Implementation of a fuzzy logic approach for a smart production system

Abstract

This paper considers the monitoring of the entire process of an installation of a smart autonomous production system, and continuous analysis of its operation. The smart production system consists of an industrial robot and a computer numerical control (CNC) machine. Research is focused on the industrial robot subsystem; an implementation of a fuzzy logic method for end effectors is applied, and results regarding relevant clamping force are presented. The grippers and magnetic switches are described in more detail, and devices for measuring the clamping force are shown and analyzed. After installation and levelling of the machine, it is necessary to perform calibration – the correction of movement along the axis of the CNC machine. In theory, if the CNC machine is programmed to follow an ideal circular path, when the positioning accuracy of the machine and its tooling is perfect, then the actual curve that the machine produces, would correspond exactly to the ideally programmed circle. In practice, many factors affect CNC machine performance causing deviations from the ideal circuit. Factors influencing the accuracy are various, stemming from machine geometry, through the control system, to machine wear over many years of the operation. A possible upgrade of the existing system, in order to increase the autonomy, and reduce the need for a human operator, would include the installation of a 3D camera-sensor. The robot would take the correct pieces in accordance with production or assembly process, from the box next to it. The box is being filled with preparations from a conveyor belt.