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Efficient, Collaborative Screw Assembly in a Shared Workspace

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Intelligent Autonomous Systems 15 (IAS 2018)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 867))

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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.

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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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Authors and Affiliations

  1. FZI Forschungszentrum Informatik, Haid-und-Neu-Straße 10–14, 76131, Karlsruhe, Germany

    Christian Juelg, Andreas Hermann, Arne Roennau & Rüdiger Dillmann

Authors
  1. Christian Juelg
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  2. Andreas Hermann
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  3. Arne Roennau
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  4. Rüdiger Dillmann
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Corresponding author

Correspondence to Christian Juelg .

Editor information

Editors and Affiliations

  1. Baden-Wuerttemberg Cooperative State University, Karlsruhe, Germany

    Marcus Strand

  2. Humanoids and Intelligence Systems Lab, KIT - Karlsruher Institut für Technologie, Karlsruhe, Germany

    Rüdiger Dillmann

  3. University of Padua , Padua, Italy

    Emanuele Menegatti

  4. University of Padua, Padua, Italy

    Stefano Ghidoni

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Juelg, C., Hermann, A., Roennau, A., Dillmann, R. (2019). Efficient, Collaborative Screw Assembly in a Shared Workspace. In: Strand, M., Dillmann, R., Menegatti, E., Ghidoni, S. (eds) Intelligent Autonomous Systems 15. IAS 2018. Advances in Intelligent Systems and Computing, vol 867. Springer, Cham. https://doi.org/10.1007/978-3-030-01370-7_65

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