论文标题
2018年世界机器人峰会上的O2A团队：使用通用抓手和工具的机器人套件和组装任务的方法
Team O2AS at the World Robot Summit 2018: An Approach to Robotic Kitting and Assembly Tasks using General Purpose Grippers and Tools
论文作者
论文摘要
我们提出了一种用于套件和组装任务的多功能机器人系统，该任务不使用夹具或商业工具更换器。它不是专门的最终效应器，而是使用其两指抓手抓住并持有执行子任务的工具，例如拧紧和抽吸等子任务。第三个抓手被用作精确采摘和中心工具，并使用内置的被动依从性来补偿较小的位置错误和不确定性。使用单个深度图描述了用于套件任务的新型抓点检测。我们使用拟议的系统参加了2018年世界机器人峰会的世界机器人挑战的工业机器人类别的集会挑战，获得了第四名和SICE精益设计和多功能工具的使用奖。我们通过在比赛中进行的实验来展示我们的方法的有效性。
We propose a versatile robotic system for kitting and assembly tasks which uses no jigs or commercial tool changers. Instead of specialized end effectors, it uses its two-finger grippers to grasp and hold tools to perform subtasks such as screwing and suctioning. A third gripper is used as a precision picking and centering tool, and uses in-built passive compliance to compensate for small position errors and uncertainty. A novel grasp point detection for bin picking is described for the kitting task, using a single depth map. Using the proposed system we competed in the Assembly Challenge of the Industrial Robotics Category of the World Robot Challenge at the World Robot Summit 2018, obtaining 4th place and the SICE award for lean design and versatile tool use. We show the effectiveness of our approach through experiments performed during the competition.
