Data Analysis for Trajectory Generation for a Robot Manipulator Using Data from a 2D Industrial Laser
Diogo Gomes,
Mariano Alvarez,
Laiany Brancalião,
Jorge Carneiro,
Gil Gonçalves,
Paulo Costa,
José Gonçalves,
Vítor H. Pinto
Affiliations
Diogo Gomes
FEUP—Faculty of Engineering, University of Porto, Rua Dr. Roberto Frias, 4200-465 Porto, Portugal
Mariano Alvarez
CeDRI—Research Centre in Digitalization and Intelligent Robotics, School of Technology and Management, Polytechnic Institute of Bragança, Santa Apolónia Campus, 5300-253 Bragança, Portugal
Laiany Brancalião
CeDRI—Research Centre in Digitalization and Intelligent Robotics, School of Technology and Management, Polytechnic Institute of Bragança, Santa Apolónia Campus, 5300-253 Bragança, Portugal
Jorge Carneiro
GRESTEL—Produtos Cerâmicos, S.A., 3840-385 Aveiro, Portugal
Gil Gonçalves
FEUP—Faculty of Engineering, University of Porto, Rua Dr. Roberto Frias, 4200-465 Porto, Portugal
Paulo Costa
FEUP—Faculty of Engineering, University of Porto, Rua Dr. Roberto Frias, 4200-465 Porto, Portugal
José Gonçalves
CeDRI—Research Centre in Digitalization and Intelligent Robotics, School of Technology and Management, Polytechnic Institute of Bragança, Santa Apolónia Campus, 5300-253 Bragança, Portugal
Vítor H. Pinto
FEUP—Faculty of Engineering, University of Porto, Rua Dr. Roberto Frias, 4200-465 Porto, Portugal
Nowadays, the automation of factory floors is necessary for extensive manufacturing processes to meet the ever-increasing competitiveness of current markets. The technological advances applied to the digital platforms have led many businesses to automate their manufacturing processes, introducing robotic manipulators collaborating with human operators to achieve new productivity, manufacturing quality, and safety levels. However, regardless of the amount of optimization implemented, some quality problems may be introduced in production lines with many products being designed and produced. This project proposes a solution for feature extraction that can be applied to automatic shape- and position-detection using a 2-dimension (2D) industrial laser to extract 3-dimension (3D) data where the movement of the item adds the third dimension through the laser’s beam. The main goal is data acquisition and analysis. This analysis will later lead to the generation of trajectories for a robotic manipulator. The results of this application proved reliable given their small measurement error values of a maximum of 2 mm.
