Towards Agile Factory Automation: Integrating ABB Robot Manipulators, 3D Machine Vision Cameras, and Robot Operating System

In modern manufacturing, the demand for agile factory automation solutions is prominent. However, the implementation remains challenging, particularly in orchestrating a workflow that integrates diverse modern technologies. This paper introduces a novel integrated workflow for addressing these challenges, which includes the development of a software technology capable of facilitating the integration of robot manipulators, 3D machine vision cameras, and Robot Operating Systems. We augment the proposed workflow by incorporating a machine learning framework, specifically MLPro. Furthermore, the paper presents a method for deploying the integrated workflow using container technology, thereby ensuring scalability for real-world large-scale industrial systems. The study begins with an in-depth analysis of state-of-the-art technologies. Subsequently, a comprehensive analysis and discussion of the proposed workflow are provided, also including path planning processes, collision detection mechanisms, machine learning integration, computer vision techniques, and many more. To demonstrate the practical relevance of the proposed workflow, two real-world industrial applications are presented, focusing on the automation of the welding processes for steel looped hooks using dual ABB robot manipulators and for reinforcing steel mesh in concrete stairs using an ABB robot manipulator.