Skip to main content

Research Repository

Advanced Search

Making industrial robots smarter with adaptive reasoning and autonomous thinking for real-time tasks in dynamic environments: a case study.

Zabalza, Jaime; Fei, Zixiang; Wong, Cuebong; Yan, Yijun; Mineo, Carmelo; Yang, Erfu; Rodden, Tony; Mehnen, Jorn; Pham, Quang-Cuong; Ren, Jinchang

Authors

Jaime Zabalza

Zixiang Fei

Cuebong Wong

Carmelo Mineo

Erfu Yang

Tony Rodden

Jorn Mehnen

Quang-Cuong Pham



Abstract

In order to extend the abilities of current robots in industrial applications towards more autonomous and flexible manufacturing, this work presents an integrated system comprising real-time sensing, path-planning and control of industrial robots to provide them with adaptive reasoning, autonomous thinking and environment interaction under dynamic and challenging conditions. The developed system consists of an intelligent motion planner for a 6 degrees-of-freedom robotic manipulator, which performs pick-and-place tasks according to an optimized path computed in real-time while avoiding a moving obstacle in the workspace. This moving obstacle is tracked by a sensing strategy based on machine vision, working on the HSV space for color detection in order to deal with changing conditions including non-uniform background, lighting reflections and shadows projection. The proposed machine vision is implemented by an off-board scheme with two low-cost cameras, where the second camera is aimed at solving the problem of vision obstruction when the robot invades the field of view of the main sensor. Real-time performance of the overall system has been experimentally tested, using a KUKA KR90 R3100 robot.

Citation

ZABALZA, J., FEI, Z., WONG, C., YAN, Y., MINEO, C., YANG, E., RODDEN, T., MEHNEN, J., PHAM, Q.-C. and REN, J. 2018. Making industrial robots smarter with adaptive reasoning and autonomous thinking for real-time tasks in dynamic environments: a case study. In Ren, J., Hussain, A., Zheng, J., Liu, C.-L., Lou, B., Zhao, H. and Zhao, X. (eds.) Advances in brain inspired cognitive systems: proceedings of 9th International conference on Brain inspired cognitive system 2018 (BICS2018), 7-8 July 2018, Xi'an, China. Lecture notes in computer science, 10989. Cham: Springer [online], pages 790-800. Available from: https://doi.org/10.1007/978-3-030-00563-4_77

Conference Name 9th International conference on Brain inspired cognitive system 2018 (BICS2018)
Conference Location Xi'an, China
Start Date Jul 7, 2018
End Date Jul 8, 2018
Acceptance Date Jun 16, 2018
Online Publication Date Oct 6, 2018
Publication Date Dec 31, 2018
Deposit Date May 5, 2022
Publicly Available Date Mar 29, 2024
Publisher Springer
Volume 10989
Pages 790-800
Series Title Lecture notes in computer science
Series ISSN 0302-9743
Book Title Advances in brain inspired cognitive systems: proceedings of 9th International conference on Brain inspired cognitive system 2018 (BICS2018), 7-8 July 2018, Xi'an, China
ISBN 9783030005627
DOI https://doi.org/10.1007/978-3-030-00563-4_77
Keywords Machine vision; Path planning; Robot control; Adaptive reasoning; Dynamic environment
Public URL https://rgu-repository.worktribe.com/output/1654258
Related Public URLs https://rgu-repository.worktribe.com/output/1654209

Files




Related Outputs



You might also like



Downloadable Citations