Robot concept for scalable, flexible assembly automation: A technology study on a harmless dual-armed robot

Kock, Soenke; Vittor, Timothy R.; Matthias, Björn; Jerregard, Henrik; Kallman, Mats; Lundberg, Ivan; Mellander, Roger; Hedelind, Mikael

doi:10.1109/isam.2011.5942358

Cited by 70 publications

(46 citation statements)

References 16 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The proposed RAS framework has been applied to perform a complete assembly of a PLC I/O module using an ABB YuMi robot (formerly known as ABB Dual Arm Concept Robot [18], [19]). The application involves pick, place, transfer, insertion, and snap-fit skills.…”

Section: Resultsmentioning

confidence: 99%

Combined pose-wrench and state machine representation for modeling Robotic Assembly Skills

Wahrburg¹,

Zeiss²,

Matthias³

et al. 2015

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Self Cite

View full text Add to dashboard Cite

Abstract-A new Robotic Assembly Skill (RAS) modeling framework is proposed. An assembly skill is a primitive that encapsulates the capabilities to coordinate, control and supervise an elementary robot task. To gain reusability of a primitive in alike robot tasks, the primitives are represented as generic templates that are parametrized for each situation with data from an assembly specification. A skill is represented in two ways, namely as a trajectory describing compliant motions in pose-wrench space and as a finite state machine. This approach comes with the potential to simplify robot programming and to improve robustness in robotic assembly due to inherent quality checking. The approach is implemented on an ABB YuMi robot performing the assembly of a programmable logic controller (PLC) I/O module.

show abstract

Section: Resultsmentioning

confidence: 99%

Combined pose-wrench and state machine representation for modeling Robotic Assembly Skills

Wahrburg¹,

Zeiss²,

Matthias³

et al. 2015

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Self Cite

View full text Add to dashboard Cite

show abstract

“…As shown above, new technical requisites are to be actually found in industry: "[...] being easily combined with manual labor in a safe and natural way, without adding safeguards and interlocks that increase engineering and installation effort beyond economic viability", as stated by Kock et al [81].…”

Section: Intuitive Interfacesmentioning

confidence: 99%

Robots Working with Humans or Humans Working with Robots? Searching for Social Dimensions in New Human-Robot Interaction in Industry

2016

View full text Add to dashboard Cite

Abstract:The focus of the following article is on the use of new robotic systems in the manufacturing industry with respect to the social dimension. Since "intuitive" human-machine interaction (HMI) in robotic systems becomes a significant objective of technical progress, new models of work organization are needed. This hypothesis will be investigated through the following two aims: The first aim is to identify relevant research questions related to the potential use of robotic systems in different systems of work organization at the manufacturing shop-floor level. The second aim is to discuss the conceptualization of (old) organizational problems of human-robot interaction (HRI). In this context, the article reflects on the limits of cognitive and perceptual workload for robot operators in complex working systems. This will be particularly relevant whenever more robots with different "roles" are to be increasingly used in the manufacturing industry. The integration of such complex socio-technical systems needs further empirical and conceptual research with regard to "social" aspects of the technical dimension. Future research should, therefore, also integrate economic and societal issues to understand the full dimensions of new human-robot interaction in industry today.

show abstract

“…While some research is carried out on systems built by simply placing two single-arm manipulators to share the same workspace [9,16,129], considerable effort has also been put into constructing dedicated dual arm platforms. Some of these put the effort on manipulation capability, and target industrial manufacturing applications, such as the Toyota Dual Arm Robot [132], the Yaskawa Motoman SDA10D [14], the ABB Frida [135] the Korea Institute of Machinery & Materials dual arm robot [28], the Kawada Hiro [29], the SHARP household robot [27], or the Pi4 Workerbot [30], each of which is shaped like a "torso", and primarily intended for stationary deployment. Similarly, prototypical torsotype robots have also been constructed for different research purposes, like the Umass.…”

Section: Dual Arm Systemsmentioning

confidence: 99%

Dual arm manipulation—A survey

Smith

Karayiannidis

Nalpantidis

et al. 2012

Robotics and Autonomous Systems

452

208

View full text Add to dashboard Cite

Recent advances in both anthropomorphic robots and bimanual industrial manipulators had led to an increased interest in the specific problems pertaining to dual arm manipulation. For the future, we foresee robots performing humanlike tasks in both domestic and industrial settings. It is therefore natural to study specifics of dual arm manipulation in humans and methods for using the resulting knowledge in robot control. The related scientific problems range from low-level control to high level task planning and execution. This review aims to summarize the current state of the art from the heterogenous range of fields that study the different aspects of these problems specifically in dual arm manipulation.

show abstract

Robot concept for scalable, flexible assembly automation: A technology study on a harmless dual-armed robot

Cited by 70 publications

References 16 publications

Combined pose-wrench and state machine representation for modeling Robotic Assembly Skills

Combined pose-wrench and state machine representation for modeling Robotic Assembly Skills

Robots Working with Humans or Humans Working with Robots? Searching for Social Dimensions in New Human-Robot Interaction in Industry

Dual arm manipulation—A survey

Contact Info

Product

Resources

About