Efficient, collaborative screw assembly in a shared workspace

Resource type
Conference
Author(s)
Christian Juelg, Andreas Hermann, Arne Roennau and Rüdiger Dillmann
Year
2018
Pages
837--848
Publisher
Springer International Publishing
Book title
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
Research focus
Service Robotics and Mobile Manipulation, Parallel Processing and Multicore
Project
KolRob – Kollaborativer, intelligenter Roboterkollege für den Facharbeiter des Mittelstands
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Published by
Christian Juelg