustness, a tool is needed that makes it possible to understand a sensor guided robot system before and during its actual operation in real life. Scope: A virtual sensor is developed and integrated in a CAR hosted environment. The real sensor is of a type commonly used in the arc-welding industry and uses a triangulation method for depth measurements. The sensor is validated both statically and dynamically by matching it with a real sensor through measurements in setups and by comparing a welding application performed in a real and a virtual work-cell created with a CAR application. The experimental results successfully validates its performance. In this context, a virtual sensor is a software model of a physical sensor with similar characteristics, using geometrical and/or process specific data from a computerized model of a real work-cell. (Less)
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author
; and
organization
publishing date
type
Contribution to journal
publication status
published
subject
keywords
virtual sensors, arc welding, autonomous, CAR, sensors, simulation, robotics, industrial robotics, simulated sensors
in
Journal of Intelligent & Robotic Systems
volume
35
issue
4
pages
365 - 379
publisher
Springer
external identifiers
  • wos:000181010900003
  • scopus:0036949894
ISSN
0921-0296
DOI
10.1023/A:1022306821640
language
English
LU publication?
yes
additional info
The information about affiliations in this record was updated in December 2015. The record was previously connected to the following departments: Robotics (ceased) (LUR000026), Departments at LTH (011200000)
id
101160d2-4ce3-4c5e-929b-d0fe9b5154fa (old id 318196)
date added to LUP
2016-04-01 17:10:34
date last changed
2022-03-15 05:37:36
@article{101160d2-4ce3-4c5e-929b-d0fe9b5154fa,
  abstract     = {{Background: An increasing number of industrial robots are being programmed using CAR (Computer Aided Robotics). Sensor guidance offers a means of coping with frequent product changes in manufacturing systems. However, sensors increase the uncertainty and to preserve system robustness, a tool is needed that makes it possible to understand a sensor guided robot system before and during its actual operation in real life. Scope: A virtual sensor is developed and integrated in a CAR hosted environment. The real sensor is of a type commonly used in the arc-welding industry and uses a triangulation method for depth measurements. The sensor is validated both statically and dynamically by matching it with a real sensor through measurements in setups and by comparing a welding application performed in a real and a virtual work-cell created with a CAR application. The experimental results successfully validates its performance. In this context, a virtual sensor is a software model of a physical sensor with similar characteristics, using geometrical and/or process specific data from a computerized model of a real work-cell.}},
  author       = {{Cederberg, Per and Olsson, Magnus and Bolmsjö, Gunnar}},
  issn         = {{0921-0296}},
  keywords     = {{virtual sensors; arc welding; autonomous; CAR; sensors; simulation; robotics; industrial robotics; simulated sensors}},
  language     = {{eng}},
  number       = {{4}},
  pages        = {{365--379}},
  publisher    = {{Springer}},
  series       = {{Journal of Intelligent & Robotic Systems}},
  title        = {{Virtual triangulation sensor development, behavior simulation and CAR integration applied to robotic arc-welding}},
  url          = {{http://dx.doi.org/10.1023/A:1022306821640}},
  doi          = {{10.1023/A:1022306821640}},
  volume       = {{35}},
  year         = {{2002}},
}