Transforming industrial manipulators via kinesthetic guidance for automated inspection of complex geometries

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dc.contributor.authorLoukas, Charalampos
dc.contributor.authorVasilev, Momchil
dc.contributor.authorZimmerman, Rastislav
dc.contributor.authorVithanage, Randika K. W.
dc.contributor.authorMohseni, Ehsan
dc.contributor.authorMacLeod, Charles N.
dc.contributor.authorLines, David
dc.contributor.authorPierce, Stephen Gareth
dc.contributor.authorWilliams, Stewart
dc.contributor.authorDing, Jialuo
dc.contributor.authorBurnham, Kenneth
dc.contributor.authorSibson, Jim
dc.contributor.authorO’Hare, Tom
dc.contributor.authorGrosser, Michael R.
dc.date.accessioned2023-04-12T10:58:42Z
dc.date.available2023-04-12T10:58:42Z
dc.date.issued2023-04-05
dc.description.abstractThe increased demand for cost-efficient manufacturing and metrology inspection solutions for complex-shaped components in High-Value Manufacturing (HVM) sectors requires increased production throughput and precision. This drives the integration of automated robotic solutions. However, the current manipulators utilizing traditional programming approaches demand specialized robotic programming knowledge and make it challenging to generate complex paths and adapt easily to unique specifications per component, resulting in an inflexible and cumbersome teaching process. Therefore, this body of work proposes a novel software system to realize kinesthetic guidance for path planning in real-time intervals at 250 Hz, utilizing an external off-the-shelf force–torque (FT) sensor. The proposed work is demonstrated on a 500 mm2 near-net-shaped Wire–Arc Additive Manufacturing (WAAM) complex component with embedded defects by teaching the inspection path for defect detection with a standard industrial robotic manipulator in a collaborative fashion and adaptively generating the kinematics resulting in the uniform coupling of ultrasound inspection. The utilized method proves superior in performance and speed, accelerating the programming time using online and offline approaches by an estimate of 88% to 98%. The proposed work is a unique development, retrofitting current industrial manipulators into collaborative entities, securing human job resources, and achieving flexible production.en_UK
dc.identifier.citationLoukas C, Vasilev M, Zimmerman R, et al., (2023) Transforming industrial manipulators via kinesthetic guidance for automated inspection of complex geometries. Sensors, Volume 23, Issue 7, April 2023, Article number 3757en_UK
dc.identifier.issn1424-8220
dc.identifier.urihttps://doi.org/10.3390/s23073757
dc.identifier.urihttps://dspace.lib.cranfield.ac.uk/handle/1826/19444
dc.language.isoenen_UK
dc.publisherMDPIen_UK
dc.rightsAttribution 4.0 International*
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/*
dc.subjectcollaborative roboticsen_UK
dc.subjectnon-destructive evaluationen_UK
dc.subjectWAAMen_UK
dc.subjectkinestheticen_UK
dc.subjectrobot programmingen_UK
dc.titleTransforming industrial manipulators via kinesthetic guidance for automated inspection of complex geometriesen_UK
dc.typeArticleen_UK

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