RT Conference Proceedings
T1 A case study of automated dual-arm manipulation in industrial applications
A1 Solana, Yoann
A1 Cueva, Hector Herrero
A1 García, Alvaro Rubio
A1 Calvo, Sergio Martínez
A1 Campos, Urko Esnaola
A1 Sallé, Damien
A1 Cortés, Juan
AB Nowadays, 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.
PB Institute of Electrical and Electronics Engineers Inc.
SN 9781728103037
SN 1946-0740
YR 2019
FD 2019-09
LK https://hdl.handle.net/11556/2604
UL https://hdl.handle.net/11556/2604
LA eng
NO Solana , 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
NO conference
NO Publisher Copyright: © 2019 IEEE.
NO This 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.
DS TECNALIA Publications
RD 1 sept 2024