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Efficient, Collaborative Screw Assembly in a Shared Workspace

  • Christian JuelgEmail author
  • Andreas Hermann
  • Arne Roennau
  • Rüdiger Dillmann
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 867)

Abstract

We provide online dynamic robot task selection in human-robot collaborative contexts through a voxel-based collision avoidance system. This paper describes a partially automated screw assembly work-cell with a worker and a 6-DOF light-weight robot arm. The shared workspace is monitored by 3D point-cloud sensors. The dynamic task selection reduces robot waiting due to obstacles by exploiting situations where multiple tasks are available for the robot. Massively parallel evaluation of voxelized robot trajectories allows online avoidance of blocked paths. The robustness of the screw assembly process is increased through Cartesian compliance based on force-torque sensor feedback.

Keywords

Collaborative robots Human-robot-interaction Robots for Industry 4.0 Robot vision 

Notes

Acknowledgment

This research was funded in part by the Baden-Württemberg Stiftung in the project KolRob – Kollaborativer, intelligenter Roboterkollege für den Facharbeiter des Mittelstands.

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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Christian Juelg
    • 1
    Email author
  • Andreas Hermann
    • 1
  • Arne Roennau
    • 1
  • Rüdiger Dillmann
    • 1
  1. 1.FZI Forschungszentrum InformatikKarlsruheGermany

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