Mobile robotic dynamic tracking for assembly tasks

Abstract

Abstract-Traditional industrial robots have been widely used in automotive manufacturing for nearly 30 years. However, there have been very few attempts to automate mobile robotic systems for final assembly operations, despite their potential for high flexibility and capability. This paper focuses on methods of tracking a dynamic moving vehicle that is similar to the vehicle body on a moving assembly line. We have investigated two tracking methods, one using a laser scanner and the other using a visual fiducial marker. We have also studied the tracking performance of a mobile base using the pure pursuit algorithm with low pass filtering. Experimental results are presented to illustrate the remaining main challenges in achieving robotic assembly on moving assembly lines.

Localization and control of an autonomous orchard vehicle

“…To verify the path following properties of the model-based controller (MBC) + localization method proposed here, we repeated the experiments with the pure pursuit controller (PPC) + particle filter. Details about the PPC + particle filter can be found in (Hamner et al, 2009). In the experimental results presented, the comparison of the MBC and the PPC methods include (the MBC + localization method proposed) and (the PPC + particle filter), respectively.…”

“…Despite the encouraging results obtained thus far, significant advances are needed before these vehicles can become part of a farmer's toolbox. Among others, at the top of our list is a path generation and control methodology that compensates for unmodeled dynamics-chief among them is rear wheel sideslip-and provides better path tracking then the current pure pursuit controller (Hamner et al, 2009), (Hamner et al, 2011). This is particularly important during the first part of the turn, when the empty space ahead of the vehicle does not provide any clues for localization via range and the vehicle has to rely solely on dead reckoning for navigation.…”

Robot Teaching and Learning Based on “Adult” and “Child” Robot Concept

“…With a camera in hand, AIMMs can fulfill all the limitations of camera-in-hand [8] and camerato-hand [9] configurations. However, the existing research about AIMM is mainly focused on performing specific tasks such as transferring the materials [10] or performing simple assembly on a moving production line [11]. The calibration between a robot and its environment is needed.…”

Dynamic Metrology Performance Measurement of a Six Degrees-of-Freedom Tracking System Used in Smart Manufacturing

“…It is predicted that future smart manufacturing systems will include robot arms performing high-tolerance assembly tasks, AGVs making fine adjustment of docking positions, and complex coordination of mobile manipulators (i.e., robot arms mounted on mobile bases) that offer the combination of high mobility and manipulability. For example, an ideal utilization of the kinematic redundancy in the mobile manipulator is to perform assembly tasks on a moving vehicle body [6,7,14]. It is also predicted that next-generation robot systems will be more flexible with multiple degree-of-freedom "robotic hands" and will provide levels of versatility and control closer to that of a human.…”