Flexible robot sealant dispensing cell using RGB-D sensor and off-line programming
In aerospace manufacture the accurate and robust application of sealant is an integral and challenging part of the manufacturing process that is still performed by human operator. Automation of this process is difficult and not cost effective due to the high variability in the parts to operate and a...
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| Format: | Article |
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Elsevier
2017
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| Online Access: | https://eprints.nottingham.ac.uk/42528/ |
| _version_ | 1848796507832057856 |
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| author | Maiolino, Perla Woolley, Richard Branson, David T. Benardos, Panorios Popov, Atanas A. Ratchev, Svetan |
| author_facet | Maiolino, Perla Woolley, Richard Branson, David T. Benardos, Panorios Popov, Atanas A. Ratchev, Svetan |
| author_sort | Maiolino, Perla |
| building | Nottingham Research Data Repository |
| collection | Online Access |
| description | In aerospace manufacture the accurate and robust application of sealant is an integral and challenging part of the manufacturing process that is still performed by human operator. Automation of this process is difficult and not cost effective due to the high variability in the parts to operate and also the difficulty associated with programming industrial robotic systems. This work tries to overcome these problems by presenting an AOLP (Automatic Off-Line Programming) system for sealant dispensing through the integration of the ABB's proprietary OLP (Off-Line Programming) system RobotStudio with a relatively new RBG-D sensor technology based on structured light and the development of a RobotStudio add-on. The integration of the vision system in the generation of the robot program overcomes the current problems related to AOLP systems that rely on a known model of the work environment. This enables the ability to dynamically adapt the model according to sensor data, thus coping with environmental and parts variability during operation. Furthermore it exploits the advantages of an OLP system simplifying the robot programming allowing for faster automation of the process. |
| first_indexed | 2025-11-14T19:49:05Z |
| format | Article |
| id | nottingham-42528 |
| institution | University of Nottingham Malaysia Campus |
| institution_category | Local University |
| last_indexed | 2025-11-14T19:49:05Z |
| publishDate | 2017 |
| publisher | Elsevier |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | nottingham-425282020-05-04T18:42:48Z https://eprints.nottingham.ac.uk/42528/ Flexible robot sealant dispensing cell using RGB-D sensor and off-line programming Maiolino, Perla Woolley, Richard Branson, David T. Benardos, Panorios Popov, Atanas A. Ratchev, Svetan In aerospace manufacture the accurate and robust application of sealant is an integral and challenging part of the manufacturing process that is still performed by human operator. Automation of this process is difficult and not cost effective due to the high variability in the parts to operate and also the difficulty associated with programming industrial robotic systems. This work tries to overcome these problems by presenting an AOLP (Automatic Off-Line Programming) system for sealant dispensing through the integration of the ABB's proprietary OLP (Off-Line Programming) system RobotStudio with a relatively new RBG-D sensor technology based on structured light and the development of a RobotStudio add-on. The integration of the vision system in the generation of the robot program overcomes the current problems related to AOLP systems that rely on a known model of the work environment. This enables the ability to dynamically adapt the model according to sensor data, thus coping with environmental and parts variability during operation. Furthermore it exploits the advantages of an OLP system simplifying the robot programming allowing for faster automation of the process. Elsevier 2017-04-21 Article PeerReviewed Maiolino, Perla, Woolley, Richard, Branson, David T., Benardos, Panorios, Popov, Atanas A. and Ratchev, Svetan (2017) Flexible robot sealant dispensing cell using RGB-D sensor and off-line programming. Robotics and Computer-Integrated Manufacturing, 48 . pp. 188-195. ISSN 1879-2537 AOLP; RGB-D sensor; Sealant dispensing http://www.sciencedirect.com/science/article/pii/S0736584516302253 doi:10.1016/j.rcim.2017.04.004 doi:10.1016/j.rcim.2017.04.004 |
| spellingShingle | AOLP; RGB-D sensor; Sealant dispensing Maiolino, Perla Woolley, Richard Branson, David T. Benardos, Panorios Popov, Atanas A. Ratchev, Svetan Flexible robot sealant dispensing cell using RGB-D sensor and off-line programming |
| title | Flexible robot sealant dispensing cell using RGB-D sensor and off-line programming |
| title_full | Flexible robot sealant dispensing cell using RGB-D sensor and off-line programming |
| title_fullStr | Flexible robot sealant dispensing cell using RGB-D sensor and off-line programming |
| title_full_unstemmed | Flexible robot sealant dispensing cell using RGB-D sensor and off-line programming |
| title_short | Flexible robot sealant dispensing cell using RGB-D sensor and off-line programming |
| title_sort | flexible robot sealant dispensing cell using rgb-d sensor and off-line programming |
| topic | AOLP; RGB-D sensor; Sealant dispensing |
| url | https://eprints.nottingham.ac.uk/42528/ https://eprints.nottingham.ac.uk/42528/ https://eprints.nottingham.ac.uk/42528/ |