Traditionally it is difficult for industrial robots to achieve high-speed motion with high accuracy due to large dynamical uncertainties. We present a solution using dynamic compensation by adopting high-speed vision and actuators to compensate for the uncertainties caused by robot system itself as well as external environment. Here, we present two typical tasks - fast and accurate contour-tracking and high-speed peg-and-hole alignment, with a commercial industrial robot. Traditionally, the playback method is the most common approach to control an industrial robot. However, it is time-consuming and exhausting to teach an accurate path point by point. We propose to perform these tasks by adding a high-speed robotic module under the dynamic compensation scheme. Through this method, a coarse global path can be easily taught with very few roughly chosen teaching points. The errors between the coarse path and the target path are then dynamically compensated by the high-speed robotic module under 1,000 fps visual feedback. As a result, accurate tracking as well as peg-and-hole alignment can be achieved with fast speed.
This technology can improve existing industrial robots’ performance while at the same time reduce the workload of robot operators. It may find applications in many industrial tasks, such as in welding, painting as well as assembly. This system will be demonstrated on the coming iRex 2015(International Robot Exhibition 2015) in Tokyo from Dec.2 to Dec.5 at Tokyo Big Sight. You are welcome to visit our booth.
http://www.k2.t.u-tokyo.ac.jp/fusion/DCmethod/
