Efficient, collaborative screw assembly in a shared workspace

Publikationstyp
Konferenz
Autor(en)
Christian Juelg, Andreas Hermann, Arne Roennau and Rüdiger Dillmann
Jahr
2018
Seiten
837--848
Verlag
Springer International Publishing
Buchtitel
Intelligent Autonomous Systems 15
Abstract
We provide online dynamic robot task selection in human-robot collaborative contexts through a voxel-based collision avoidance system. This paper describes a partially automated screw assembly work-cell with a worker and a 6-DOF light-weight robot arm. The shared workspace is monitored by 3D point-cloud sensors. The dynamic task selection reduces robot waiting due to obstacles by exploiting situations where multiple tasks are available for the robot. Massively parallel evaluation of voxelized robot trajectories allows online avoidance of blocked paths. The robustness of the screw assembly process is increased through Cartesian compliance based on force-torque sensor feedback.
DOI
10.1007/978-3-030-01370-7_65
Forschungsfelder
Service-Robotik und mobile Manipulation, Parallelverarbeitung und Multicore
Projekt
KolRob – Kollaborativer, intelligenter Roboterkollege für den Facharbeiter des Mittelstands
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Eingetragen von
Christian Juelg