Related papers: On CAD Informed Adaptive Robotic Assembly
In this work, we propose a framework called Auto-Assembly for automated robotic assembly from design files and demonstrate a practical implementation on modular parts joined by fastening using a robotic cell consisting of two robots. We…
The motivation of this paper is to develop a smart system using multi-modal vision for next-generation mechanical assembly. It includes two phases where in the first phase human beings teach the assembly structure to a robot and in the…
Imagine a robot that can assemble a functional product from the individual parts presented in any configuration to the robot. Designing such a robotic system is a complex problem which presents several open challenges. To bypass these…
In this work, motivated by recent manufacturing trends, we investigate autonomous robotic assembly. Industrial assembly tasks require contact-rich manipulation skills, which are challenging to acquire using classical control and motion…
An effective human-robot collaborative process results in the reduction of the operator's workload, promoting a more efficient, productive, safer and less error-prone working environment. However, the implementation of collaborative robots…
We present an AI-assisted Augmented Reality assembly workflow that uses deep learning-based object recognition to identify different assembly components and display step-by-step instructions. For each assembly step, the system displays a…
For planning an assembly of a product from a given set of parts, robots necessitate certain cognitive skills: high-level planning is needed to decide the order of actuation actions, while geometric reasoning is needed to check the…
Vision-based robotic assembly is a crucial yet challenging task as the interaction with multiple objects requires high levels of precision. In this paper, we propose an integrated 6D robotic system to perceive, grasp, manipulate and…
Individualized manufacturing is becoming an important approach as a means to fulfill increasingly diverse and specific consumer requirements and expectations. While there are various solutions to the implementation of the manufacturing…
The Industrial Assembly Challenge at the World Robot Summit was held in 2018 to showcase the state-of-the-art of autonomous manufacturing systems. The challenge included various tasks, such as bin picking, kitting, and assembly of standard…
Significant progress in robotics reveals new opportunities to advance manufacturing. Next-generation industrial automation will require both integration of distinct robotic technologies and their application to challenging industrial…
Image-guided object assembly represents a burgeoning research topic in computer vision. This paper introduces a novel task: translating multi-view images of a structural 3D model (for example, one constructed with building blocks drawn from…
Autonomous assembly is a crucial capability for robots in many applications. For this task, several problems such as obstacle avoidance, motion planning, and actuator control have been extensively studied in robotics. However, when it comes…
Robotic assembly is a longstanding challenge, requiring contact-rich interaction and high precision and accuracy. Many applications also require adaptivity to diverse parts, poses, and environments, as well as low cycle times. In other…
This paper proposes a robot assembly planning method by automatically reading the graphical instruction manuals design for humans. Essentially, the method generates an Assembly Task Sequence Graph (ATSG) by recognizing a graphical…
Recent advances in augmented reality (AR) have enabled interactive systems that assist users in physical assembly tasks. In this paper, we present an AR-assisted assembly workflow that leverages object recognition and hand tracking to (1)…
In this study we evaluated human-robot collaboration models in an integrated human-robot operational system. An integrated work cell which includes a robotic arm working collaboratively with a human worker was specially designed for…
A key challenge towards the goal of multi-part assembly tasks is finding robust sensorimotor control methods in the presence of uncertainty. In contrast to previous works that rely on a priori knowledge on whether two parts match, we aim to…
In automated manufacturing, robots must reliably assemble parts of various geometries and low tolerances. Ideally, they plan the required motions autonomously. This poses a substantial challenge due to high-dimensional state spaces and…
Assembly modeling is a core task of computer aided design (CAD), comprising around one third of the work in a CAD workflow. Optimizing this process therefore represents a huge opportunity in the design of a CAD system, but current research…