Problem
Beckhoff is utilising its technology to program the robot-based metrology system. A delta robot is a parallel robot with three arms joined together at a central point. Each arm has a parallelogram structure that ensures the end effector, or the part of the robot that interacts with objects, always stays in the same orientation. In this particular case, the sensor attached to the robot’s end effector allows the measurement of the object thickness at the desired preprogrammed points around the part. This requires prior knowledge of the object dimensions and no-go zones calculated based on the possible robot movement trajectories and measured object shape. Moreover, as the delta robot was not designed to directly collaborate with human operators, it has to be housed in a safety cage.
Solution
In collaboration with experts from Beckhoff, we designed and developed a cyber-physical solution for the robot-based metrology system programming. Our solution is composed of two main elements, namely a new and secure robot part feeding mechanism (see Figure) as well as an augmented reality (AR) application deployed on the off-the-shelf head-mounted display (HMD). The AR headset allows the inclusion of digital components and visual cues within the operator’s field of view overlaid over physical surroundings. Moreover, the built-in hand-tracking capabilities allow bimanual interaction with these digital artefacts. In our case, we utilised both these functionalities to develop a system allowing its user to promptly select points for measurement by the robot using hand gestures such as finger-pointing.
The resulting system does not require the operator's prior knowledge of robot programming or a particular part’s geometry.
Benefits
Using AR for robot programming offers several advantages by providing a more intuitive visual interface, making it easier for operators to understand and interact with the robot-based metrology solution. Such an approach can reduce the time and cost associated with robot programming by streamlining the process and offering substantial flexibility with respect to the inclusion of new part geometries during quality control.