Robotics in Smart Manufacturing: International Workshop, WRSM 2013, Co-located with FAIM 2013, Porto, Portugal, June 26-28, 2013. Proceedings

235 Pages·2013·20.059 MB·English

by  Francesco Leali, Marcello Pellicciari, Fabio Pini (auth.), Pedro Neto, António Paulo Moreira (eds.)

Pedro Neto
António Paulo Moreira (Eds.)
Communications in Computer and Information Science 371
Robotics
in Smart Manufacturing
International Workshop, WRSM 2013
Co-located with FAIM 2013
Porto, Portugal, June 2013
Proceedings
123
Communications
in Computer and Information Science 371
EditorialBoard
SimoneDinizJunqueiraBarbosa
PontificalCatholicUniversityofRiodeJaneiro(PUC-Rio),
RiodeJaneiro,Brazil
PhoebeChen
LaTrobeUniversity,Melbourne,Australia
AlfredoCuzzocrea
ICAR-CNRandUniversityofCalabria,Italy
XiaoyongDu
RenminUniversityofChina,Beijing,China
JoaquimFilipe
PolytechnicInstituteofSetúbal,Portugal
OrhunKara
TÜBI˙TAKBI˙LGEMandMiddleEastTechnicalUniversity,Turkey
IgorKotenko
St.PetersburgInstituteforInformaticsandAutomation
oftheRussianAcademyofSciences,Russia
KrishnaM.Sivalingam
IndianInstituteofTechnologyMadras,India
DominikS´le˛zak
UniversityofWarsawandInfobright,Poland
TakashiWashio
OsakaUniversity,Japan
XiaokangYang
ShanghaiJiaoTongUniversity,China
Pedro Neto António Paulo Moreira (Eds.)
Robotics
in Smart Manufacturing
International Workshop, WRSM 2013
Co-located with FAIM 2013
Porto, Portugal, June 26-28, 2013
Proceedings
1 3
VolumeEditors
PedroNeto
UniversityofCoimbra
DepartmentofMechanicalEngineering
Coimbra,Portugal
E-mail:[email protected]
AntónioPauloMoreira
UniversityofPorto
FacultyofEngineering
Porto,Portugal
E-mail:[email protected]
ISSN1865-0929 e-ISSN1865-0937
ISBN978-3-642-39222-1 e-ISBN978-3-642-39223-8
DOI10.1007/978-3-642-39223-8
SpringerHeidelbergDordrechtLondonNewYork
LibraryofCongressControlNumber:2013941241
CRSubjectClassification(1998):J.7,J.2,I.1.9-10,C.3,F.2,I.5,H.4
©Springer-VerlagBerlinHeidelberg2013
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Preface
This volume contains the papers selected to be presented at the Workshop on
RoboticsinSmartManufacturingheldduringJune26–28,2013,inPorto,Portu-
gal. It was organizedunder the umbrella of the 23rd edition of the International
Conference on Flexible Automation and Intelligent Manufacturing, FAIM 2013.
This first Workshop on Robotics in Smart Manufacturing brought together
people from various sectors (academia, government, and industry), all with a
commoninterestinroboticsandmanufacturing.Academicians,researchers,stu-
dents, and industry professionals had the opportunity to discuss and exchange
ideas, enlarge networks, and present recent progress and achievements in the
emerging areas of application of robots in manufacturing.
The workshop included presentations on the following topics: robotic ma-
chining, off-line robot programming, robot calibration, new robotic hardware
and software architectures, advanced robot teaching methods, intelligent ware-
houses, robot co-workers,and application of robots in the textile industry.
Finally,wewouldliketothanktoallthemembersoftheScientificCommittee,
reviewers, authors, attendees, FAIM organizationstaff, and sponsors.
April 2013 Pedro Neto
A. Paulo Moreira
Organization
General Chairs
Pedro Neto University of Coimbra, Portugal
Ant´onio Paulo Moreira University of Porto, Portugal
FAIM 2013 General Chair
Am´erico Azevedo University of Porto, Portugal
FAIM 2013 Organization
Ant´onio Almeida University of Porto, Portugal
Scientific Committee
Alberto Vergnano University of Modena and Reggio Emilia, Italy
Andr´e G. Conceic¸˜ao Federal University of Bahia, Brazil
Angel Valera Technical University of Valencia, Spain
Ant´onio Paulo Moreira University of Porto, Portugal
Biao Zhang USCorporateResearchCenterABBINC,USA
Fernando Ribeiro University of Minho, Portugal
Glauco Caurin University of Sa˜o Paulo, Brazil
Gunnar Bolmsj¨o University College West, Sweden
Leonardo Hono´rio Federal University of Juiz de Fora, Brazil
Marcelo Becker University of S˜ao Paulo, Brazil
Mohammad R. Shoaei Chalmers University of Technology, Sweden
Nuno Lau University of Aveiro, Portugal
Pedro Fonseca University of Aveiro, Portugal
Pedro Neto University of Coimbra, Portugal
Saeid Motavalli California State University, USA
Sebastian Horbach Chemnitz University of Technology, Germany
Reviewers
Alberto Vergnano University of Modena and Reggio Emilia, Italy
Andr´e G. Conceic¸˜ao Federal University of Bahia, Brazil
Andry Pinto University of Porto, Portugal
Angel Valera Technical University of Valencia, Spain
Ant´onio Paulo Moreira University of Porto, Portugal
Biao Zhang USCorporateResearchCenterABBINC,USA
VIII Organization
D´ario Pereira University of Coimbra, Portugal
Diogo Neto University of Coimbra, Portugal
Eduarda Silva University of Minho, Portugal
Eduardo Simas Federal University of Bahia, Brazil
Fernando Ribeiro University of Minho, Portugal
Germano Lambert-Torres Itaijuba Federal University, Brazil
Glauco Caurin University of Sa˜o Paulo, Brazil
Guilherme Pereira Federal University of Minas Gerais, Brazil
Gunnar Bolmsj¨o University College West, Sweden
Hendrik Hopf Chemnitz University of Technology, Germany
Hugo Costelha Polytechnic Institute of Leiria, Portugal
Jorge Ribeiro University of Porto, Portugal
Jos´e Lima Polytechnic Institute of Bragan¸ca, Portugal
Leonardo Hono´rio Federal University of Juiz de Fora, Brazil
Lingle Wang Schrodinger, USA
Marcelo Becker University of S˜ao Paulo, Brazil
Marcelo Petry University of Porto, Portugal
Mohammad R. Shoaei Chalmers University of Technology, Sweden
M´onica Faria University of Aveiro, Portugal
Nuno Lau University of Aveiro, Portugal
Nuno Mendes University of Coimbra, Portugal
Pedro Costa University of Porto, Portugal
Pedro Fonseca University of Aveiro, Portugal
Pedro Neto University of Coimbra, Portugal
Ru´ben Oliveira University of Coimbra, Portugal
Saeid Motavalli California State University, USA
Sebastian Horbach Chemnitz University of Technology, Germany
Yuqing Deng Schrodinger, USA
Sponsors
Faculty of Engineering of the University of Porto
INESCTEC Porto
Portuguese Robotics Society
ROBOPLAN – Robotics Experts
University of Coimbra
University of Coimbra’s Mechanical Engineering Research Center, CEMUC(cid:2)R
Table of Contents
An Offline Programming Method for the Robotic Deburring of
Aerospace Components ........................................... 1
Francesco Leali, Marcello Pellicciari, Fabio Pini,
Giovanni Berselli, and Alberto Vergnano
Experimental Investigation of Sources of Error in Robot Machining .... 14
Ulrich Schneider, Matteo Ansaloni, Manuel Drust,
Francesco Leali, and Alexander Verl
Machining with Industrial Robots: The COMET Project Approach..... 27
Christian Lehmann, Marcello Pellicciari, Manuel Drust, and
Jan Willem Gunnink
A Calibration Method for the Integrated Design of Finishing Robotic
Workcells in the Aerospace Industry................................ 37
Francesco Leali, Marcello Pellicciari, Fabio Pini,
Alberto Vergnano, and Giovanni Berselli
Pneumatic Driven Device for Integration into Robotic Finishing
Applications..................................................... 49
Paulo Abreu and Manuel Rodrigues Quintas
An Agile Manufacturing System for Large Workspace Applications ..... 57
Hai Yang, C´edric Baradat, S´ebastien Krut, and Fran¸cois Pierrot
Analysis and Optimal Design of a Spherical Parallel Manipulator with
Three Rotational Degrees of Freedom............................... 71
Bing Li, Shucan Chen, and Dan Zhang
Stereoscopic Vision System for Human Gesture Tracking and Robot
Programming by Demonstration ................................... 82
Marcos Ferreira, Lu´ıs Rocha, Paulo Costa, and A. Paulo Moreira
Development of a Flexible Robotic Cell for Laser Cutting of 3D Foam
and Preformed Fabric ............................................ 91
F´elix Vidal, Rodrigo Gonz´alez, Marcos Font´an, Paula Rico, and
Diego Pin˜eiro
X Table of Contents
Haptic Guidance in a Collaborative Robotic System.................. 101
Fernando Ribeiro and Ant´onio Mendes Lopes
Tailor Made Robot Co Workers Based on a Plug&Produce
Framework...................................................... 113
Andreas Pichler, Paolo Barattini, Claire Morand, Ibrahim Almajai,
Neil Robertson, James Hopgood, Paolo Ferrara, Matteo Bonasso,
Christoph Strassmair, Maren Rottenbacher, Max Staehr,
Ru¨diger Neumann, Manuel Tornari, Alberto Rovetta,
Matthias Plasch, Herald Bauer, and Christian W¨ogerer
Communication Infrastructure in the Centralized Management System
for Intelligent Warehouses......................................... 127
Kelen Cristiane Teixeira Vivaldini, Gabriel Tamashiro,
Jos´e Martins Junior, and Marcelo Becker
Intelligent Warehouse Product Position Optimization by Applying a
Multi-criteria Tool ............................................... 137
Livia Martinelli Tinelli, Kelen Cristiane Teixeira Vivaldini, and
Marcelo Becker
Recognizing Industrial Manipulated Parts Using the Perfect Match
Algorithm....................................................... 146
Lu´ıs F. Rocha, Marcos Ferreira, Germano Veiga,
A. Paulo Moreira, and V´ıtor Santos
Flexible Grasping of Electronic Consumer Goods..................... 158
Martijn Rooker, Alfred Angerer, Jose Capco,
Christoph Heindl, Aitor Olarra, Elena Fuentes,
Christian W¨ogerer, and Andreas Pichler
Vision-Based Automation of Laser Cutting of Patterned Fabrics ....... 170
Anton Garcia-Diaz, Isidro Fern´andez-Iglesias, Enrique Pin˜eiro,
Ivette Coto, F´elix Vidal, and Diego Pin˜eiro
Industrial Robots Accuracy Optimization in the Area of Structuring
and Metallization of Three Dimensional Molded Interconnect Devices... 179
Arnd Buschhaus and J¨org Franke
InfluenceofVibrationInducedDisturbancesinanAutomaticInspection
Cell ............................................................ 191
Anna Runnemalm, Tongwei Liu, Mikael Ericsson, and
Anders Appelgren
Table of Contents XI
Part Alignment Identification and Adaptive Pick-and-Place Operation
for Flat Surfaces ................................................. 203
Paulo Moreira da Costa, Paulo Costa, Pedro Costa, Jos´e Lima, and
Germano Veiga
Manipulator Path Planning for Pick-and-Place Operations with
Obstacles Avoidance: An A* Algorithm Approach.................... 213
Jo˜ao Sousa e Silva, Pedro Costa, and Jos´e Lima
Author Index.................................................. 225