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arXiv 2024年

作者： Abbas, Ammar N. Beleznai, Csaba School of Computer Science Technological University Dublin Dublin Ireland Assistive & Autonomous Systems AIT Austrian Institute of Technology Vienna Austria

TalkWithMachines aims to enhance human-robot interaction by contributing to interpretable industrial robotic systems, especially for safety-critical applications. The presented paper investigates recent advancements in Large Language Models (LLMs) and vision Language Models (VLMs), in combination with robotic perception and control. This integration shall allow robots to understand and execute commands given in natural language and to perceive their environment through visual and/or descriptive inputs. Moreover, by translating the LLM’s internal states and reasoning into text that humans can easily understand, it shall ensure that operators gain a clearer insight into the robot’s current state and intentions, which is essential for effective and safe operation. Our paper outlines four LLM-assisted simulated robotic control.workflows, which explore (i) low-level control. (ii) the generation of language-based feedback that describes the robot’s internal states, (iii) the use of visual information as additional input, and (iv) the use of robot structure information for generating task plans and feedback, taking the robot’s physical capabilities and limitations into account. The proposed concepts are presented in a set of experiments, along with a brief discussion. Project description, videos and supplementary materials will be available on the project website: https://***. Copyright © 2024, The Authors. All rights reserved.

关键词： Human robot interaction

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robotic workcell control.based on a societal architecture

Robotic workcell control based on a societal architecture

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IEE colloquium on Robot systems Architectures

作者： N.D. Duffy J.T. Herd Department of Electrical & Electronic Engineering Heriot-Watt University Edinburgh UK

Robot techniques appear to have made little impact on applications areas involving part assembly. This is mainly due to a lack of flexibility and consequent problems of cost justification, particularly where there are multiple products and short production runs. Ways of increasing flexibility include the reduction of fixturing by using more than one robot on an assembly task, the provision of enhanced sensing capabilities by using multiple sensors, and the use of the sensory system to provide information for an error correction and detection facility. A complex system with these facilities places particular emphasis on the requirement to integrate a set of subsystems. This integration is difficult to achieve using conventional methods of computer control. To overcome these problems a vertically integrated architecture has been developed in which the integration concepts are carried through from the algorithms to a parallel processing implementation. The approach is based upon the asynchronous coordinated action of many agents and gives rise to the concept of a societal architecture-a society of agents. The structure of the agents and the manner in which information is passed between them is heavily influenced by the need to support a large number of simple agents and by the need to achieve real time operation. This latter can be achieved by an architecture, Vortex, which is based on the concept of dynamic shared data.< >

关键词： Assembly industrial control Parallel processing

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Achieving effective telerobotic control.of industrial equipment

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CIM BULLETIN 1996年第1002期89卷 83-88页

作者： Hunter, D Wells, D Chrystall, K Feighan, P ALBERTA RES COUNCIL CALGARYABCANADA

Equipment which maybe remotely operated, has some degree of on-board intelligence, and which for periods of time may operate autonomously, is referred to as telerobotic. Recent advances in electronics, computers and hydraulic equipment have dramatically reduced the cost and simplified the process of converting standard industrial equipment to telerobotic control. The benefits of telerobotic equipment include improved safety by removing the opera tor from dangerous situations, reduced maintenance costs and increased productivity. This technology has been proven in various military, nuclear and police applications. The surface mining industry has expressed an interest in automation and is characterized by a willingness to use remotely operated equipment, however, the majority of telerobotic equipment currently in use is experimental or prototypical. Potential applications of telerobotic equipment for surface mining include remote operation of equipment near dangerous highwalls and other unsafe areas, utilization of robotic trucks for routine hauling operations, and control.of jointed equipment In addition, component technologies of telerobotic systems are relevant to various forms of condition monitoring, operator feedback systems, and vehicle positioning. Attention must now be directed toward resolving more complex problems associated with enhancing feedback to the operator, improving the man/machine interface, and ultimately, improving efficiency Removal of the human operator from the work site introduces significant complications in replacing the sensory inputs that an operator normally uses to efficiently run his machinery. These can be difficult to define and even more difficult to replicate remotely and may include restrictions pertaining to vision, hearing, and touch. In cooperation with Defence Research Establishment Suffield and the Alberta Research Council, Robotech Industries ltd is pursuing the development of additional technologies to further enhance an o

关键词： surface mining telerobotic equipment telerobotic control automation

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3-D vision and expert system join forces to inspect solder joints

Technical Paper - Society of Manufacturing Engineers. MS

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Technical Paper - Society of Manufacturing Engineers. MS 1989年 varpagingMS89-286页

作者： Chen, Sullivan Robotic Vision Systems Inc United States

This paper demonstrates that by using 3-D machine vision, a 3-D surface map of a solder joint can be quickly obtained. This database is then used as the basis for computing the dimensions of many surface features, permitting an expert system to judge whether the solder joint is acceptable. Thus, the expert system's rules and reasoning process is human-understandable and can easily be related to visible characteristics of the solder joint. This technology has been shown to be more consistent and accurate than human inspectors. It is also a valuable front end to effective statistical process control.

关键词： Robots, industrial

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Integrated vision-Based Seam Tracking System for robotic Laser Welding of Curved Closed Square Butt Joints

SSRN

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SSRN 2024年

作者： Nilsen, Morgan Sikström, Fredrik University West Department of Engineering Sciences Trollhättan461 80 Sweden

This paper introduces a novel integrated vision-based closed-loop system for tracking in robotic laser beam welding, focusing specifically on curved and closed square butt joints. Laser beam welding faces challenges, particularly in closed square butt joints, due to joint deviations caused by factors such as robot trajectory inaccuracies and heat-induced distortions. Existing joint tracking systems, primarily relying on structured light and laser triangulation, encounter limitations in technically zero-gap joints. This paper proposes a non-contact, non-intrusive machine vision system seamlessly integrated into the laser beam welding head, addressing issues of sensor forerun. The system incorporates off-axis LED illumination, an optical filter, and a movable actuator for real-time image processing and closed-loop control. The experimental setup involves welding challenging stainless-steel plates with closed square butt joints, and the results demonstrate the system's robust performance. Comparisons with existing systems highlight the proposed method's advantages, emphasizing its potential for industrial applications in laser beam welding of curved closed square butt joints. © 2024, The Authors. All rights reserved.

关键词： Closed loop control.systems

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An intersample predictor control.scheme based on multirate GPC for high-speed tracking tasks

An intersample predictor control scheme based on multirate G...

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Annual Conference of industrial Electronics Society

作者： JiunDe Wu Y. Hori Department of Electrical Engineering University of Tokyo Meguro Tokyo Japan Institute of Industrial Science University of Tokyo Meguro Tokyo Japan

While robotics has thrived in ordered domains, it has found challenges in environments that are not well defined. Computer vision can extend the feedback measurement space to include the relative position and orientation of the robot end-effector. The role of computer vision as the feedback transducer strongly affects the closed-loop dynamics of the overall system. Researches on visual servo system have up to date focused mainly on preview control. only a few papers have focused on prediction control. However, all of them have not considered coordinate transformation problem caused from the multirate characteristics of visual servo system while performing a high speed tracking task. In this paper, a novel visual servo prediction control.scheme is proposed for achieving high speed tracking and high control.accuracy. In view of the long time-delay and coordinate transformation problem caused by high speed motion, the use of an intersample predictor based on multirate generalized predictive control.(GPC) is proposed to take care of external uncertainties and compute the optimal intersample control.inputs of the robotic system. Finally, simulation and experimental results are given to show the drastic effectiveness of proposed approach.

关键词： Robot kinematics Servomechanisms control.systems Orbital robotics Computer vision Feedback Position measurement Robot vision systems Transducers Predictive control

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Experimental study on robot visual tracking using a neural control.er

Experimental study on robot visual tracking using a neural c...

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International Conference on industrial Electronics, control.and Instrumentation

作者： Kai-Tai Song Jhy-Min Chang Department of Control Engineering National Chiao Tung University Hsinchu Taiwan

ISBN: (纸本)0780327756

Visual tracking of a moving object has been an active research topic in the field of robotics and computer vision. In this paper, an experimental study is presented on a neural control.design of a robotic manipulator to track a moving object using visual information. The proposed system integrates CCD visual data into an artificial neural network (ANN) for robot arm motion control. This design strategy features a fast and efficient control.approach where the computation load is reduced to fit the real-time requirement. Integrated experiments have been carried out using a Mitsubishi RV-M2 industrial robot equipped with a CCD camera. After training the ANN control.er with experimental data, the transformation from world coordinate to the robot coordinate can be eliminated. Robot motion control.can be achieved without solving inverse kinematics of the manipulator. Furthermore, the proposed visual tracking system dose not require calibration data of the camera. The factors affecting tracking performance is analyzed and discussed.

关键词： Robot kinematics Robot vision systems Artificial neural networks Service robots Manipulators Charge coupled devices Motion control Cameras Computer vision control.design

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Behavior-based control.of multi-robot assembly/palletizing systems

Behavior-based control of multi-robot assembly/palletizing s...

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Proceedings of the Biannual World Automation Congress

作者： E. Mendelson O. Nayer S. Berman Y. Edan Department of Industrial Engineering and Management Ben-Gurion University of the Negev Israel

A decentralized palletizing multi-robot system was developed using fuzzy behavior-based control. The system consists of a conveyor, two robots and a vision system. The system's role is to perform a palletizing task using parts arriving on the conveyor. Two control.algorithms were compared: a simple algorithm and a behavior-based algorithm combined with fuzzy logic. Thirty experiments were conducted while changing the control.algorithm, parts arrival frequency, and conveyor velocity. Performance measures included number of parts taken. number of pallets, robots utilization and work cell utilization. Experimental results indicated better performance for the simple algorithm. However. the fuzzy behavior-based algorithm equalizes the robots utilization. Equal utilization is a major factor in multi-robots systems, and contributes in decreasing mean time between failure (MTBF). We expect that for a heavier loaded system the fuzzy behavior-based algorithm will yield higher performances.

关键词： control.systems Assembly systems Multirobot systems Fuzzy systems robotic assembly Fuzzy control Robot vision systems Machine vision Fuzzy logic Velocity control

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vision-based product quality determination in a hierarchical system for fish processing

Vision-based product quality determination in a hierarchical...

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IEEE Pacific Rim Conference on Communications, Computers and Signal Processing

作者： N. Wickramarachchi C.W. de Silva Industrial Automation Laboratory Department of Mechanical Engineering University of British Columbia Vancouver BC Canada

A vision-based methodology for the assessment of the quality of fish products, processed salmon in particular, is discussed in the context of a hierarchical system for product quality monitoring and control. Application of the techniques to an automated fish processing workcell is described. A suitable definition of quality in food products is discussed, and the concept of indicative parameters of quality in a fuzzy linguistic context is introduced. A method for obtaining these parameters from the raw images is described.< >

关键词： Hierarchical systems Marine animals robotics and automation robotic assembly Monitoring Image processing Intelligent sensors Laboratories Automatic control Canning

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Visual servoing for object manipulation: A case study in slaughterhouse

Visual servoing for object manipulation: A case study in sla...

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International Conference on control. Automation, robotics and vision

作者： Haiyan Wu Thomas Timm Andersen Nils Axel Andersen Ole Ravn Automation and Control Technical University of Denmark Kgs. Lyngby 2800 Denmark

ISBN: (纸本)9781509035502

Automation for slaughterhouse challenges the design of the control.system due to the variety of the objects. Realtime sensing provides instantaneous information about each piece of work and thus, is useful for robotic system developed for slaughterhouse. In this work, a pick and place task which is a common task among tasks in slaughterhouse is selected as the scenario for the system demonstration. A vision system is utilized to grab the current information of the object, including position and orientation. The information about the object is then transferred to the robot side for path planning. An online and offline combined path planning algorithm is proposed to generate the desired path for the robot control. An industrial robot arm is applied to execute the path. The system is implemented for a lab-scale experiment, and the results show a high success rate of object manipulation in the pick and place task. The approach is implemented in ROS which allows utilization of the developed algorithm on different platforms with little extra effort.

关键词： Robot kinematics Cameras Robot vision systems Service robots Belts abattoirs robot vision system Robot kinematics Object Manipulation belts Service robots Cameras control.systems Visual servoing PICK

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