An Assembly Process Modeling and Analysis for Robotic Multiple Peg-in-hole
Journal of Intelligent and Robotic Systems
A subsumptive, hierarchical, and distributed vision-based architecture for smart robotics
A subsumptive, hierarchical, and distributed vision-based architecture for smart robotics
An autonomous mobile manipulator for assembly tasks
Autonomous Robots
Robotic wheel loading process in automotive manufacturing automation
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Mobile robotic dynamic tracking for assembly tasks
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Preliminary analysis of conveyor dynamic motion for automation applications
PerMIS '08 Proceedings of the 8th Workshop on Performance Metrics for Intelligent Systems
Dynamic 6DOF metrology for evaluating a visual servoing system
PerMIS '08 Proceedings of the 8th Workshop on Performance Metrics for Intelligent Systems
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While robotic automation has played a key role in the automotive industry and specifically in stamping, welding, material handling and painting over the last 30 years, currently there are no robotic assembly applications in the final assembly of a vehicle on a moving line in domestic automotive manufacturing plants. In order for the U. S. automotive base to improve its global manufacturing competitiveness, new robotic technologies are required to enable the installation of parts on a moving assembly line. In this paper we will describe GM's comprehensive effort in achieving robotic flexible assembly on moving assembly lines, from initial moving assembly line motion characterization and robotic line tracking performance evaluation, to GM specific application development such as robotic wheel and tire load. We will then highlight three types of assembly methods in automotive general assembly, and examine assembly alignment as well as assembly manipulation motion characteristics in each type of the assembly methods. Finally we will discuss key enablers to achieve robust and flexible robotic assembly in an unfixtured and dynamic manufacturing environment.