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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
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
Kluwer
external identifiers
  • wos:000181010900003
  • scopus:0036949894
ISSN
0921-0296
DOI
10.1023/A:1022306821640
language
English
LU publication?
yes
id
101160d2-4ce3-4c5e-929b-d0fe9b5154fa (old id 318196)
date added to LUP
2007-08-13 14:54:53
date last changed
2017-08-20 04:34:14
@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},
  keyword      = {virtual sensors,arc welding,autonomous,CAR,sensors,simulation,robotics,industrial robotics,simulated sensors},
  language     = {eng},
  number       = {4},
  pages        = {365--379},
  publisher    = {Kluwer},
  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},
  volume       = {35},
  year         = {2002},
}