協働ロボット溶接の同期特性に対するモデル検査と検証
Model Checking and Verification of Synchronisation Properties of Cobot Welding
協働ロボットアームと外部ターンテーブルからなる産業用溶接システムの同期特性をモデル検査で検証し、ハードウェアの限界を特定して再キャリブレーションにつなげた事例。
著者: Yvonne Murray, Henrik Nordlie, David A. Anisi, Pedro Ribeiro, Ana Cavalcanti
分類: cs.RO, cs.MA, cs.SE
原文アブストラクト
This paper describes use of model checking to verify synchronisation properties of an industrial welding system consisting of a cobot arm and an external turntable. The robots must move synchronously, but sometimes get out of synchronisation, giving rise to unsatisfactory weld qualities in problem areas, such as around corners. These mistakes are costly, since time is lost both in the robotic welding and in manual repairs needed to improve the weld. Verification of the synchronisation properties has shown that they are fulfilled as long as assumptions of correctness made about parts outside the scope of the model hold, indicating limitations in the hardware. These results have indicated the source of the problem, and motivated a re-calibration of the real-life system. This has drastically improved the welding results, and is a demonstration of how formal methods can be useful in an industrial setting.
