TY - JOUR
T1 - A novel vision-based multi-functional sensor for normality and position measurements in precise robotic manufacturing
AU - Halwani, Mohamad
AU - Ayyad, Abdulla
AU - AbuAssi, Laith
AU - Abdulrahman, Yusra
AU - Almaskari, Fahad
AU - Hassanin, Hany
AU - Abusafieh, Abdulqader
AU - Zweiri, Yahya
N1 - Publisher Copyright:
© 2024 The Authors
PY - 2024/6
Y1 - 2024/6
N2 - Cobots play an essential role in the fourth industrial revolution and the automation of complex manufacturing processes. However, cobots still face challenges in achieving high precision, which obstructs their usage in precise applications such as the aerospace industry. Nonetheless, advances in perception systems unlock new cobot manufacturing capabilities. This paper presents a novel multi-functional sensor that combines visual and tactile feedback using a single optical sensor, featuring a moving gate mechanism. This work also marks the first integration of Vision-Based Tactile Sensing (VBTS) into a robotic machining end-effector. The sensor provides vision-based tactile perception capabilities for precise normality control and exteroceptive perception for robot localization and positioning. Its performance is experimentally demonstrated in a precise robotic deburring application, where the sensor achieves the high-precision requirements of the aerospace industry with a mean normality error of 0.13° and a mean positioning error of 0.2 mm. These results open a new paradigm for using vision-based sensing for precise robotic manufacturing, which surpasses conventional approaches in terms of precision, weight, size, and cost-effectiveness.
AB - Cobots play an essential role in the fourth industrial revolution and the automation of complex manufacturing processes. However, cobots still face challenges in achieving high precision, which obstructs their usage in precise applications such as the aerospace industry. Nonetheless, advances in perception systems unlock new cobot manufacturing capabilities. This paper presents a novel multi-functional sensor that combines visual and tactile feedback using a single optical sensor, featuring a moving gate mechanism. This work also marks the first integration of Vision-Based Tactile Sensing (VBTS) into a robotic machining end-effector. The sensor provides vision-based tactile perception capabilities for precise normality control and exteroceptive perception for robot localization and positioning. Its performance is experimentally demonstrated in a precise robotic deburring application, where the sensor achieves the high-precision requirements of the aerospace industry with a mean normality error of 0.13° and a mean positioning error of 0.2 mm. These results open a new paradigm for using vision-based sensing for precise robotic manufacturing, which surpasses conventional approaches in terms of precision, weight, size, and cost-effectiveness.
KW - Multi-functional sensor
KW - Precise manufacturing
KW - Robot deburring
KW - Vision-based tactile sensing
UR - http://www.scopus.com/inward/record.url?scp=85186547145&partnerID=8YFLogxK
U2 - 10.1016/j.precisioneng.2024.02.015
DO - 10.1016/j.precisioneng.2024.02.015
M3 - Article
AN - SCOPUS:85186547145
SN - 0141-6359
VL - 88
SP - 367
EP - 381
JO - Precision Engineering
JF - Precision Engineering
ER -