Industrial robots are widely used
in automobile assembly lines. These robots are called industrial robots since
their goal is to follow some pre-taught paths or way points, which isessentially the same as automation machines. The tasks performed by these
robots include welding, painting, pick-and-place in structured environment (e.g.,
glass installation, door installation, and nut/bolt fastening), etc.
The tasks performed by industrial robots are exciting. On the other hand, there
are lots of tasks remained to be done by human workers. These tasks include
picking parts from cluster,reorienting parts to certain poses, and force-based
assembly. These tasks cannot be done using industrial robots and teach pendantssince: The parts shapes and physical properties are varying. It is difficult to
manually specify the grasping strategies for infinite number of parts. The
initial poses and goal poses of manipulated parts are changing. It is difficult
to teach the robots all motions to reorient different parts.The first two
processes lead to variety in force control and assembly, which also make
pre-teaching difficult.
No comments:
Post a Comment