Robotics in Smart Manufacturing: International Workshop, WRSM 2013, Co-located with FAIM 2013, Porto, Portugal, June 26-28, 2013. Proceedings PDF
Preview Robotics in Smart Manufacturing: International Workshop, WRSM 2013, Co-located with FAIM 2013, Porto, Portugal, June 26-28, 2013. Proceedings
Pedro Neto António Paulo Moreira (Eds.) Communications in Computer and Information Science 371 Robotics in Smart Manufacturing International Workshop, WRSM 2013 Co-located with FAIM 2013 Porto, Portugal, June 2013 Proceedings 123 Communications in Computer and Information Science 371 EditorialBoard SimoneDinizJunqueiraBarbosa PontificalCatholicUniversityofRiodeJaneiro(PUC-Rio), RiodeJaneiro,Brazil PhoebeChen LaTrobeUniversity,Melbourne,Australia AlfredoCuzzocrea ICAR-CNRandUniversityofCalabria,Italy XiaoyongDu RenminUniversityofChina,Beijing,China JoaquimFilipe PolytechnicInstituteofSetúbal,Portugal OrhunKara TÜBI˙TAKBI˙LGEMandMiddleEastTechnicalUniversity,Turkey IgorKotenko St.PetersburgInstituteforInformaticsandAutomation oftheRussianAcademyofSciences,Russia KrishnaM.Sivalingam IndianInstituteofTechnologyMadras,India DominikS´le˛zak UniversityofWarsawandInfobright,Poland TakashiWashio OsakaUniversity,Japan XiaokangYang ShanghaiJiaoTongUniversity,China Pedro Neto António Paulo Moreira (Eds.) Robotics in Smart Manufacturing International Workshop, WRSM 2013 Co-located with FAIM 2013 Porto, Portugal, June 26-28, 2013 Proceedings 1 3 VolumeEditors PedroNeto UniversityofCoimbra DepartmentofMechanicalEngineering Coimbra,Portugal E-mail:[email protected] AntónioPauloMoreira UniversityofPorto FacultyofEngineering Porto,Portugal E-mail:[email protected] ISSN1865-0929 e-ISSN1865-0937 ISBN978-3-642-39222-1 e-ISBN978-3-642-39223-8 DOI10.1007/978-3-642-39223-8 SpringerHeidelbergDordrechtLondonNewYork LibraryofCongressControlNumber:2013941241 CRSubjectClassification(1998):J.7,J.2,I.1.9-10,C.3,F.2,I.5,H.4 ©Springer-VerlagBerlinHeidelberg2013 Thisworkissubjecttocopyright.AllrightsarereservedbythePublisher,whetherthewholeorpartof thematerialisconcerned,specificallytherightsoftranslation,reprinting,reuseofillustrations,recitation, broadcasting,reproductiononmicrofilmsorinanyotherphysicalway,andtransmissionorinformation storageandretrieval,electronicadaptation,computersoftware,orbysimilarordissimilarmethodology nowknownorhereafterdeveloped.Exemptedfromthislegalreservationarebriefexcerptsinconnection withreviewsorscholarlyanalysisormaterialsuppliedspecificallyforthepurposeofbeingenteredand executedonacomputersystem,forexclusiveusebythepurchaserofthework.Duplicationofthispublication orpartsthereofispermittedonlyundertheprovisionsoftheCopyrightLawofthePublisher’slocation, inistcurrentversion,andpermissionforusemustalwaysbeobtainedfromSpringer.Permissionsforuse maybeobtainedthroughRightsLinkattheCopyrightClearanceCenter.Violationsareliabletoprosecution undertherespectiveCopyrightLaw. Theuseofgeneraldescriptivenames,registerednames,trademarks,servicemarks,etc.inthispublication doesnotimply,evenintheabsenceofaspecificstatement,thatsuchnamesareexemptfromtherelevant protectivelawsandregulationsandthereforefreeforgeneraluse. Whiletheadviceandinformationinthisbookarebelievedtobetrueandaccurateatthedateofpublication, neithertheauthorsnortheeditorsnorthepublishercanacceptanylegalresponsibilityforanyerrorsor omissionsthatmaybemade.Thepublishermakesnowarranty,expressorimplied,withrespecttothe materialcontainedherein. Typesetting:Camera-readybyauthor,dataconversionbyScientificPublishingServices,Chennai,India Printedonacid-freepaper SpringerispartofSpringerScience+BusinessMedia(www.springer.com) Preface This volume contains the papers selected to be presented at the Workshop on RoboticsinSmartManufacturingheldduringJune26–28,2013,inPorto,Portu- gal. It was organizedunder the umbrella of the 23rd edition of the International Conference on Flexible Automation and Intelligent Manufacturing, FAIM 2013. This first Workshop on Robotics in Smart Manufacturing brought together people from various sectors (academia, government, and industry), all with a commoninterestinroboticsandmanufacturing.Academicians,researchers,stu- dents, and industry professionals had the opportunity to discuss and exchange ideas, enlarge networks, and present recent progress and achievements in the emerging areas of application of robots in manufacturing. The workshop included presentations on the following topics: robotic ma- chining, off-line robot programming, robot calibration, new robotic hardware and software architectures, advanced robot teaching methods, intelligent ware- houses, robot co-workers,and application of robots in the textile industry. Finally,wewouldliketothanktoallthemembersoftheScientificCommittee, reviewers, authors, attendees, FAIM organizationstaff, and sponsors. April 2013 Pedro Neto A. Paulo Moreira Organization General Chairs Pedro Neto University of Coimbra, Portugal Ant´onio Paulo Moreira University of Porto, Portugal FAIM 2013 General Chair Am´erico Azevedo University of Porto, Portugal FAIM 2013 Organization Ant´onio Almeida University of Porto, Portugal Scientific Committee Alberto Vergnano University of Modena and Reggio Emilia, Italy Andr´e G. Conceic¸˜ao Federal University of Bahia, Brazil Angel Valera Technical University of Valencia, Spain Ant´onio Paulo Moreira University of Porto, Portugal Biao Zhang USCorporateResearchCenterABBINC,USA Fernando Ribeiro University of Minho, Portugal Glauco Caurin University of Sa˜o Paulo, Brazil Gunnar Bolmsj¨o University College West, Sweden Leonardo Hono´rio Federal University of Juiz de Fora, Brazil Marcelo Becker University of S˜ao Paulo, Brazil Mohammad R. Shoaei Chalmers University of Technology, Sweden Nuno Lau University of Aveiro, Portugal Pedro Fonseca University of Aveiro, Portugal Pedro Neto University of Coimbra, Portugal Saeid Motavalli California State University, USA Sebastian Horbach Chemnitz University of Technology, Germany Reviewers Alberto Vergnano University of Modena and Reggio Emilia, Italy Andr´e G. Conceic¸˜ao Federal University of Bahia, Brazil Andry Pinto University of Porto, Portugal Angel Valera Technical University of Valencia, Spain Ant´onio Paulo Moreira University of Porto, Portugal Biao Zhang USCorporateResearchCenterABBINC,USA VIII Organization D´ario Pereira University of Coimbra, Portugal Diogo Neto University of Coimbra, Portugal Eduarda Silva University of Minho, Portugal Eduardo Simas Federal University of Bahia, Brazil Fernando Ribeiro University of Minho, Portugal Germano Lambert-Torres Itaijuba Federal University, Brazil Glauco Caurin University of Sa˜o Paulo, Brazil Guilherme Pereira Federal University of Minas Gerais, Brazil Gunnar Bolmsj¨o University College West, Sweden Hendrik Hopf Chemnitz University of Technology, Germany Hugo Costelha Polytechnic Institute of Leiria, Portugal Jorge Ribeiro University of Porto, Portugal Jos´e Lima Polytechnic Institute of Bragan¸ca, Portugal Leonardo Hono´rio Federal University of Juiz de Fora, Brazil Lingle Wang Schrodinger, USA Marcelo Becker University of S˜ao Paulo, Brazil Marcelo Petry University of Porto, Portugal Mohammad R. Shoaei Chalmers University of Technology, Sweden M´onica Faria University of Aveiro, Portugal Nuno Lau University of Aveiro, Portugal Nuno Mendes University of Coimbra, Portugal Pedro Costa University of Porto, Portugal Pedro Fonseca University of Aveiro, Portugal Pedro Neto University of Coimbra, Portugal Ru´ben Oliveira University of Coimbra, Portugal Saeid Motavalli California State University, USA Sebastian Horbach Chemnitz University of Technology, Germany Yuqing Deng Schrodinger, USA Sponsors Faculty of Engineering of the University of Porto INESCTEC Porto Portuguese Robotics Society ROBOPLAN – Robotics Experts University of Coimbra University of Coimbra’s Mechanical Engineering Research Center, CEMUC(cid:2)R Table of Contents An Offline Programming Method for the Robotic Deburring of Aerospace Components ........................................... 1 Francesco Leali, Marcello Pellicciari, Fabio Pini, Giovanni Berselli, and Alberto Vergnano Experimental Investigation of Sources of Error in Robot Machining .... 14 Ulrich Schneider, Matteo Ansaloni, Manuel Drust, Francesco Leali, and Alexander Verl Machining with Industrial Robots: The COMET Project Approach..... 27 Christian Lehmann, Marcello Pellicciari, Manuel Drust, and Jan Willem Gunnink A Calibration Method for the Integrated Design of Finishing Robotic Workcells in the Aerospace Industry................................ 37 Francesco Leali, Marcello Pellicciari, Fabio Pini, Alberto Vergnano, and Giovanni Berselli Pneumatic Driven Device for Integration into Robotic Finishing Applications..................................................... 49 Paulo Abreu and Manuel Rodrigues Quintas An Agile Manufacturing System for Large Workspace Applications ..... 57 Hai Yang, C´edric Baradat, S´ebastien Krut, and Fran¸cois Pierrot Analysis and Optimal Design of a Spherical Parallel Manipulator with Three Rotational Degrees of Freedom............................... 71 Bing Li, Shucan Chen, and Dan Zhang Stereoscopic Vision System for Human Gesture Tracking and Robot Programming by Demonstration ................................... 82 Marcos Ferreira, Lu´ıs Rocha, Paulo Costa, and A. Paulo Moreira Development of a Flexible Robotic Cell for Laser Cutting of 3D Foam and Preformed Fabric ............................................ 91 F´elix Vidal, Rodrigo Gonz´alez, Marcos Font´an, Paula Rico, and Diego Pin˜eiro X Table of Contents Haptic Guidance in a Collaborative Robotic System.................. 101 Fernando Ribeiro and Ant´onio Mendes Lopes Tailor Made Robot Co Workers Based on a Plug&Produce Framework...................................................... 113 Andreas Pichler, Paolo Barattini, Claire Morand, Ibrahim Almajai, Neil Robertson, James Hopgood, Paolo Ferrara, Matteo Bonasso, Christoph Strassmair, Maren Rottenbacher, Max Staehr, Ru¨diger Neumann, Manuel Tornari, Alberto Rovetta, Matthias Plasch, Herald Bauer, and Christian W¨ogerer Communication Infrastructure in the Centralized Management System for Intelligent Warehouses......................................... 127 Kelen Cristiane Teixeira Vivaldini, Gabriel Tamashiro, Jos´e Martins Junior, and Marcelo Becker Intelligent Warehouse Product Position Optimization by Applying a Multi-criteria Tool ............................................... 137 Livia Martinelli Tinelli, Kelen Cristiane Teixeira Vivaldini, and Marcelo Becker Recognizing Industrial Manipulated Parts Using the Perfect Match Algorithm....................................................... 146 Lu´ıs F. Rocha, Marcos Ferreira, Germano Veiga, A. Paulo Moreira, and V´ıtor Santos Flexible Grasping of Electronic Consumer Goods..................... 158 Martijn Rooker, Alfred Angerer, Jose Capco, Christoph Heindl, Aitor Olarra, Elena Fuentes, Christian W¨ogerer, and Andreas Pichler Vision-Based Automation of Laser Cutting of Patterned Fabrics ....... 170 Anton Garcia-Diaz, Isidro Fern´andez-Iglesias, Enrique Pin˜eiro, Ivette Coto, F´elix Vidal, and Diego Pin˜eiro Industrial Robots Accuracy Optimization in the Area of Structuring and Metallization of Three Dimensional Molded Interconnect Devices... 179 Arnd Buschhaus and J¨org Franke InfluenceofVibrationInducedDisturbancesinanAutomaticInspection Cell ............................................................ 191 Anna Runnemalm, Tongwei Liu, Mikael Ericsson, and Anders Appelgren Table of Contents XI Part Alignment Identification and Adaptive Pick-and-Place Operation for Flat Surfaces ................................................. 203 Paulo Moreira da Costa, Paulo Costa, Pedro Costa, Jos´e Lima, and Germano Veiga Manipulator Path Planning for Pick-and-Place Operations with Obstacles Avoidance: An A* Algorithm Approach.................... 213 Jo˜ao Sousa e Silva, Pedro Costa, and Jos´e Lima Author Index.................................................. 225
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