VULCANO: Mobile dual-arm robot (2 UR10) with autonomous omnidirectional navigation, 3D vision guidance and force control

Manufacturing and assembly performed by robots. A tuned control system increases the robotic system performance, being possible to include in the close loop additional data to compensate disturbances in the system (such as vision systems to correct deformations or to include compensations, as well as implement visual servoing strategies).

Advanced parts manipulation with robots. Mobile platform elements like navigation systems, charge and safety elements were. In this line, it has the know-how of designing customized platforms according with different use cases conditions.

Advanced parts manipulation with robots. Safety robot systems include strategies to avoid and prevent collisions. Different techniques can be implemented to reach this objective: from detecting the collision and stop the robot, to dynamically calculate the trajectory free of collisions during the execution time.

Advanced parts manipulation with robots. Combined 3D vision techniques with location, detection, segmentation and matching are integrated in the robot manipulation to enhance complex bin picking applications. With the implementation of this capability, the kitting can be implemented by using the own robot table or an additional support.

Flexibility in robotic applications. Dual arm manipulation is mandatory in task that requires synchronized or cooperative operation as performed by humans. This capacity allows to increase the weight and size of the parts manipulated.

Flexibility in robotic applications. This tool facilitates the robot programming by not robot experts by using the information of the robot workspace and the involved parts in the manipulation.

Flexibility in robotic applications. Force and torque (3 to 6 axes) should be measured and controlled depending on the use case to be automated. Located on the end-effector, these sensors allow the compliance guiding of the robot.

Quality control with robots. In machining and manufacturing processes is fundamental to ensure que final result of the part. Artificial vision systems allow the automatic measurement of the part by using 3D matching strategies. In some cases, the manipulation of the part is mandatory, in order to access to all the part sides, then the use of a manipulator is justified.

Advanced parts manipulation with robots. The manipulated parts (20 Kg payload) can be transported in indoor industrial workshops. The 15 DoF of the robot are available for part manipulation.

Quality control with robots. Different parameters can be defined as quality control parameters, being possible to include detection by using vision systems or programming test to be executed by the robot. The data obtained from these test is analyzed in the ROS framework developed by Tecnalia. Additionally, in some cases, the manipulation of the part is mandatory, in order to access to all the part sides, then the use of a manipulator is justified.

Manufacturing and assembly performed by robots. Automatic assembly can be used in a large range of processes, being needed to analyze each case to define the complexity of the automation itself. In some cases the automation is a solved problem, but in other cases, it is needed to develop an innovative solution.

Manufacturing and assembly performed by robots. The automation of the deburring process includes the manipulation of the tools and parts involved in the process, the burr detection (by using artificial vision systems), quality control of the final result and the data analysis of all the signals in process.

Manufacturing and assembly performed by robots. The automation of the drilling operation implies to deal with: manipulation of the tool and involved parts, quality control of the hole, clamping force to avoid dust in the parts interface, guide holes and part-references identification, improvements in the process and data analysis. All those are included in Tecnalia Know-how.

Manufacturing and assembly performed by robots. The automation of the riveting operation implies to deal with: manipulation of the tool and involved parts, (blind and hi-lite/hi-lok rivets), quality control of the performed riveting, guide hole accurate location and data analysis of the overall process.

Manufacturing and assembly performed by robots. The tightening of threaded parts requires of flexible robotic devices and control strategies, being in some cases necessary to include force Feedback. It is also included the screwing application, including the parts manipulation and the quality control of the operation.

Manufacturing and assembly performed by robots. The automation of the sealant applications depends on the specific process (sealant interface, parts with sealant, buttons or sealant cords…), then the robotic operation will manage the specific requirements for the operation with: manipulation of the tool and involved parts (sealant, gripper end-effector…), references in the part and data analysis of the complete operation including the final result of the sealant applied.

Flexibility in robotic applications. This asset can be used in master-slave control configuration. This means this robot can be used in remote sites on in environments dangerous for humans. Different control strategies can be implemented from remote visualization to include force feedback by using haptic devices.

Flexibility in robotic applications. Experience in several techniques and configurations of artificial vision systems (stereo vision, structured light, laser scanning, tags detection, 2D and 3D detection and matching… ) is available to been applied according the parts requirements and robot working conditions.