A roadmap for autonomous robotic assembly

Bruyninckx, Herman; Lefebvre, Tine; Mihaylova, L.; Staffetti, Ernesto; Schutter, Joris De; Xiao, Juliang

doi:10.1109/isatp.2001.928965

Cited by 17 publications

(6 citation statements)

References 14 publications

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“…An earlier framework for specifying end-effector based motion tasks is the operational space formulation [9], where generalized task specification matrices are used. A survey of how robotic assembly should be performed is proposed in [2].…”

Section: Introductionmentioning

confidence: 99%

Force controlled assembly of emergency stop button

Stolt

Linderoth

Robertsson

et al. 2011

2011 IEEE International Conference on Robotics and Automation

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Modern industrial robots are fast and have very good repetitional accuracy, which have made them indispensable in many manufacturing applications. However, they are usually programmed to follow desired trajectories and only get feedback from position sensors. This works fine as long as the environment is very well structured, but does not give good robustness to objects not being positioned or gripped accurately. A solution is to use additional sensing, such as force sensors and vision. How to combine the data from the different sensors and use it in a good way to control the robot is still an area of research. This paper describes an assembly scenario where a switch should be snapped into place in a box. Force sensing is used to resolve the uncertain position of the parts and detect the snap at the end of the operation. During the assembly an uncertain distance is estimated to improve the performance. By performing the assembly several times, learning is used to generate feed-forward data, which is used to speed up the assembly.

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Section: Introductionmentioning

confidence: 99%

Force controlled assembly of emergency stop button

Stolt

Linderoth

Robertsson

et al. 2011

2011 IEEE International Conference on Robotics and Automation

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“…In research, ideas are brought forward that deviate from static "digital chains". Behavioral and cyber-physical fabrication processes are defined by a set of adaptive rules and performative criteria (Brugnaro et al 2016;Helm et al 2017;Vercruysse et al 2018) and afford the ability to deal with uncertainties from the real world (Bruyninckx et al 2001;Jeffers 2016;Vasey et al 2014). In order to respond to the uncertainties, the fabrication system needs to be able to sense the as-built structure.…”

Section: Sensing System and Adaptive Fabrication Workflowmentioning

confidence: 99%

“…In order to respond to the uncertainties, the fabrication system needs to be able to sense the as-built structure. An open design system is also necessary in order to react to the updated information (Crolla 2017) and allow adaptive adjustment to the next fabrication tasks (Bruyninckx et al 2001).…”

Section: Sensing System and Adaptive Fabrication Workflowmentioning

confidence: 99%

Working with Uncertainties: An Adaptive Fabrication Workflow for Bamboo Structures

Yue

Zhong

Kaiser³

et al. 2021

Proceedings of the 2020 DigitalFUTURES

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This paper presents and investigates a cyber-physical fabrication workflow, which can respond to the deviations between built- and designed form in real-time with vision augmentation. We apply this method for large scale structures built from natural bamboo poles. Raw bamboo poles obtain evolutionarily optimized fibrous layouts ideally suitable for lightweight and sustainable building construction. Nevertheless, their intrinsically imprecise geometries pose a challenge for reliable, automated construction processes. Despite recent digital advancements, building with bamboo poles is still a labor-intensive task and restricted to building typologies where accuracy is of minor importance. The integration of structural bamboo poles with other building layers is often limited by tolerance issues at the interfaces, especially for large scale structures where deviations accumulate incrementally. To address these challenges, an adaptive fabrication process is developed, in which existing deviations can be compensated by changing the geometry of subsequent joints to iteratively correct the pose of further elements. A vision-based sensing system is employed to three-dimensionally scan the bamboo elements before and during construction. Computer vision algorithms are used to process and interpret the sensory data. The updated conditions are streamed to the computational model which computes tailor-made bending stiff joint geometries that can then be directly fabricated on-the-fly. In this paper, we contextualize our research and investigate the performance domains of the proposed workflow through initial fabrication tests. Several application scenarios are further proposed for full scale vision-augmented bamboo construction systems.

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“…Task-level assembly models and sequences should be converted to lower-level specific motion commands such as velocity [4] [5].…”

Section: Introductionmentioning

confidence: 99%

Motion planning of bimanual robot for assembly

Hwang

Lee

Chung

2007

2007 IEEE International Conference on Systems, Man and Cybernetics

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This paper presents motion planning method for bimanual robot for bimanual assembly task. Bimanual robotic assembly is modeled at the task-level using contact states of workpieces and their transitions. The lower-level velocity commands of workpieces are automatically derived by solving optimization problem formulated with assembly constraints, position of the workpieces, and kinematics of manipulators. The motion requirements of workpieces are transformed to the motion command of the bimanual robot. A hierarchical coordination scheme for bimanual robot is also proposed to perform cooperative assembly motions. The proposed approach is evaluated with experiments on peg-in-hole assembly with an L-shaped peg.

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A roadmap for autonomous robotic assembly

Cited by 17 publications

References 14 publications

Force controlled assembly of emergency stop button

Force controlled assembly of emergency stop button

Working with Uncertainties: An Adaptive Fabrication Workflow for Bamboo Structures

Motion planning of bimanual robot for assembly

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