Automated Generation of Robot Trajectories for Assembly Processes Requiring Only Sparse Manual Input

Steffen Madsen, Milad Damanpak Jami, Henrik Gordon Petersen

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Abstract

In this paper, a new method for offline programming part assembly operations with tight fittings is presented. More specifically, an assembly process trajectory generator with self programming capabilities is developed where the user needs to provide only very sparse and intuitive input. The presented system is added to the existing skill based robot software package VEROSIM. In VEROSIM, the trajectory generator is applied to an industrial test platform for assembling insulin injection devices at the Danish pharmaceutical company Novo Nordisk, where it is shown that the trajectories as expected are executable. Hence, the method is a strong alternative to online approaches such as programming by demonstration.

OriginalsprogEngelsk
Titel2021 IEEE International Conference on Robotics and Automation (ICRA)
ForlagIEEE
Publikationsdato18. okt. 2021
Sider700-707
ISBN (Elektronisk)9781728190778
DOI
StatusUdgivet - 18. okt. 2021
Begivenhed2021 International Conference on Robotics and Automation (ICRA 2021), IEEE. - Xi'an, Kina
Varighed: 30. maj 20215. jun. 2021

Konference

Konference2021 International Conference on Robotics and Automation (ICRA 2021), IEEE.
Land/OmrådeKina
ByXi'an
Periode30/05/202105/06/2021

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