An autonomous mobile manipulator for assembly tasks

Authors:
Brad Hamner;Seth Koterba;Jane Shi;Reid Simmons;Sanjiv Singh
Affiliations:
Carnegie Mellon University, Pittsburgh, USA 15213;Carnegie Mellon University, Pittsburgh, USA 15213;Research and Development Center, Manufacturing Systems Research Lab., General Motors Company, Warren, USA 48090;Carnegie Mellon University, Pittsburgh, USA 15213;Carnegie Mellon University, Pittsburgh, USA 15213
Venue:
Autonomous Robots
Year:
2010

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Abstract

The fundamental difference between autonomous robotic assembly and traditional hard automation, currently utilized in large-scale manufacturing production, lies in the specific approaches used in locating, acquiring, manipulating, aligning, and assembling parts. An autonomous robotic assembly manipulator offers high flexibility and high capability to deal with the inherent system uncertainties, unknowns, and exceptions. This paper presents an autonomous mobile manipulator that effectively overcomes inherent system uncertainties and exceptions by utilizing control strategies that employ coordinated control, combine visual and force servoing, and incorporate sophisticated reactive task control. The mobile manipulation system has been demonstrated experimentally to achieve high reliability for a "peg-in-hole" type of insertion assembly task that is commonly encountered in automotive wiring harness assembly.