Related papers: Autonomous Robotic Assembly: From Part Singulation…
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…
Fine robotic assembly, in which the parts to be assembled are small and fragile and lie in an unstructured environment, is still out of reach of today's industrial robots. The main difficulties arise in the precise localization of the parts…
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…
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…
Mobile autonomous robots have the potential to revolutionize manufacturing processes. However, employing large robot fleets in manufacturing requires addressing challenges including collision-free movement in a shared workspace, effective…
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…
We introduce a robotic assembly system that streamlines the design-to-make workflow for going from a CAD model of a product assembly to a fully programmed and adaptive assembly process. Our system captures (in the CAD tool) the intent of…
Part assembly is a typical but challenging task in robotics, where robots assemble a set of individual parts into a complete shape. In this paper, we develop a robotic assembly simulation environment for furniture assembly. We formulate the…
The automated assembly of complex products requires a system that can automatically plan a physically feasible sequence of actions for assembling many parts together. In this paper, we present ASAP, a physics-based planning approach for…
In industry assembly lines, parts feeding machines are widely employed as the prologue of the whole procedure. They play the role of sorting the parts randomly placed in bins to the state with specified pose. With the help of the parts…
Large demand for robotics and automation has been reflected in the sanding works, as current manual operations are labor-intensive, without consistent quality, and also subject to safety and health issues. While several machines have been…
Multi-robot assembly systems are becoming increasingly appealing in manufacturing due to their ability to automatically, flexibly, and quickly construct desired structural designs. However, effectively planning for these systems in a manner…
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…
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…
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…
In this paper, we consider folding assembly as an assembly primitive suitable for dual-arm robotic assembly, that can be integrated in a higher level assembly strategy. The system composed by two pieces in contact is modelled as an…
Robotic automation has transformed scientific workflows in domains such as chemistry and materials science, yet free-space optics, which is a high precision domain, remains largely manual. Optical systems impose strict spatial and angular…
Robust task-oriented grasp planning is vital for autonomous robotic precision assembly tasks. Knowledge of the objects' geometry and preconditions of the target task should be incorporated when determining the proper grasp to execute.…
Robotic assembly systems traditionally require substantial manual engineering effort to integrate new tasks, adapt to new environments, and improve performance over time. This paper presents a framework for autonomous integration and…
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…