Self Adaptive System for Flexible Robot Assembly Operation

被引：0
作者：
Le, Duc Tho [1 ]
Andulkar, Mayur [1 ]
Zou, Wenchao [1 ]
Stidter, J. Philipp [1 ]
Berger, Ulrich [1 ]
机构：
[1] Brandenburg Univ Technol Cottbus Senftenberg, Chair Automat Technol, Cottbus, Germany
来源：
2016 IEEE 21ST INTERNATIONAL CONFERENCE ON EMERGING TECHNOLOGIES AND FACTORY AUTOMATION (ETFA) | 2016年
关键词：
flexible robot assembly; precise object recognition; compliant robot; vision system; self adaptive system;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper a flexible robot system for assembly operations in a semi structured environment is proposed. The system uses a moveable robot equipped with an arbitrarily mounted 3D camera and a 2D camera on the robot gripper for accurate object detection. The system is developed based on the Robot Operating System (ROS) and uses the state of the art trajectory planner Movelt for collision free robot motion planning. The object recognition for the system is performed using a combination of the two camera's and robot end effector and the deviation of objects in the robot workspace is found to be in the range of 2.2 mm along X and Y axes. Furthermore, an implementation procedure of the proposed system for assembly task is explained.
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页数：5
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