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Manufacturing Intelligence Collaboration Framework for Autonomous Manipulation System
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- Authors
- Hyonyoung Han, Joonmyun Cho, Junhee Park
- Issue Date
- 2022-11
- Citation
- International Conference on Control, Automation and Systems (ICCAS 2022), pp.1930-1933
- Publisher
- IEEE
- Language
- English
- Type
- Conference Paper
- Abstract
- This study presents a manufacturing intelligence cooperation framework for autonomous manufacturing robot manipulation task. The proposed framework defined the five intelligence modules required for an autonomous manipulation system and linked them with each other. The mission analysis intelligence module automatically analyzed missions and tasks such as assembly, classification, and transport from a CAD model file as well as a work order format. The task planning intelligence module planed the sequence of unit tasks such as pick, place, assemble, etc. objects in the workspace in real time based on the manufacturing mission. The part recognition intelligence module recognized the ID of objects in the workspace and analyzed the location and orientation information. The autonomous action intelligence module was performed autonomously by patterning unit action such as grasp, moving, and assembling. The motion validation intelligence module validated each unit action and task. Each intelligence module was composed of various AI algorithms based sub-modules, and the core solution module selects and utilized an appropriate sub-module according to the mission. The ROS-based core solution module cooperated with intelligent modules by sharing images and data based on socket communication. This framework tested and validated in three different environments.
- KSP Keywords
- Autonomous manipulation, CAD model, Manipulation system, Mission analysis, Real-time, Robot manipulation, Sub-module, Task planning, Time Based, Work Order, cooperation framework