caa a22 4500 475798821 CHVBK 20180406123731.0 cr unu---uuuuu 170329e20000701xx s 000 0 eng 10.1007/s001700070048 doi (NATIONALLICENCE)springer-10.1007/s001700070048 Development of a Robotic System which Assists Unmanned Production Based on Cooperation between Off-Line Robots and On-line Robots. Part 3. 1 Development of an Off-Line Robot, Autonomous Navigation, and Detection of Faulty Workpieces in a Vibrating Parts Feeder [Elektronische Daten] [H.-Z. Yang, K. Yamafuji, T. Tanaka, S. Moromugi] Remarkable advances in robotics and intelligent technology have made unmanned production realisable. Based on the off-line robot concept proposed in our first paper, an off-line robot and peripheral devices have been developed for the realisation of unmanned production. The developed robot has a power-wheeled steering (PWS) type mobile platform on which a double-arm manipulator is installed. In order to detect and recognise 3D objects, double CCD cameras are mounted on the top of the robot. Two types of robot end-effectors are developed to handle workpieces and conduct trouble shooting actions. A newly developed production trouble simulator is very useful in simulating and resolving production troubles. A virtual pilot plant for production composed of the off-line robot, two on-line robots, a vibrating bowl feeder, a belt conveyor and a production trouble simulator has been constructed and tests for production simulation have been undertaken. In this paper, autonomous navigation of the developed robot in the virtual pilot plant is investigated. Then a search for faulty parts in a parts feeder using the developed real-time image extraction method is carried out.: Springer-Verlag London Limited, 2000 Keywords:Fault recovery nationallicence Navigation nationallicence Off-line robot nationallicence Pilot plant nationallicence Stereo-vision nationallicence Trouble simulator nationallicence Unmanned production nationallicence Vision-based search nationallicence Yang H.-Z Department of Mechanical and Control Engineering, University of Electro-Communications, Tokyo, Japan, JP aut Yamafuji K. Department of Mechanical and Control Engineering, University of Electro-Communications, Tokyo, Japan, JP aut Tanaka T. Department of Mechanical and Control Engineering, University of Electro-Communications, Tokyo, Japan, JP aut Moromugi S. Department of Mechanical and Control Engineering, University of Electro-Communications, Tokyo, Japan, JP aut https://doi.org/10.1007/s001700070048 text/html Onlinezugriff via DOI 1 research-article jats NATIONALLICENCE 856 40 https://doi.org/10.1007/s001700070048 text/html Onlinezugriff via DOI NATIONALLICENCE 700 1- Yang H.-Z Department of Mechanical and Control Engineering, University of Electro-Communications, Tokyo, Japan, JP aut NATIONALLICENCE 700 1- Yamafuji K. Department of Mechanical and Control Engineering, University of Electro-Communications, Tokyo, Japan, JP aut NATIONALLICENCE 700 1- Tanaka T. Department of Mechanical and Control Engineering, University of Electro-Communications, Tokyo, Japan, JP aut NATIONALLICENCE 700 1- Moromugi S. Department of Mechanical and Control Engineering, University of Electro-Communications, Tokyo, Japan, JP aut Metadata rights reserved Springer special CC-BY-NC licence nationallicence SWISSBIB 474922545 BK010053 XK010053 XK010000 NATIONALLICENCE NATIONALLICENCE NL-springer