柔性机器人装配作业自适应系统

2016 IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA) Pub Date : 2016-09-01 DOI:10.1109/ETFA.2016.7733544

D. Le, Mayur V. Andulkar, Wenchao Zou, J. P. Städter, U. Berger

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引用次数: 4

摘要

本文提出了一种用于半结构化环境下装配作业的柔性机器人系统。该系统使用了一个可移动的机器人，配备了一个任意安装的3D摄像头和一个机器人抓手上的2D摄像头，用于精确的目标检测。该系统基于机器人操作系统(ROS)开发，并使用最先进的轨迹规划器MoveIt进行无碰撞机器人运动规划。利用双相机和机器人末端执行器的组合对系统进行目标识别，发现机器人工作空间中物体沿X和Y轴的偏差在2.2 mm范围内。此外，还说明了所提出的装配任务系统的实现过程。

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Self adaptive system for flexible robot assembly operation

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 MoveIt 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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2016 IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA)

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