An effective programming by demonstration method for SMEs’ industrial robots

• Autorzy: Eissa Aly M. , Atia Mostafa R. , Roman Magdy R.

Identyfikatory

DOI

10.36897/jme/130944

• Języki publikacji: EN

Abstrakty

EN

Traditional programming methods often require expertise and significant time investment, which does not conform with Small and Medium size Enterprises (SMEs) nature in which High-Mix, Low-Volume (HMLV) orders are usually encountered. In this research, a Programming by Demonstration (PbD) method which aims to reduce the programming time and complexity while keeping a suitable level of execution accuracy is proposed. For this purpose, a special teaching tool is designed and manufactured. The tool has 5-spherical passive markers to indicate the position and orientation along the desired 3D path. An optical tracking system using stereo camera is used to capture the 3D pose of the teaching tool. The capturing algorithm is based on Circle Hough Transform (CHT) and Singular Value Decomposition (SVD). The developed tool and programming method have been tested experimentally. The results show successful capturing of the desired path points with a competitive level of accuracy compared with other methods.

Słowa kluczowe

EN

small and medium-sized enterprises; programming by demonstration; circle Hough transform; machine vision

• Wydawca: Wydawnictwo Wrocławskiej Rady FSNT NOT
• Czasopismo: Journal of Machine Engineering
• Rocznik: 2020
• Tom: Vol. 20, No. 4
• Strony: 86--98
• Opis fizyczny: Bibliogr. 30 poz., rys.

Twórcy

autor

Eissa Aly M.

• Mechanical Engineering Department, College of Engineering and Technology-Cairo Campus, Arab Academy for Science, Technology and Maritime Transport (AASTMT), Heliopolis, Cairo, Egypt

autor

Atia Mostafa R.

• Mechanical Engineering Department, College of Engineering and Technology-Cairo Campus, Arab Academy for Science, Technology and Maritime Transport (AASTMT), Heliopolis, Cairo, Egypt

autor

Roman Magdy R.

• Mechanical Power Engineering Department, Faculty of Engineering, El Materia Helwan University, Cairo, Egypt

Bibliografia

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Uwagi

Opracowanie rekordu ze środków MNiSW, umowa Nr 461252 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2021).