A cooperative robotic system based on multiple sensors to construct metallic structures

Abstract

This paper describes a multi-sensorial robotic system to automatically construct metallic structures. Two robots must work cooperatively in the same workspace to perform the task. The robots are automatically guided by using visual and force sensor information. A new time-independent visual-force control system which guarantees the adequate robot behaviour during the construction of the structure is described. During the construction of the structure, a human operator works cooperatively with the robots in order to perform some tasks which cannot be automatically developed by the robots. To do so, a new human-robot cooperation approach is described in order to guarantee the human safety. The correct behaviour of the different subsystems proposed in the paper is demonstrated in the results section by the construction of a real structure composed of several metallic tubes and different types of pieces to join them.

Finger Readjustment Algorithm for Object Manipulation Based on Tactile Information

“…This robotic system can be used to develop human-robot interaction tasks where human operators can cooperate in the development of assembly and disassembly tasks. Nevertheless, this paper is only focused on the robotic manipulation of objects and its application in human-robot tasks can be verified in previous works ([19] and [20]). Three different manipulation tasks with three different objects have been executed: translation of a cylinder (i.e., a tin), translation of a sphere (i.e., a plastic ball) and translation of a parallelepiped with a variable centre of mass (i.e., a wooden box with a lead ball inside).…”

Digitizing Production Systems

“…Barwood et al also considered the disassembly of various automotive components with electronic control units to recover critical materials. Machine vision was again proposed as the main sensing modality although the Torres team also discussed combining visual and force feedback to track disassembly trajectories (Gil et al 2007).…”

Disassembly 4.0: A Review on Using Robotics in Disassembly Tasks as a Way of Automation

“…Apart from the robot applications, WEEE is also targeted on a theoretical level. Concept papers by Jin et al or a process benchmark in respect of the overall cost by Yuksel et al and a paper on mathematical process modeling by Lee et al complement the papers with application examples or sensing technology also listed in this section , , , , , . Moreover, mobile robot applications in a manufacturing system with the possibility for disassembling defective parts directly are presented in the research of Minca et al , and others , all part of the same lab in Romania.…”

“…As a part of the basic research, Umeda et al proposed a concept with a shape recognition algorithm specifically on the context of assembly and disassembly. Moreover, the identification of fasteners was firstly evaluated by Gengenbach et al , followed by Pomares et al , , Gil et al , Bdiwi et al , and Vongbunyong et al, e.g., . Besides feature recognition approaches, Ata et al propose a concept of color sensors for automated sorting in disassembly automation contexts, which has not since reappeared in other research papers on the reviewed topic.…”