期刊
INTELLIGENT SERVICE ROBOTICS
卷 15, 期 4, 页码 441-457出版社
SPRINGER HEIDELBERG
DOI: 10.1007/s11370-022-00427-5
关键词
Assembly task; Furniture assembly; Automation; Motion planning; Peg-in-hole; Torque control
类别
资金
- Industrial Strategic Technology Development Program [20004953]
- Ministry of Trade, Industry & Energy(MOTIE, Korea)
This paper presents a novel framework for the complete assembly of a chair based on assembly instructions. The framework utilizes task templates and a task compiler to construct robot tasks and proposes enhanced techniques related to motion planning and control. The framework has been validated through the assembly of a chair, and the success rate of a benchmark task was evaluated.
This paper presents a novel framework for the complete assembly of a chair based on assembly instructions. First, the framework utilizes task templates and task compiler that construct robot tasks from the given assembly instructions such as connection relationships and assembly sequences. Each task template contains the motion planning and control strategies to accomplish each task. The task compiler converts assembly instructions into a series of robotic tasks by utilizing the task templates. Second, the framework proposes enhanced techniques related to the motion planning and control. In the motion planning, optimized goal configurations are computed away from the joint limit and singularity to successfully execute the subsequent assembly motion. Regarding control strategy, macro- and micro-motions are introduced to modularize motions covering various assembly types in the presence of uncertainties. To validate the framework, the assembly of a chair was performed completely. Additionally, the most used task, pin insertion task for both simple and complex shapes, was selected as a benchmark task and evaluated by the success rate.
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