Development of a robotic system which assists unmanned production based oncooperation between off-line robots and on-line robots. Part 3. Development of an off-line robot, autonomous navigation, and detection of faulty workpieces in a vibrating parts feeder

Remarkable advances in robotics and intelligent technology have made unmann ed production realisable. Based on the off-line robot concept proposed in o ur first paper, an offline robot and peripheral devices have been developed for the realisation of unmanned production. The developed robot has a powe r-wheeled steering (PWS) type mobile platform on which a double-arm manipul ator is installed. In order to detect and recognise 3D objects, double CCD cameras are mounted on the top of the robot. Two types of robot end-effecto rs are developed to handle workpieces and conduct trouble shooting actions. A newly developed production trouble simulator is very useful in simulatin g and resolving production troubles. A virtual pilot plant for production c omposed of the off-line robot, two on-line robots, a vibrating bowl feeder, a belt conveyor and a production trouble simulator has been constructed an d tests for production simulation have been undertaken. In this paper, auto nomous navigation of the developed robot in the virtual pilot plant is inve stigated Then a search for faulty parts in a parts feeder using the develop ed real-time image ex-traction method is carried out.