Aplicação de um manipulador robótico para automatização de uma célula de inspeção de peças automotivas

Abstract

This article presents an industrial inspection cell that utilizes a six degrees of freedom robotic manipulator to automate the inspection of vehicle parts with complex geometry. An inspection is defined as a sequence of poses that must be visited in sequence, allowing an end- effector mounted camera to capture images of the part from various angles. The two most utilized types of movement by industrial robots are implemented and compared in an inspection task. The first type is kinematic control for linear trajectory tracking in Cartesian space, and the second type uses fifth degree polynomials to generate joint space trajectories. The two movements were tested in a simulation environment that faithfully reproduces the real inspection cell. Experimental results show that the joint space movement results in smoother control signals when compared to the linear movement, although producing unpredictable Cartesian space trajectories.