A case study of automated dual-arm manipulation in industrial applications

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dc.contributor.authorSolana, Yoann
dc.contributor.authorCueva, Hector Herrero
dc.contributor.authorGarcía, Alvaro Rubio
dc.contributor.authorCalvo, Sergio Martínez
dc.contributor.authorCampos, Urko Esnaola
dc.contributor.authorSallé, Damien
dc.contributor.authorCortés, Juan
dc.contributor.institutionROBOTICA_FLEX
dc.date.accessioned2024-07-24T11:56:15Z
dc.date.available2024-07-24T11:56:15Z
dc.date.issued2019-09
dc.descriptionPublisher Copyright: © 2019 IEEE.
dc.description.abstractNowadays, factories are required to increase production flexibility in order to manufacture small-lot variants, rapidly adapting to customer demands. Furthermore, manufacturing may involve complex manipulation tasks, usually performed by human workers. In such a context, traditional robotic systems are not competitive due to the huge costs of installation, maintenance and adaptation. A new generation of robots, equipped with multiple arms, is appearing as an attractive alternative because of their potential versatility and ability to execute intricate manipulation tasks. To facilitate the integration of these robots in a work-cell and a rapid adaptation to different tasks, easy-to-use programming interfaces and a high degree of autonomy are mandatory. Autonomous task and motion planning are particularly relevant in this context. In this paper, we present our recent progress in this direction. Hardware and software developments are explained in the context of a pilot dual-arm robot station that is being integrated in the production line of a big airplane manufacturer. First experimental results are also presented.en
dc.description.sponsorshipThis work was conducted in the context of the DualArm-Worker experiment, which received funding from the European Union’s Seventh Framework Programme for research, technological development and demonstration, as part of the project ECHORD++ under grant agreement no. 601116.
dc.description.statusPeer reviewed
dc.format.extent8
dc.identifier.citationSolana , Y , Cueva , H H , García , A R , Calvo , S M , Campos , U E , Sallé , D & Cortés , J 2019 , A case study of automated dual-arm manipulation in industrial applications . in Proceedings - 2019 24th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2019 . , 8869209 , IEEE International Conference on Emerging Technologies and Factory Automation, ETFA , vol. 2019-September , Institute of Electrical and Electronics Engineers Inc. , pp. 563-570 , 24th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2019 , Zaragoza , Spain , 10/09/19 . https://doi.org/10.1109/ETFA.2019.8869209
dc.identifier.citationconference
dc.identifier.doi10.1109/ETFA.2019.8869209
dc.identifier.isbn9781728103037
dc.identifier.issn1946-0740
dc.identifier.urihttps://hdl.handle.net/11556/2604
dc.identifier.urlhttp://www.scopus.com/inward/record.url?scp=85074188838&partnerID=8YFLogxK
dc.language.isoeng
dc.publisherInstitute of Electrical and Electronics Engineers Inc.
dc.relation.ispartofProceedings - 2019 24th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2019
dc.relation.ispartofseriesIEEE International Conference on Emerging Technologies and Factory Automation, ETFA
dc.relation.projectIDEuropean Union’s Seventh Framework Programme for research, technological development and demonstration, 601116
dc.rightsinfo:eu-repo/semantics/openAccess
dc.subject.keywordsDual-arm manipulation
dc.subject.keywordscoordinated manipulation
dc.subject.keywordsflexible task programming software
dc.subject.keywordsmotion planning
dc.subject.keywordsElectrical and Electronic Engineering
dc.subject.keywordsControl and Systems Engineering
dc.subject.keywordsIndustrial and Manufacturing Engineering
dc.subject.keywordsComputer Science Applications
dc.subject.keywordsSDG 9 - Industry, Innovation, and Infrastructure
dc.titleA case study of automated dual-arm manipulation in industrial applicationsen
dc.typeconference output
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