Скачать или смотреть Fully Automated Beads Art Assembly based on Dynamic Compensation Approach

Towards the goal of realizing next-generation manufacturing, we demonstrate the implementation of made-to-order bead art as a simplified scenario of smart manufacturing. Specifically, by configuring a 3DoF position compensation module which is controlled with 1,000Hz visual feedback at the end-effector of an industrial robot arm, the proposed system accurately picks up moving beads on a rotating stage that resembles a belt conveyor and creates bead art according to the design of online orders. The robot achieves good positioning accuracy even under great uncertainties of the moving targets thanks to the dynamic compensation framework, where the high-bandwidth dynamics as well as low-bandwidth dynamics of targets can be accommodated by the compensation module working in a local manner with high-speed visual feedback control and by the robot arm working in a global manner coarsely, respectively. Therefore, we are able to achieve accurate and smart robotic assembly in an unstructured work environment without human intervention.

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