An autonomous mobile manipulator for assembly tasks

Abstract

The fundamental difference between autonomous robotic assembly and traditional hard automation, currently utilized in large-scale manufacturing production, lies in the specific approaches used in locating, acquiring, manipulating, aligning, and assembling parts. An autonomous robotic assembly manipulator offers high flexibility and high capability to deal with the inherent system uncertainties, unknowns, and exceptions. This paper presents an autonomous mobile manipulator that effectively overcomes inherent system uncertainties and exceptions by utilizing control strategies that employ coordinated control, combine visual and force servoing, and incorporate sophisticated reactive task control. The mobile manipulation system has been demonstrated experimentally to achieve high reliability for a "pegin-hole" type of insertion assembly task that is commonly encountered in automotive wiring harness assembly.

Tracking the Kinematically Optimal Trajectories by Mobile Manipulators

“…Let us also note that it is easy to present the system of differential equations (13), (19) and (21) in a normal form. For this purpose,z in the right-hand side of Eq.…”

“…The second approach, considered in the works [16][17][18][19][20][21][22][23][24][25] is based on the application of the (generalized) pseudoinverse of the mobile manipulator Jacobian matrix in the control formulation. Control algorithms developed from the pseudo-inverse of the Jacobian matrix are attractive and further examined by many researchers, they also have some disadvantages.…”

Survey of Research for Performance Measurement of Mobile Manipulators

“…Hamner et al [12] developed an autonomous mobile manipulator system that was demonstrated experimentally to achieve "peg-in-hole" type of insertion assembly tasks. The system overcame inherent system uncertainties and exceptions by using control strategies that employ coordinated control, combined visual and force servoing, and incorporated reactive task control.…”

Embedded Vision-Based Autonomous Move-to-Grasp Approach for a Mobile Manipulator

“…A vision-based robot manipulator is designed and implemented in [12], and the robot manipulator can draw a picture and pick up balls with the assistance of vision systems. [13] presents an autonomous mobile manipulator that can overcome inherent system uncertainties and exceptions by utilizing three technologies: coordinated base and manipulator control, combined visual and force servoing, and error recovery through flexible task-level control, which is demonstrated by a ʺpeg-in-a-holeʺ task. Jain et al [14] present the assistive mobile manipulator EL-E with a focus on the subsystem that enables the robot to retrieve objects from and deliver objects to flat surfaces.…”