Reference : Safe and Automated Assembly Process using Vision assisted Robot Manipulator
Scientific congresses, symposiums and conference proceedings : Paper published in a journal
Engineering, computing & technology : Mechanical engineering
http://hdl.handle.net/10993/21981
Safe and Automated Assembly Process using Vision assisted Robot Manipulator
English
Ahmad, Rafiq mailto [University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit >]
Plapper, Peter mailto [University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit >]
2015
Procedia CIRP
Yes (verified by ORBilu)
International
2212-8271
48th CIRP Conference on MANUFACTURING SYSTEMS - CIRP CMS 2015
24-26 June 2015
The international academy for production engineering
Ischia, Naples
Italy
[en] Assembly process ; Peg-in-hole process ; Industrial Robot
[en] Many manufacturing industries especially small and medium size (SMEs) industries are reluctant to automatize their production using robots.
This is due to the fact that mostly industrial robots are not properly equipped to recognize their surrounding and take intelligent decisions regarding path planning especially for low volume, flexible production with versatile production lines. The proposed idea is that a robot manipulator performing assembly or disassembly tasks should be able to predict potential collisions even with unknown obstacles and must be able to prevent i.e. react automatically for safe detour around obstacle. Currently, industrial robots have tactile sensing abilities, which detect collisions after a real contact but the existing proposals for its avoidance are either computationally expensive, need prior information about the obstacles or not very well adapted to the safety standards. Therefore, this paper introduces a ToF sensor based information collection and intelligent decision methodology in order to localize the un-known, un-programmed obstacles and propose a safe peg-in-hole automated assembly process. In the case of collisions, the proposed method will provide various solutions and decides for the best solution according to the scenario on-hand. The proposed solution is quick and robust and currently applied for static environment, whereas dynamic obstacles will be treated in future.
R-AGR-0071 > PROBE > 01/01/2013 - 31/12/2015 > PLAPPER Peter
Researchers ; Professionals ; Students
http://hdl.handle.net/10993/21981
FnR ; FNR5783212 > Rafiq Ahmad > KIPs > Knowledge based Intelligent Planning system (KIPs) for production automation/optimization > 01/01/2014 > 31/12/2015 > 2013

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