Robotic assembly tasks scheduling using Petri nets and heuristic functions

2002 ◽  
Author(s):  
S. Sutdhiraksa ◽  
R. Zurawski
Keyword(s):  
Petri Nets ◽  
Robotic Assembly ◽  
Tasks Scheduling ◽  
Assembly Tasks

scholarly journals Towards Autonomous Robotic Assembly: Using Combined Visual and Tactile Sensing for Adaptive Task Execution

2021 ◽  
Vol 101 (3) ◽  
Author(s):  
Korbinian Nottensteiner ◽  
Arne Sachtler ◽  
Alin Albu-Schäffer
Keyword(s):  
Autonomous Robots ◽  
Vision System ◽  
Dynamic Environments ◽  
Bayesian Framework ◽  
Experimental Results ◽  
Robotic Assembly ◽  
Tactile Sensing ◽  
Task Execution ◽  
Industrial Assembly ◽  
Assembly Tasks

AbstractRobotic assembly tasks are typically implemented in static settings in which parts are kept at fixed locations by making use of part holders. Very few works deal with the problem of moving parts in industrial assembly applications. However, having autonomous robots that are able to execute assembly tasks in dynamic environments could lead to more flexible facilities with reduced implementation efforts for individual products. In this paper, we present a general approach towards autonomous robotic assembly that combines visual and intrinsic tactile sensing to continuously track parts within a single Bayesian framework. Based on this, it is possible to implement object-centric assembly skills that are guided by the estimated poses of the parts, including cases where occlusions block the vision system. In particular, we investigate the application of this approach for peg-in-hole assembly. A tilt-and-align strategy is implemented using a Cartesian impedance controller, and combined with an adaptive path executor. Experimental results with multiple part combinations are provided and analyzed in detail.

Underactuated Part Alignment System (UPAS) for Industrial Assembly Tasks

2011 ◽  
Author(s):  
Brian J. Slaboch ◽  
Philip Voglewede
Keyword(s):  
Degrees Of Freedom ◽  
Vertical Plane ◽  
Cost Effective ◽  
Robotic Assembly ◽  
Robot Arm ◽  
Planning Techniques ◽  
Alignment System ◽  
Compliant Assembly ◽  
Industrial Assembly ◽  
Assembly Tasks

This paper introduces the Underactuated Part Alignment System (UPAS) as a cost-effective and flexible approach to aligning parts in the vertical plane prior to an industrial robotic assembly task. The advantage of the UPAS is that it utilizes the degrees of freedom (DOFs) of a SCARA (Selective Compliant Assembly Robot Arm) type robot in conjunction with an external fixed post to achieve the desired part alignment. Three path planning techniques will be presented that can be used with the UPAS to achieve the proper part rotation.

Introduction to the special issue: Intelligent robotic assembly

Robotica ◽  
1998 ◽  
Vol 16 (3) ◽  
pp. 237-238
Author(s):  
Hyung Suck Cho
Keyword(s):  
Robotic Assembly ◽  
Assembly System ◽  
Special Issue ◽  
Assembly Work ◽  
Unstructured Environments ◽  
Assembly Tasks ◽  
Intelligent Assembly System ◽  
Part Feeding

“Intelligent robotic assembly” indicates a complete degree of autonomy and a high adaptability in performing assembly tasks. For instance, a highly flexible and intelligent assembly system appears to be one that can autonomously perform any assembly work in entirely unstructured environments. This system does not require organized, orderly forms of part transport and presentation devices, such as assembly jig and fixture, part feeding devices, tray, magazine, conveyor, etc., but needs only an assembly table where parts to be assembled are stacked up in a cluttered manner.

On-line knowledge acquisition and enhancement in robotic assembly tasks

2015 ◽  
Vol 33 ◽  
pp. 78-89 ◽  
Author(s):  
J.L. Navarro-Gonzalez ◽  
I. Lopez-Juarez ◽  
R. Rios-Cabrera ◽  
K. Ordaz-Hernández
Keyword(s):  
Knowledge Acquisition ◽  
Robotic Assembly ◽  
On Line ◽  
Assembly Tasks
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