Call1 Monitoring Cowboi

Public Summary Month 6/2012

Thu, 21 Jun 2012 12:02:35 GMT

This reporting period, we had the opportunity to disseminate our results at the ROBOTIK 2012 conference (in conjunction with AUTOMATICA FAIR in munich). Therefore, we prepared a video of the final scan data based demonstrator and a conference presentation showing the details and experimental results. We attended to conference from 21. to 22. of May. Additionally, we finished the draft version of the multimedia report with the comments from the industrial partner. Regarding the AR-enhanced demonstrator stage, experiments have been conducted with the welding parts whose geometric features need to be detected by a camera in this scenario. Due to mostly little number of surface features on typical welding parts, we had little success with these experiments and thus decided to drop this demonstrator stage. Very unfortunately, we currently have a staff problem at BLACKBIRD, which is relevant to the remaining deliverables. We will try to achieve as much as possible with the remaining man power.

Public Summary Month 4/2012

Mon, 16 Apr 2012 08:50:09 GMT

This period, the team was able to integrate and finish the scan-data based prototype. The accuracy and registration of the two sensors, the KINECT sensor and the laser scanner was very satisfying, as is visible on the video. The only issue that will stay due to the chosen hardware is the inaccuracy of the laser scanner calibration resulting in less accuracy than theoretically possible. Based on these results, the team is working on an automatic and robust edge feature detection into the software, such that the software can make welding seam proposals to the user based on the laser scanner data. This will further increase the ease of use of the user interface.

Public Summary Month 2/2012

Mon, 13 Feb 2012 11:27:39 GMT

Both teams are working intensively on the realization of the components for fine-scanning and planning during fine scan. UNIBAY has completed remote RSI control of their robot and can get profiles from the laser scanner, essential prerequisites for fine scanning. Registration and calibration of the laser scanner needs to be done still before real fine scans are possible. BLACKBIRD is working on the path planner for the welding phase with first results available. There have been delays due to hardware and software difficulties.

Public Summary Month 10/2011

Thu, 13 Oct 2011 08:04:32 GMT

The COWBOI experiment completed the Coarse Workpiece Model Acquisition step (see Deliverable No. 4) and is currently focusing on the Fine Geometry Acquisition component which involves interfacing with the laser scanner, synchronization with robot movement and interactive user interface design. Work also continues on the automated welding process planner. An integration of all major parts produced so far is planned by the end if this month as is the completion of the automated welding process planner.

comment from moderator

Fri, 02 Sep 2011 13:20:50 GMT

Could you upload deliverable 4? (M9)

Public Summary Month 8/2011

Tue, 30 Aug 2011 06:24:41 GMT

In order to plan and simulate complex welding tasks the internal data structure of the RobotMotionCenter has been extended to be able to load and visualize external axes, i.e. a turn-tilt table. The progress of adapting and enhancing the existing functions to this new data structure has already begun and a communication based on the COWBOI protocol definitions has been set up. Also a path planner based on bidirectional single query rapidly exploring random trees has been implemented. The further work besides adjusting the existing functions to the new data structure will be on adapting the path planner to the implemented k-Opt heuristic and on smoothing the trajectory resulting by the planner.

Public Summary Month 5/2011

Fri, 27 May 2011 15:49:33 GMT

Summary:

The task level user interface (task 3c) has been finished and the system concept is implemented partially. As the hardware has arrived almost completely the work is now focussing on accessing and integrating these parts. This subtask turned out to consume more manpower than expected.

Public Summary Month 3/2011

Mon, 28 Mar 2011 12:11:00 GMT

The safety concept has been finished and the laser-scanner-based security system has been implemented. The system concept has been finished. Preliminary experiments regarding coarse geometry acquisition have been conducted. A new sensor is applied, as a deviation from the original proposal was necessary.

Public Summary Month 2/2011

Mon, 07 Feb 2011 16:09:27 GMT

Several meetings with application partners, i.e. machine integrators and automotive suppliers, were held in order to identify promising application scenarios. Requirements were elicited and analyzed. The main scenario was determined in the domain of tube and piping, with a special focus on prototyping and pre-series production. Due to lacking human resources, only a premature safety concept could be developed and implementation was not possible, as hardware is also still missing. A laser scanner will be used to detect (human) obstacles and control the robot accordingly.