Open AccessDeveloping a real-time accuracy monitoring system for industrial robot arms based on lean principles
Author(s) -
Zs Molnár,
G E Cascio,
Géza Husi,
E G Szűcs
Publication year - 2019
Publication title -
iop conference series. materials science and engineering
Language(s) - English
Resource type - Journals
eISSN - 1757-899X
pISSN - 1757-8981
DOI - 10.1088/1757-899x/568/1/012068
Subject(s) - robot , robotic arm , automation , industrial robot , computer science , mechatronics , process (computing) , human error , simulation , thread (computing) , engineering , control engineering , artificial intelligence , operating system , mechanical engineering , reliability engineering
In the Robot Laboratory of Mechatronics Department during practical classes of robot programming, the participants observed that the KUKA KR5 Arc robot arm’s practicing tool does not accurately follow the programmed path in every case. In accordance to Lean approaches, the observations of the participants were taken into consideration and the possible sources of error were identified. One of them is the robot arm itself, which is responsible for the execution of the programmed movements. The goal of this research is to develop a system which makes it possible to exclude the robot arm as a potential source of error from the error analysis. For this purpose, a monitoring system was developed which supports the Lean production by implementing one of the main pillars of the Toyota Production System. Jidoka is one of the main pillars, which means that the production process is automatically stopped if an error condition arises. The method was first implemented by Sakichi Toyoda in 1896, who developed a simple device for automatic looms, which stopped the machine if the thread broke. Using this principle, the autonomation – automation with human touch – of the robot arm is achieved.