Robotic grasping and assembly of screws based on visual servoing using point features

Hao, Tiantian; Xu, De

doi:10.1007/s00170-023-12562-z

Cited by 5 publications

(1 citation statement)

References 20 publications

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“…Focusing on precise industrial operations, Pitipong et al [13] propose a visual servoing strategy for determining and correcting the alignment of an automated robot screwfastening operation on a 4-DOF robot. Hao and Xu [14] also present an image-based visual servoing algorithm for screw grasping and assembling, adding a robotic assembly workflow to guide the process. Even so, sparse applications are found for applying visual servoing in mobile manipulators for precise industrial tasks.…”

Section: Related Workmentioning

confidence: 99%

Visual Servoing Architecture of Mobile Manipulators for Precise Industrial Operations on Moving Objects

González Huarte,

Ibarguren

2024

Robotics

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Although the use of articulated robots and AGVs is common in many industrial sectors such as automotive or aeronautics, the use of mobile manipulators is not widespread nowadays. Even so, the majority of applications separate the navigation and manipulation tasks, avoiding simultaneous movements of the platform and arm. The capability to use mobile manipulators to perform operations on moving objects would open the door to new applications such as the riveting or screwing of parts transported by conveyor belts or AGVs. This paper presents a novel position-based visual servoing (PBVS) architecture for mobile manipulators for precise industrial operations on moving parts. The proposed architecture includes a state machine to guide the process through the different phases of the task to ensure its correct execution. The approach has been validated in an industrial environment for screw-fastening operations, obtaining promising results and metrics.

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Section: Related Workmentioning

confidence: 99%