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ABSTRACT Cell production systems for assembly operations generally require tool changes using several hands and a customized work table. The initial setting and resetting of the assembly system are costly.… Click to show full abstract
ABSTRACT Cell production systems for assembly operations generally require tool changes using several hands and a customized work table. The initial setting and resetting of the assembly system are costly. We implemented a system comprising the use of only two hands and without the requirement of tool changers. In addition, multiple sensors are used to perform tasks robustly to avoid errors. The peg-in-hole task is performed robustly against errors without the precise positioning of objects. The objective is to develop a system that is lean and agile and can be set up quickly. We evaluate this system based on the task-board and assembly tasks during the assembly challenge in the industrial robotics category of the World Robot Summit 2018. GRAPHICAL ABSTRACT
Journal Title: Advanced Robotics
Year Published: 2020
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