Combining compliance control, CAD based localization, and a multi-modal gripper for rapid and robust programming of assembly tasks
Gorjup G, Gao G, Dwivedi A, Liarokapis M (2020)
Publication Type: Conference contribution
Publication year: 2020
Journal
Publisher: Institute of Electrical and Electronics Engineers Inc.
Pages Range: 9064-9071
Conference Proceedings Title: IEEE International Conference on Intelligent Robots and Systems
Event location: Las Vegas, NV
ISBN: 9781728162126
DOI: 10.1109/IROS45743.2020.9340869
Abstract
Current trends in industrial automation favor agile systems that allow adaptation to rapidly changing task requirements and facilitate customized production in smaller batches. This work presents a flexible manufacturing system relying on compliance control, CAD based localization, and a multi-modal gripper to enable fast and efficient task programming for assembly operations. CAD file processing is employed to extract component pose data from 3D assembly models, while the system's active compliance compensates for errors in calibration or positioning. To minimize retooling delays, a novel gripper design incorporating both a parallel jaw element and a rotating module is proposed. The developed system placed first in the manufacturing track of the Robotic Grasping and Manipulation Competition of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2019, experimentally validating its efficiency.
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New Zealand (NZ)How to cite
APA:
Gorjup, G., Gao, G., Dwivedi, A., & Liarokapis, M. (2020). Combining compliance control, CAD based localization, and a multi-modal gripper for rapid and robust programming of assembly tasks. In IEEE International Conference on Intelligent Robots and Systems (pp. 9064-9071). Las Vegas, NV, US: Institute of Electrical and Electronics Engineers Inc..
MLA:
Gorjup, Gal, et al. "Combining compliance control, CAD based localization, and a multi-modal gripper for rapid and robust programming of assembly tasks." Proceedings of the 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020, Las Vegas, NV Institute of Electrical and Electronics Engineers Inc., 2020. 9064-9071.
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