Mobile Preassembly Systems with Cooperative Dual-Arm Manipulation - A Concept for Industrial Applications in the Near Future
Conference: ISR Europe 2023 - 56th International Symposium on Robotics
09/26/2023 - 09/27/2023 at Stuttgart, Germany
Proceedings: ISR Europe 2023
Pages: 8Language: englishTyp: PDF
Authors:
Wittmann, Jonas; Rainer, Johannes; Rixen, Daniel (Chair of Applied Mechanics, TUM School of Engineering and Design, Munich Institute of Robotics and Machine Intelligence, Technical University of Munich, Germany)
Laile, Mathias; Fottner, Johannes (Chair of Materials Handling, Material Flow, Logistics, TUM School of Engineering and Design, Technical University of Munich, Germany)
Abstract:
In current manufacturing plants, autonomous guided vehicles (AGVs) are used for the transport of material. Our goal is to expand the use of AGVs, enabling them to perform complex handling and preassembly tasks. For a more efficient production, these tasks should be performed during transport. We propose a concept for a mobile dual-arm robot that we develop in a two-year project. Four modules are at the core of our solution: the Task Planner controls the high-level process, the Dual-Arm Planner enables coordinated and cooperative dual-arm manipulation, the Vision module detects objects and the Navigator controls the mobile base. Preliminary experiments demonstrate the navigation and manipulation capabilities of our robot.