A Dual-arm Collaborative Robot System for the Smart Factories of the Future

Jens Filtenborg Buhl, Rune Grønhøj, Jan Kjær Jørgensen, Guilherme Mateus, Daniela Pinto, Jacob Krunderup Sørensen, Simon Bøgh, Dimitrios Chrysostomou

Publikation: Bidrag til bog/antologi/rapport/konference proceedingKonferenceartikel i proceedingForskningpeer review

Resumé

In the era of Industry 4.0, collaborative robots have been one of the main pillars enabling flexible automation. This paper investigates the benefits of integrating a dual-arm collaborative robot system in a smart factory and an Industry 4.0 context with particular focus on solving complex industrial disassembly tasks. The increased human-like capabilities of the system stemming from two arms, dual tooling and advanced vision bring enhanced dexterity allowing for simultaneous control and synchronous movement of both robot arms and product components. The presented work addresses the design considerations and overall hardware and software architecture of Little Helper 7, a collaborative robot system which consists of commercial off-the-shelf components, and ROS as a middleware for data communication, motion planning, 3D vision, and control. Preliminary experiments performed with Little Helper 7, demonstrate promising system capabilities such as path planning for both arms for synchronous movement while avoiding collision and accurate estimation of the location of objects in the workspace.
OriginalsprogEngelsk
Titel29th International Conference on Flexible Automation and Intelligent Manufacturing : FAIM 2019
Antal sider8
StatusAccepteret/In press - 2019

Fingerprint

Industrial plants
Robots
Motion planning
Software architecture
Middleware
Computer hardware
Industry
Automation
Communication
Experiments

Emneord

  • Kollaborative robotter
  • Dual-arm robot
  • Smart produktion
  • Disassembly robot
  • Industri 4.0

Citer dette

Filtenborg Buhl, J., Grønhøj, R., Kjær Jørgensen, J., Mateus, G., Pinto, D., Krunderup Sørensen, J., ... Chrysostomou, D. (Accepteret/In press). A Dual-arm Collaborative Robot System for the Smart Factories of the Future. I 29th International Conference on Flexible Automation and Intelligent Manufacturing: FAIM 2019
Filtenborg Buhl, Jens ; Grønhøj, Rune ; Kjær Jørgensen, Jan ; Mateus, Guilherme ; Pinto, Daniela ; Krunderup Sørensen, Jacob ; Bøgh, Simon ; Chrysostomou, Dimitrios. / A Dual-arm Collaborative Robot System for the Smart Factories of the Future. 29th International Conference on Flexible Automation and Intelligent Manufacturing: FAIM 2019. 2019.
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title = "A Dual-arm Collaborative Robot System for the Smart Factories of the Future",
abstract = "In the era of Industry 4.0, collaborative robots have been one of the main pillars enabling flexible automation. This paper investigates the benefits of integrating a dual-arm collaborative robot system in a smart factory and an Industry 4.0 context with particular focus on solving complex industrial disassembly tasks. The increased human-like capabilities of the system stemming from two arms, dual tooling and advanced vision bring enhanced dexterity allowing for simultaneous control and synchronous movement of both robot arms and product components. The presented work addresses the design considerations and overall hardware and software architecture of Little Helper 7, a collaborative robot system which consists of commercial off-the-shelf components, and ROS as a middleware for data communication, motion planning, 3D vision, and control. Preliminary experiments performed with Little Helper 7, demonstrate promising system capabilities such as path planning for both arms for synchronous movement while avoiding collision and accurate estimation of the location of objects in the workspace.",
keywords = "Kollaborative robotter, Dual-arm robot, Smart produktion, Disassembly robot, Industri 4.0, Collaborative robots, Dual-arm robot, Smart manufacturing, Disassembly robot, Industry 4.0",
author = "{Filtenborg Buhl}, Jens and Rune Gr{\o}nh{\o}j and {Kj{\ae}r J{\o}rgensen}, Jan and Guilherme Mateus and Daniela Pinto and {Krunderup S{\o}rensen}, Jacob and Simon B{\o}gh and Dimitrios Chrysostomou",
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booktitle = "29th International Conference on Flexible Automation and Intelligent Manufacturing",

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Filtenborg Buhl, J, Grønhøj, R, Kjær Jørgensen, J, Mateus, G, Pinto, D, Krunderup Sørensen, J, Bøgh, S & Chrysostomou, D 2019, A Dual-arm Collaborative Robot System for the Smart Factories of the Future. i 29th International Conference on Flexible Automation and Intelligent Manufacturing: FAIM 2019.

A Dual-arm Collaborative Robot System for the Smart Factories of the Future. / Filtenborg Buhl, Jens; Grønhøj, Rune; Kjær Jørgensen, Jan; Mateus, Guilherme; Pinto, Daniela; Krunderup Sørensen, Jacob; Bøgh, Simon; Chrysostomou, Dimitrios.

29th International Conference on Flexible Automation and Intelligent Manufacturing: FAIM 2019. 2019.

Publikation: Bidrag til bog/antologi/rapport/konference proceedingKonferenceartikel i proceedingForskningpeer review

TY - GEN

T1 - A Dual-arm Collaborative Robot System for the Smart Factories of the Future

AU - Filtenborg Buhl, Jens

AU - Grønhøj, Rune

AU - Kjær Jørgensen, Jan

AU - Mateus, Guilherme

AU - Pinto, Daniela

AU - Krunderup Sørensen, Jacob

AU - Bøgh, Simon

AU - Chrysostomou, Dimitrios

PY - 2019

Y1 - 2019

N2 - In the era of Industry 4.0, collaborative robots have been one of the main pillars enabling flexible automation. This paper investigates the benefits of integrating a dual-arm collaborative robot system in a smart factory and an Industry 4.0 context with particular focus on solving complex industrial disassembly tasks. The increased human-like capabilities of the system stemming from two arms, dual tooling and advanced vision bring enhanced dexterity allowing for simultaneous control and synchronous movement of both robot arms and product components. The presented work addresses the design considerations and overall hardware and software architecture of Little Helper 7, a collaborative robot system which consists of commercial off-the-shelf components, and ROS as a middleware for data communication, motion planning, 3D vision, and control. Preliminary experiments performed with Little Helper 7, demonstrate promising system capabilities such as path planning for both arms for synchronous movement while avoiding collision and accurate estimation of the location of objects in the workspace.

AB - In the era of Industry 4.0, collaborative robots have been one of the main pillars enabling flexible automation. This paper investigates the benefits of integrating a dual-arm collaborative robot system in a smart factory and an Industry 4.0 context with particular focus on solving complex industrial disassembly tasks. The increased human-like capabilities of the system stemming from two arms, dual tooling and advanced vision bring enhanced dexterity allowing for simultaneous control and synchronous movement of both robot arms and product components. The presented work addresses the design considerations and overall hardware and software architecture of Little Helper 7, a collaborative robot system which consists of commercial off-the-shelf components, and ROS as a middleware for data communication, motion planning, 3D vision, and control. Preliminary experiments performed with Little Helper 7, demonstrate promising system capabilities such as path planning for both arms for synchronous movement while avoiding collision and accurate estimation of the location of objects in the workspace.

KW - Kollaborative robotter

KW - Dual-arm robot

KW - Smart produktion

KW - Disassembly robot

KW - Industri 4.0

KW - Collaborative robots

KW - Dual-arm robot

KW - Smart manufacturing

KW - Disassembly robot

KW - Industry 4.0

M3 - Article in proceeding

BT - 29th International Conference on Flexible Automation and Intelligent Manufacturing

ER -

Filtenborg Buhl J, Grønhøj R, Kjær Jørgensen J, Mateus G, Pinto D, Krunderup Sørensen J et al. A Dual-arm Collaborative Robot System for the Smart Factories of the Future. I 29th International Conference on Flexible Automation and Intelligent Manufacturing: FAIM 2019. 2019