Abstract
The goal of this paper is to investigate the benefits of integrating collaborative robotic manipulators with autonomous mobile platforms for flexible part feeding processes in an Industry 4.0 production facility. The paper presents Little Helper 6 (LH6), consisting of a MiR100, UR5, a Robotiq 3-Finger Gripper and a task level software framework, called Skill Based System (SBS). The preliminary experiments performed with LH6, demonstrate that the capabilities of skill-based programming, 3D QR based calibration, part feeding, mapping and dynamic collision avoidance are successfully executed and strategies for further expansion of the operational capabilities of the system are discussed.
Originalsprog | Engelsk |
---|---|
Tidsskrift | Procedia Manufacturing |
Vol/bind | 11 |
Sider (fra-til) | 114-123 |
Antal sider | 9 |
ISSN | 2351-9789 |
DOI | |
Status | Udgivet - 19 sep. 2017 |
Begivenhed | FAIM 2017 - 27th International Conference on Flexible Automation and Intelligent Manufacturing: Intelligent Manufacturing and Engineering Methods for Industry 4.0 - Complesso San Geminiano, University of Modena and Reggio Emilia, Modena, Italien Varighed: 27 jun. 2017 → 30 jun. 2017 Konferencens nummer: 27 http://www.faim2017.org/ |
Konference
Konference | FAIM 2017 - 27th International Conference on Flexible Automation and Intelligent Manufacturing |
---|---|
Nummer | 27 |
Lokation | Complesso San Geminiano, University of Modena and Reggio Emilia |
Land/Område | Italien |
By | Modena |
Periode | 27/06/2017 → 30/06/2017 |
Internetadresse |