Task-oriented synchronous error monitoring framework in robotic manufacturing process

摘要

As manufacturing systems become increasingly more automated and complicated, there is a need for supervision systems to operate and control production. In complex manufacturing environments, robots can make errors that can cause serious product damages. This paper focuses on the efficient supervision systems, called the sequential task-oriented supervision, using multiple sensors for achieving task status monitoring, automated error analysis in robotic manufacturing process. As with the designed task sequence, a status monitoring system runs synchronously to detect errors in the current robot task. In order to continue performing tasks without human intervention, task status monitoring systems use multiple sensors including a vision sensor, a force-torque(F/T) sensor and a tactile sensor is developed. Detailed structure and working principle of the monitoring system are addressed in this paper.