On the development of a collaborative robotic system for industrial coating cells
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ORIGINAL ARTICLE
On the development of a collaborative robotic system for industrial coating cells Rafael Arrais1,2
· Carlos M. Costa1,2 · Paulo Ribeiro1 · Lu´ıs F. Rocha1 · Manuel Silva1,3 · Germano Veiga1,2
Received: 31 August 2020 / Accepted: 24 September 2020 © Springer-Verlag London Ltd., part of Springer Nature 2020
Abstract For remaining competitive in the current industrial manufacturing markets, coating companies need to implement flexible production systems for dealing with mass customization and mass production workflows. The introduction of robotic manipulators capable of mimicking with accuracy the motions executed by highly skilled technicians is an important factor in enabling coating companies to cope with high customization. However, there are some limitations associated with the usage of a fully automated system for coating applications, especially when considering customized products of large dimensions and complex geometry. This paper addresses the development of a collaborative coating cell to increase the flexibility and efficiency of coating processes. The robot trajectory is taught with an intuitive programming by demonstration system, in which an icosahedron marker with multicoloured LEDs is attached to the coating tool for tracking its trajectories using a stereoscopic vision system. For avoiding the construction of fixtures and allowing the operator to freely place products within the coating work cell, a modular 3D perception system was developed, relying on principal component analysis for performing the initial point cloud alignment and on the iterative closest point algorithm for 6 DoF pose estimation. Furthermore, to enable safe and intuitive human-robot collaboration, a non-intrusive zone monitoring safety system was employed to track the position of the operator in the cell. Keywords Collaborative robotics · Safety · Flexible robotics · Smart manufacturing · Industry 4.0
1 Introduction The ongoing Fourth Industrial Revolution is altering the industrial ecosystem in many different domains. Besides the traditional technological novelties associated with this period in time, such as the emergence of fully interoperable Cyber-Physical System (CPSs) [1–3] and the Internet of Things (IoT) [4–6], that are so often encapsulated under the Industry 4.0 umbrella [7, 8], these ongoing modifications of manufacturing paradigms are also deeply impacting the way companies are interacting with one another and Rafael Arrais
[email protected] 1
INESC TEC - INESC Technology and Science, Rua Dr. Roberto Frias, 4200-465, Porto, Portugal
2
Faculdade de Engenharia da Universidade do Porto, Rua Dr. Roberto Frias, 4200-465, Porto, Portugal
3
Instituto Superior de Engenharia do Porto, Rua Dr. Ant. Bernadino Almeida, 4200-072, Porto, Portugal
with costumers. Industrial enterprises are changing their internal processes and adapting their production approaches to address the sustainable increase in demand diversity, an emblematic characteristic of the ongoing industrial revolution [9]. T
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