کنترل زمان واقعی مبتنی بر مدل برای تشخیص برخورد از یک ربات صنعتی

This paper deals with a model based real-time virtual simulator of industrial robot in order to detect eventual external collision. The implemented method concerns a model based Fault Detection and Isolation used to determine any lock of motion from an actuated robot joint after contact with static obstacles. Online implementation has been done in order to validate the proposed approach.

The fast modernization of the production equipments makes that the industrial systems become increasingly complex and very sophisticated. In particular, the use of robots in modern manufacturing industries was intensively increased during these last decades. Robot technology has been applied in many aspects such as industry, agriculture, family service and medical etc. These robots carry out without slackening repetitive tasks. In the assembly lines of auto industry for example, they replace the workmen in the painful and dangerous tasks like (painting, welding, stamping, etc.). Massive use of the robots requires monitoring in continuous time to avoid any kind of collisions or abnormal operations which are likely cause considerable losses. Simulation software (RobotStudio [20], SimPro [21]) proposed by the manufacturers of the robots in order to help users to validate their programs offline without interruption are often very expensive, moreover, these tools does not make it possible to have a real-time monitoring on the operation of the real robots.

In this work, a virtual simulator of an industrial robot is developed in order to make online supervision for possible collisions detection. The real and virtual systems are operating in parallel, while a model based FDI algorithm is running in real-time. This practical approach can alert the operator to predict dangerous and accidental situations without been closer to the industrial robot and without using visions feedback surveillance. The validation of the method is done after system modeling validation and online experiments. For future work, a stochastic model of the used network interlink channel will be considered in the monitoring approach, in order to consider the influence of the information delay transmission between the real robot and the simulator and to distinguish the physical faulty situation from delay information situation.