Development of an advanced robot for autonomous assembly

Hörmann, Andreas; Rembold, Ulrich

doi:10.1109/robot.1991.131992

Cited by 19 publications

(11 citation statements)

References 3 publications

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“…For example, in the mid 1980s, Hörmann, Lueth, Nassal, and Rembold developed the mobile, dual-armed Karlsruhe Autonomous Mobile Robot (KAMRO) platform (Hörmann and Rembold 1991; Lueth et al 1995). The robot consisted of two Puma 260 arms rigidly mounted on a mobile platform.…”

Section: Multi-arm Assembly Strategiesmentioning

confidence: 99%

Multi-Robot Assembly Strategies and Metrics

2018

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We present a survey of multi-robot assembly applications and methods and describe trends and general insights into the multi-robot assembly problem for industrial applications. We focus on fixtureless assembly strategies featuring two or more robotic systems. Such robotic systems include industrial robot arms, dexterous robotic hands, and autonomous mobile platforms, such as automated guided vehicles. In this survey, we identify the types of assemblies that are enabled by utilizing multiple robots, the algorithms that synchronize the motions of the robots to complete the assembly operations, and the metrics used to assess the quality and performance of the assemblies.

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Section: Multi-arm Assembly Strategiesmentioning

confidence: 99%

Multi-Robot Assembly Strategies and Metrics

2018

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“…We fit ellipse using them and use the center point of the ellipse for the computation of rotation angle. Using two center points 1 p and 2 p , the rotation angle is computed as follows: …”

Section: Rotation Estimation Of Tie Rodmentioning

confidence: 99%

“…Robots are used in various applications of objects handling, parts assembly and welding for the automation of manufacturing processes [1][2]. Traditionally, they are used in relatively fixed and inflexible working conditions thorough setting working positions by teaching pendent manually.…”

Section: Introductionmentioning

confidence: 99%

Automatic Manipulation of Tie Rod using Robot with 3D Sensing System

Ha¹,

Lee²

2014

Journal of Electrical Engineering and Technology

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-Robots are widely used in various automation processes in industrial applications.Traditionally, it operated under fixed condition by teaching operating positions. Recently, diverse 2D/3D sensors are used together with robot to give more flexibility in operation. In this paper, we deal with automatic manipulation of tie rod in automotive production line. Sensor system consisted of a camera and slit laser is used for the acquisition of 3D information and it is used attached on the robot. Nut runner is used for the manipulation of stop nut and adjust bolt on the tie rod. Detailed procedures for the automatic manipulation of tie rod are presented. In the presented approach, we effectively use 3D information in whole procedure such as computing distance to the tie rod, rotation angle of bolt and nut. Experimental results show the feasibility of the proposed algorithm.

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“…Since this benchmark was originally designed for evaluating programming systems, it may not cover some aspects of dexterity. In addition, this benchmark has been used within limited numbers of research communities [17].…”

Section: Other Possibilities For Benchmarkingmentioning

confidence: 99%

'Toy problem' as the benchmark test for teleoperation systems

Yokokohji¹,

Iida²,

Yoshikawa³

2003

Advanced Robotics

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A uni ed hand/ arm master-slave system was developed to conduct dexterous tasks by teleoperation. Both the master and the slave consist of a two-ngered hand and a 3-d.o.f. planer manipulator. The system is also aimed at investigating the bottleneck of autonomous robotic manipulation systems. To evaluate the performance of individual teleoperation systems all over the world under equal conditions, we propose toy block assembling (LEGO ® blocks) as the benchmark test for teleoperation systems. Using our hand/ arm master-slave system, we announce the measured completion time for assembling some block structures, expecting other research group to try the same task in the future.

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Development of an advanced robot for autonomous assembly

Cited by 19 publications

References 3 publications

Multi-Robot Assembly Strategies and Metrics

Multi-Robot Assembly Strategies and Metrics

Automatic Manipulation of Tie Rod using Robot with 3D Sensing System

'Toy problem' as the benchmark test for teleoperation systems

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