A Novel Strategy for Automatic Error Classification and Error Recovery for Robotic Assembly in Flexible Production

Ewa Kristiansen*, Emil Krabbe Nielsen, Lasse Hansen, David Bourne

*Corresponding author

Research output: Contribution to journalJournal articleResearchpeer-review

Abstract

In this article, we develop a novel strategy for automatic error classification and recovery in robotic assembly tasks. The strategy does not require error diagnosis. It allows for effective reduction of an undetermined number of error states to 4, without the need for further operator updates of error space. The strategy integrates existing methods for computer vision, active vision and active manipulation. Our solution is implemented in a generic software framework, which is independent from software and hardware for implementing error detection and allows for application in other assembly types and components. The value of our strategy was experimentally validated on a simple case, where we inserted a battery into a cell phone. The experiment was performed on 1500 assembly attempts and included 500 detected errors. The whole experiment ran for 42 hours, with no need for operator assistance or supervision. The resulting classification rate is 99.6% and the resulting recovery rate is 98.8%. The 6 unrecovered errors were successfully resolved in a successive assembly attempt.

Original languageEnglish
JournalJournal of Intelligent and Robotic Systems
Number of pages15
ISSN0921-0296
DOIs
Publication statusPublished - 18 Sep 2020

Keywords

  • Active vision
  • Automatic error classification
  • Automatic error recovery
  • Flexible production
  • Robotic assembly
  • Semi-structured environment

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