Robotic Sampling Solutions for Moisture Control in Planetary Mixers of Auger Pressing Briquetting Lines: Requirements and Implementation

Abstract

Industrial development increasingly relies on automation, reducing human involvement and optimizing operator time. Robotic manipulators are widely used to replace human labor in various production stages, including sampling tasks, where safety and efficiency are crucial. This study focuses on automating the sampling process in a briquetting production line using auger pressing technology. In such processes, moisture control is essential for maintaining quality and stability. The proposed robotic solution enables in-situ sampling from a planetary mixer without modifying its original design. The system includes a six-axis robotic arm, a force/torque sensor, a safety skin, and a 3D vision module. Control is based on an ISA-88 batch framework with real-time coordination for dynamic process optimization. This work outlines a set of requirements and constraints that can be applied to the design of robotic sampling systems in industrial environments, particularly in dusty conditions during the briquetting of fine-grained waste.