一个易于重构的机器人装配系统

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI:10.1109/ROBOT.2003.1241982

Y. Maeda, H. Kikuchi, H. Izawa, H. Ogawa, M. Sugi, T. Arai

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引用次数: 14

摘要

提出了一种具有分散结构的柔性机器人装配系统。该系统具有较高的可重构性，能够适应制造环境的变化;一个新的机器人可以很容易地安装到系统中，并立即与其他设备一起执行装配任务。为了便于重新配置，系统集成了新安装机器人位置的半自动校准方法。我们实现的装配系统由常规机械手和带式输送机组成。在实验中，成功安装了一种新的移动机械手，并与其他现有机械手联合进行了装配操作。

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An easily reconfigurable robotic assembly system

In this paper, a flexible robotic assembly system with decentralized architecture is presented. The system is designed to achieve high reconfigurability so that it can adapt to changes in manufacturing environment; a new robot can be easily installed to the system and execute assembly tasks immediately, together with other devices. For easier reconfiguration, a semi-automated calibration method for positions of newly installed robots is integrated into the system. Our implementation of the assembly system consists of conventional manipulators and a belt conveyor. In the experiment, a new mobile manipulator was installed successfully and performed an assembly operation jointly with other existing manipulators.

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来源期刊

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)

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