A skill-based approach towards hybrid assembly

被引：29

作者：

Wallhoff, Frank ^{[1
]}

Blume, Juergen ^{[1
]}

Bannat, Alexander ^{[1
]}

Roesel, Wolfgang ^{[2
]}

Lenz, Claus

Knoll, Alois

机构：

[1] Tech Univ Munich, D-80333 Munich, Germany

[2] Tech Univ Munich, Inst Machine Tools & Ind Management, D-85748 Garching, Germany

来源：

ADVANCED ENGINEERING INFORMATICS | 2010年 / 24卷 / 03期

关键词：

Adaptive control; Hybrid assembly; Instruction based learning; Multi-modal interaction; Worker surveillance; SYSTEMS;

D O I：

10.1016/j.aei.2010.05.013

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

Efficient cooperation of humans and industrial robots is based on a common understanding of the task as well as the perception and understanding of the partner's action in the next step In this article, a hybrid assembly station is presented, in which an industrial robot can learn new tasks from worker instructions. The learned task is performed by both the robot and the human worker together in a shared workspace This workspace is monitored using multi-sensory perception for detecting persons as well as objects The environmental data are processed within the collision avoidance module to provide safety for persons and equipment The real-time capable software architecture and the orchestration of the involved modules using a knowledge-based system controller is presented Finally, the functionality is demonstrated within an experimental cell in a real-world production scenario (C) 2010 Elsevier Ltd All rights reserved

引用

页码：329 / 339

页数：11

共 39 条

[31]

Schraft RD, 2005, IEEE INT CONF ROBOT, P4074

[32] Applications of agent-based systems in intelligent manufacturing: An updated review [J].

Shen, Weiming ;

Hao, Qi ;

Yoon, Hyun Joong ;

Norrie, Douglas H. .

ADVANCED ENGINEERING INFORMATICS, 2006, 20 (04) :415-431

[33] Acquiring robust, force-based assembly skills from human demonstration [J].

Skubic, M ;

Volz, RA .

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 2000, 16 (06) :772-781

[34]

Van den Bergen G., 1999, Journal of Graphics Tools, V4, P7, DOI 10.1080/10867651.1999.10487502

[35]

ZAEH MF, 2009, INT C CHANG AG REC V, P99

[36]

ZAH M, 2007, INT C CHANG AG REC V

[37]

ZAH M, 2009, INT C SOC ROB ICSR F

[38]

*ZER, INT COMM ENG

[39]

2009, WORLD ROBOTICS EXECU

← 1 2 3 4 →