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POSITIONING ACCURACY CHARACTERIZATION OF PRECISION MICROROBOT OVER THE INTERNET
Journal article   Peer reviewed

POSITIONING ACCURACY CHARACTERIZATION OF PRECISION MICROROBOT OVER THE INTERNET

Yongjin Kwon, Richard Chiou, Shreepud Rauniar and Horacio Sosa
Journal of advanced manufacturing systems, v 5(1), pp 45-57
01 Jun 2006
DOI: https://doi.org/10.1142/S0219686706000777
Featured in Collection :   UN Sustainable Development Goals @ Drexel

Abstract

Engineering Engineering, Manufacturing Science & Technology Technology
There is a missing link between a virtual development environment (e.g., a CAD/CAM driven offline robotic programming) and production requirements of the actual robotic workcell. Simulated robot path planning and generation of pick-and-place coordinate points will not exactly coincide with the robot performance due to lack of consideration in variations in individual robot repeatability and thermal expansion of robot linkages. This is especially important when robots are controlled and programmed remotely (e.g., through Internet or Ethernet) since remote users have no physical contact with robotic systems. Using the current technology in Internet-based manufacturing that is limited to a web camera for live image transfer has been a significant challenge for the robot task performance. Consequently, the calibration and accuracy quantification of robot critical to precision assembly have to be performed on-site and the verification of robot positioning accuracy cannot be ascertained remotely. In worst case, the remote users have to assume the robot performance envelope provided by the manufacturers, which may causes a potentially serious hazard for system crash and damage to the parts and robot arms. Currently, there is no reliable methodology for remotely calibrating the robot performance. The objective of this research is, therefore, to advance the current stateof-the- art in Internet-based control and monitoring technology, with a specific aim in the accuracy calibration of micro precision robotic system for the development of a novel methodology utilizing Ethernet-based smart image sensors and other advanced precision sensory control network.

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7 Record Views
3 citations in Web of Science
10 citations in Scopus

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Web of Science research areas
Engineering, Manufacturing
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