Completed FTPs - RIC Americas

Path Planner Optimization and Planning Request Adapter

Champion: IDEXX Laboratories

Additional Sponsor: SwRI Internal Research Program

Completion Date: May 2014 (Completed)

Abstract: Optimizing industrial pick-and-place applications often involves minimizing the cycle time required for each move. While the ROS motion planning framework, MoveIt!, is quick to find collision-free paths to a goal point, the default configuration does not provide a minimum cycle-time solution. The objectives of this Focused Technical Project included:

  • Create a path planning capability which provides paths useful for industrial robot tasks
    • Generate paths that are asymptotically optimal (more computation time will yield an increasingly optimal solution)
    • Make tuning parameters accessible and explicit
    • Document these improvements so they can benefit the ROS community
  • Create an example planning request adapter that smooths planner output trajectories (also to improve cycle time) and more generally to enable anyone to compose a planning request adapter for MoveIt!
  • Generate a tutorial for planning request adapters

Outcomes:

  • Video (above, click to play)
  • Slides (includes instructions for installation from source)
  • Tutorial on Developing a Planning Request Adapter

Ongoing FTPs - RIC Americas

Robotic Blending, Milestone 1

Scheduled Completion Date: July 2014

Abstract: CNC mills often leave tool marks or surface discontinuities in metal parts that must be blended out by hand during post-processing. The blending operation is ergonomically hazardous for humans. A robotic blending solution is under development that will:

  • Use a robot-mounted course 3D-scanner to identify flat, reachable, blendable surfaces on each unique work piece
  • Plan blending process paths to sand the surfaces
  • Develop a GUI to make the workflow accessible to a non-programmer on the factory floor
  • Demonstrate the ability to scan and plan for a real aerospace work piece. Note that robot motion is limited to scanning for milestone 1.
Robotic Blending Milestone 1: Rough scan (left), blend/sand (right). Images are notional - work is ongoing. Note that Milestone 2 will introduce laser line scanning for better accuracy and surface roughness automatic inspection.

Robotic Blending Milestone 1: Rough scan (left), blend/sand (right). Images are notional - work is ongoing. Note that Milestone 2 will introduce laser line scanning for better accuracy and surface roughness automatic inspection.

Future / Available FTPs to Join - RIC Americas  

Robotic Routing

Duration: Four months, December 4, 2014, delivery

Abstract: Consortium members may access details through the Member Portal

Robotic Blending, Milestone 2

Duration: Four months

Abstract: This is a continuation of the milestone 1 project. It will add the following capabilities:

  • Automatically generate collision free robot joint trajectories to collect high resolution laser line scanner data from the user-designated regions on the work piece
  • Automatically analyze the high resolution scan data and colorize and display the surface data according to the quality metric
  • Test and improve the software to work with work piece submissions from three sponsors
  • Demonstrate the end-to-end robotic scanning and blending process with real hardware

Robotic CNC, Milestone 1

Champion: Siemens

Sponsors: Still available to join! Deadline for joining has been extended to October 31, 2014.

Duration: 

  • Milestone 1: Six months
  • Milestone 2 (follow-on): Three additional months

Abstract: Robots offer a potential low-cost alternative to large-platform CNC machines. By using ROS-Industrial to integrate a Robot with a Siemens 840D controller, and a high-bandwidth 6 DOF position feedback system, a robot could be used to perform accurate CNC milling, trimming, or routing while retaining its native capabilities to perform other value-added tasks like material handling and inspection. The objective of Milestone 1 is to demonstrate collision-free path planning and execution through the Siemens controller. This milestone will demonstrate that the robot can follow (open-loop) off-line generated paths from ROS-I via the Siemens controller. Motion planning and execution will occur both in 3D simulation and in real life. Cartesian path geometry will be provided by each FTP member, one per participant. Geometry will be limited to that which can run in two minutes or less, for the sake of demonstration brevity. The software will be driven through the Siemens controller HMI. Position data will be collected using an enhanced PhaseSpace motion capture system, but only used for measurement.  The outcome of Milestone 1 is:

  • Physical demonstration of open-loop milling for multiple Cartesian path geometries (one per participant) 
Block diagram for the Robotic CNC FTP. Note that the robot will be mounted on a movable platform.

Block diagram for the Robotic CNC FTP. Note that the robot will be mounted on a movable platform.

FTP Topics that are Brewing - RIC Americas

Easy Button: Non-programming interface for collision-free return-robot-to-maintenance position

GPU-Accelerated Collision Checking: Plan collision-free paths in real time with hardware-accelerated collision checking.

Heavy Helper: Create a human-robot collaboration demo for teleoperated material handling where parts exceed weight limit for one-man-lift. Application: CNC machine tending.

Robotic CNC Milestone 2: A continuation from Milestone 1. It will close the loop to achieve a target accuracy of +/- 0.05" for path following for light machining.

Multipass Robotic Welding: Scan-N-Plan for multipass welding in heavy industries.

 

Inquires

For more information about any of these topics, please contact Paul Hvass