TY - GEN
T1 - A case study of automated dual-arm manipulation in industrial applications
AU - Solana, Yoann
AU - Cueva, Hector Herrero
AU - García, Alvaro Rubio
AU - Calvo, Sergio Martínez
AU - Campos, Urko Esnaola
AU - Sallé, Damien
AU - Cortés, Juan
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/9
Y1 - 2019/9
N2 - 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.
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.
KW - Dual-arm manipulation
KW - coordinated manipulation
KW - flexible task programming software
KW - motion planning
UR - http://www.scopus.com/inward/record.url?scp=85074188838&partnerID=8YFLogxK
U2 - 10.1109/ETFA.2019.8869209
DO - 10.1109/ETFA.2019.8869209
M3 - Conference contribution
AN - SCOPUS:85074188838
T3 - IEEE International Conference on Emerging Technologies and Factory Automation, ETFA
SP - 563
EP - 570
BT - Proceedings - 2019 24th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 24th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2019
Y2 - 10 September 2019 through 13 September 2019
ER -
