Shinsuke Sakakibara

A Kinematic Calibration Method for Industrial Robots Using Autonomous Visual Measurement

Several new methods have been developed to achieve practical accuracy for offline programming of robots and its applicability to the real world. In this paper, a new kinematic calibration method is proposed to automatically improve absolute positioning accuracy of robots. Key points of the method include autonomous measurement and the automatic generation of measuring poses. A new visual feedback motion control method of the robot is proposed to achieve accurate measurement. An algorithm is also proposed to improve the condition of measuring poses automatically. The effectiveness of the proposed methods and algorithm was investigated through experiments with actual robots.

Autonomous Visual Measurement for Accurate Setting of Workpieces in Robotic Cells

This paper introduces a new method of adapting the virtual world of an offline programming model to an actual robotic cell by attaching a CCD camera to the robot. This method requires no specific camera attachment location or optical camera calibration. Furthermore, there is no operational requirement for setting robotic camera location. Robot motion is autonomously generated to identify the camera view line. The view line is adjusted to pass through the designated target point, utilizing visual feedback motion control. This method calibrates reference points between the virtual world of an offline model to an actual robotic cell.

Multimedia based Assembly Supporting System for Cell Production

Multiple skilled human operators enable the cell production system to meet the requirement of the diversified products and production quantity flexibly. How to improve the assembly performance of the operators and reduce their assembly burden are two important factors. To solve these problems, a multimedia based assembly supporting system (MASTER) is proposed, which aims to support assembly operators from both information aspect and physical aspect. The results show that using this system, the assembly performance of the operators is improved. With the information and physical supports from this system, the assembly complexity and burden of the assembly operators are reduced.

The latest robot systems which reinforce manufacturing sector

Recent industrial robot is enhancing the level of intelligence rapidly thanks to the progress mainly in electronics, sensor technology, and IT. It is acquiring task know-how for manufacturing as skills. This means that the robot is acquiring the ability to answer the request for reinforcing manufacturing sector by producing goods of high quality steadily at any places in the world. In this paper, the latest robot functions are described and specially illustrated by an innovative lean robot manufacturing cell.

Industrial Intelligent Robots

It has been believed for a long time since the birth of the industrial robot that the only task it could perform was to play back simple motions that had been taught in advance. At the beginning of the 21st century, the industrial robot was born again as the industrial intelligent robot, which performs highly complicated tasks like skilled workers on a production site, mainly due to the rapid advancement in vision and force sensors. The industrial intelligent robot has recently been a key technology to solve issues that todayʼs manufacturing industry is faced with, including the decreasing number of skilled workers and demands for reducing manufacturing costs and delivery time. In this chapter, the latest technology trends in its element technologies such as vision and force sensors are introduced with some of its applications such as the robot cell, which has succeeded in drastically reducing machining costs.

High speed intelligent handling robot for food and pharmaceutical products

Fanuc developed a high speed intelligent handling robot for food and pharmaceutical products. This robot is equipped with a vision sensor and able to pick up accurately work-pieces placed on a conveyor one by one without stopping. The performance of the motor is not adequate to continuously operate the arm at high speed. That is the reason why we developed the idea of introducing a total of six motors for main axes (two for each of the three main axes) and reducing the load per motor through torque tandem control. Also the need to secure the cleanness of the robot itself is important because the robot handles food and pharmaceutical products. For this purpose a double-seal structure was applied to each joint to prevent the leakage of grease, which is used as a lubricant for transmission elements, to the outside as well as the penetration of other liquids from outside. Thus a transportation capacity of 120 pieces per minute was achieved.

Robot Intelligence Augmented by Information Technology

Intelligent robots make it possible to automate advanced assembly tasks by using simple peripheral devices alone, thus achieving high automation ratio and payability. Also they are capable of considerably lowering expenses per hour and heighten competitiveness at factories as they extend the operating time of facilities by enabling unmanned operation during overtime and/or on holidays by means of sensor-based multiple checking.