Industrial
robots are widely used in automobile assembly lines. These robots are calledindustrial robots since their goal is to follow some pre-taught paths or waypoints, which is essentially 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 (1)
picking parts from cluster, (2) reorienting parts to certain poses, and (3)
force-based assembly. These tasks cannot be done using industrial robots and
teach pendants since: (1) The parts shapes and physical properties are varying.
It is difficult to manually specify the grasping strategies for infinite number
of parts. (2) The initial poses and goal poses of manipulated parts are
changing. It is difficult to teach the robots all motions to reorient different
parts. (3) The first two processes lead to variety in force control and
assembly, which also make pre-teaching difficult.(Read more)
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