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Carnegie Mellon Robotics Institute

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Abstract

The fundamental difference between autonomous robotic assembly and traditional hard automation, currently utilized in large-scale manufacturing production, lies in the speciﬁc approaches used in locating, acquiring, manipulating, aligning, and assembling parts. An autonomous robotic assembly manipulator offers high ﬂexibility and high capability to deal with the inherent system uncertainties, unknowns, and exceptions. This paper presents an autonomous mobile manipulator that effectively overcomes inherent system uncertainties and exceptions by tilizing control strategies that employ coordinated control, combine visual and force ervoing, and incorporate sophisticated reactive task control. The mobile manipulation system has been demonstrated experimentally to achieve high reliability for a “peg-in-hole” type of insertion assembly task that is commonly encountered in automotive wiring harness assembly.

Notes

Associated Center(s) / Consortia: Field Robotics Center

Number of pages: 19

Text Reference

Bradley Hamner, Seth C. Koterba, Jane Shi, Reid Simmons, and Sanjiv Singh, "An autonomous mobile manipulator for assembly tasks," Autonomous Robots, Vol. 28, No. 1, January, 2010, pp. 131 - 149.

BibTeX Reference

@article{Hamner_2010_6515,
   author = "Bradley Hamner and Seth C Koterba and Jane Shi and Reid Simmons and Sanjiv Singh",
   title = "An autonomous mobile manipulator for assembly tasks",
   journal = "Autonomous Robots",
   pages = "131 - 149",
   month = "January",
   year = "2010",
   volume = "28",
   number = "1",
}

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