Thesis defense of Unai Izagirre Aizpitarte
Thesis defense of Unai Izagirre Aizpitarte
Thesis defense of Unai Izagirre Aizpitarte
Title of the thesis: "Towards data-driven predictive maintenance for industrial robots". Obtained the SOBRESALIENTE qualification.
- Title of the thesis: "Towards data-driven predictive maintenance for industrial robots"
- Court:
- President: Dr. D. Basilio Sierra Araujo (UPV/EHU)
- Vocal: Dr. D. Aitor Arnaiz Irigaray (TEKNIKER)
- Vocal: Dra. Dª. Olga Fink (ETH Zürich)
- Vocal: Dra. Dª. Eva Portillo Pérez (UPV/EHU)
- Secretary: Dr. D. Ekhi Zugasti Uriguen (MONDRAGON UNIBERTSITATEA)
Abstract
The automation of industry in general and the use of industrial robots in assembly lines in particular has considerably increased in the last two decades. Although industrial robots have received significant attention from academic research, there is a lack of contributions focused on the predictive maintenance of these complex systems. In the era of the fourth industrial revolution, improvements in industrial sensorization, data analysis and cyber-physical infrastructures, allow to address the predictive maintenance of industrial robots from a data-driven perspective. This research work reports on experimental evidence of reliable data-driven techniques for the predictive maintenance of industrial robots. This thesis presents four main contributions: the diagnosis of the health status of an industrial robot using vision-based techniques, the feasibility of using torque sensors to diagnose the conditions of industrial robots in real industrial environments, the optimization of the standby pose of robots with genetic algorithms and the design and implementation of a practical data acquisition network for real world industrial scenarios, respectively.