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AI functionalities in cobot-based manufacturing for performance improvement in quality control application

Moor Madis, Sarkans Martins, Kangru Tavo, Otto Tauno, Riives Juri

Journal of Machine Engineering

2024

Vol. 24, No. 2

44-55

Modern manufacturing faces vastly changing challenges. The current economic situation and technological developments in terms of Industry 4.0 (I4.0) and Industry 5.0 (I5.0) force enterprises to integrate new technologies for more efficient and higher-quality products. Artificial intelligence (AI) and Machine Learning (ML) are the technologies that make machines capable of making human-like decisions. In the long run, AI and ML can add a layer (functionality) to make IoT devices more interactive and user-friendly. These technologies are driven by data and ML uses different types of data for making decisions. Our research focuses on testing a cobot-based quality control (CBQC) system that uses smart fixture and machine vision (MV) to determine the cables inside products with similar designs, but different functionality. The products are IoT modules for small electric vehicles used for interface, connectivity, and GPS monitoring. Previous research describes the methodology of reconfiguration of existing cobot cells for quality control purposes. In this paper, we discuss the testing of the CBQC system, together with creating a pattern database, training the ML model, and adding a predictive model to avoid defects in product cable sequence. Preliminary testing is carried out in the laboratory environment which leads to production testing in SME manufacturing. Results, developments, and future work will be presented at the end of the paper.

Issledovanie vliania effekta vrasenia detali nabezotkaznost processa robotizirovannoj sborki

Vartanov M. V., Zinina I. N., Čung Ta

Technologia i Automatyzacja Montażu

2018

nr 4

58--62

The main stage of automatic assembly is the process of parts mating. At this stage, there are problems associated with the probability of jamming the parts. To solve this problem, adaptive assembly heads are usually used. However, known dynamic models and control algorithms based on them relate to plane-parallel motion. In this case, considerable frictional forces arise that preventing coupling. The article deals with the assembly method using the rotational motion effect of the installed part. The presence of rotation makes it possible to significantly reduce the part of the friction force, which prevents the movement of the part. In this case, the task becomes spatial. A dynamic model of the coupling process with the use of the industrial robot ABB IRB140, equipped with an adaptive head, which has the ability to rotate about its own axis, is constructed. The rotation is realized by the kinematics of the output link of the robot. The mathematical model of the coupling process is considered in the form of Lagrange equations of the second kind. Two cases are considered: with the installation without contact with the chamfer and with the slip on the chamfer. The resulting systems of differential equations allow us to investigate the process of a robotic assembly using the effect of rotation of the gripper. On the basis of mathematical models, both direct and inverse tasks of dynamics can be solved. The created mathematical model will be used to determine the conditions of the robotic assembly using the adaptation and the rotation effect of the part.