Robotic Framework for Autonomous Assembly: a Report from the Robothon 2021 Grand Challenge
Up to now, many repetitive industrial processes, like welding in automotive, have been automated. However, robust solutions for assembly operations that, besides precise robot positioning, also require precise tactile interaction are not available yet. The current research efforts on sensitive colla...
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| Vydáno v: | 2022 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC) s. 59 - 65 |
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IEEE
29.04.2022
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| Abstract | Up to now, many repetitive industrial processes, like welding in automotive, have been automated. However, robust solutions for assembly operations that, besides precise robot positioning, also require precise tactile interaction are not available yet. The current research efforts on sensitive collaborative robots and their control are a promising step towards assembly automation. In our contribution we present an autonomous robotic framework to automate assembly tasks. It implements state-of-the-art algorithms for object localization, motion planning, force control, error handling and task scheduling. We present the implementation details of our localization and insertion skills on a FRANKA EMIKA robot and an Intel RealSense, the two main components of the framework. Further, we introduce the Robothon Grand Challenge, a new biennial competition series that deals with automated electronic waste decomposition. Within that competition, our framework made the fifth place out of nine teams. |
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| AbstractList | Up to now, many repetitive industrial processes, like welding in automotive, have been automated. However, robust solutions for assembly operations that, besides precise robot positioning, also require precise tactile interaction are not available yet. The current research efforts on sensitive collaborative robots and their control are a promising step towards assembly automation. In our contribution we present an autonomous robotic framework to automate assembly tasks. It implements state-of-the-art algorithms for object localization, motion planning, force control, error handling and task scheduling. We present the implementation details of our localization and insertion skills on a FRANKA EMIKA robot and an Intel RealSense, the two main components of the framework. Further, we introduce the Robothon Grand Challenge, a new biennial competition series that deals with automated electronic waste decomposition. Within that competition, our framework made the fifth place out of nine teams. |
| Author | Ruhkamp, Patrick Jung, Hyunjun Sygulla, Felix Pachler, Florian Rixen, Daniel Wittmann, Jonas |
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| Snippet | Up to now, many repetitive industrial processes, like welding in automotive, have been automated. However, robust solutions for assembly operations that,... |
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| SubjectTerms | Automation Compliant Assembly Intelligent and Flexible Manufacturing Location awareness Robot sensing systems Service robots Software Software Architecture for Robotic and Automation Technology transfer Welding |
| Title | Robotic Framework for Autonomous Assembly: a Report from the Robothon 2021 Grand Challenge |
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