Self adaptive system for flexible robot assembly operation

  • In this paper a flexible robot system for assembly operations in a semi structured environment is proposed. The system uses a moveable robot equipped with an arbitrarily mounted 3D camera and a 2D camera on the robot gripper for accurate object detection. The system is developed based on the Robot Operating System (ROS) and uses the state of the art trajectory planner MoveIt for collision free robot motion planning. The object recognition for the system is performed using a combination of the two camera's and robot end effector and the deviation of objects in the robot workspace is found to be in the range of 2.2 mm along X and Y axes. Furthermore, an implementation procedure of the proposed system for assembly task is explained.

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Metadaten
Author: Duc Tho Le, Mayur Andulkar, Wenchao Zou, Jost Philipp Städter, Ulrich BergerORCiD
DOI:https://doi.org/10.1109/ETFA.2016.7733544
ISBN:978-1-5090-1314-2
Title of the source (English):Self adaptive system for flexible robot assembly operation, Emerging Technologies and Factory Automation (ETFA), 2016 IEEE 21st International Conference on, 2016
Publisher:IEEE
Place of publication:Piscataway, NJ
Document Type:Conference Proceeding
Language:English
Year of publication:2017
Number of pages:5
Faculty/Chair:Fakultät 3 Maschinenbau, Elektro- und Energiesysteme / FG Automatisierungstechnik
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