intelligent industrial robotics - hkstp
TRANSCRIPT
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Intelligent Industrial Robotics
Heping Chen
Shenzhen Academy of Robotics
Shenzhen, China
Texas State University
San Marcos, TX78666 1
Robotics Laboratory
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Outline
Moving Line Assembly
Intelligent Robotic Assembly
Optimal Welding Process
Optimal Robot Path Planning
Summary
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Moving Line Assembly
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Moving Line Assembly
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Complex Assembly Process
6
Online Optimization Process
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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
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Arc Welding
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A
Clamping Jig
B
Workpiece
Welding Torch
Robot Arm
Optimal Welding Technique
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Welding
Process
Welder or Robotic
Welding system
Welding Quality
Evaluation
Optimal Welding Parameter
Learning Method
Spray Painting
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Spray Forming
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Optimal Path Planning
Constraints
Verification
Tool Model
Optimal Tool Path
CAD Model
TMROBCAD
Optimization
Criteria
Optimal
Tool
Path
Planner
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Optimal Path Planning
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
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Optimal Path Planning
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
1
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Optimal Path Planning
Patch forming algorithm
Given conditions
Tool trajectory planning for one patch
Optimal tool trajectory planning
Tool trajectory integration
Optimal Tool trajectory Connection
1
3 4 5
6
7
1
2
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Optimal Path Planning
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
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Optimal Path Planning
1
2 3 4 5
6
7
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Optimal Path Planning
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
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Thank you
? 21