In production environments, small parts such as screws and nuts are usually transported in a small load carrier (SLC). By manipulating SLCs autonomously, the robot is enabled to assist human workers with various tasks. SLCs used in the manufacturing process of the LWR iiwa, are stored in gravity shelves to guarantee sufficient supply of parts at any time. Restocking these shelves with filled SLCs from the warehouse and returning the empty SLCs is currently carried out by workers. The application of the suggested mobile robot in a real production environment carrying out various pick and place operations has been shown in [1]. In this video, we demonstrate the fundamental abilities of the mobile manipulator needed to carry out an exemplary task fully autonomously. Based on a 2D map, which has to be recorded beforehand, the robot is able to navigate [2] from the warehouse to the production site and vice versa. Due to the fact that the shelves are movable, exact positions cannot be taught. Therefore, the robot has to find the exact relative position to the shelf with its sensor equipment. Using object recognition, environment modeling and path planning the robot is enabled to fully autonomously place filled SLCs into the shelve and retrieve empty ones. At the warehouse, the robot is unloaded and loaded manually by a worker.
Abstract:
Pick and place applications are very common in industrial environments. Autonomous execution of this task is desirable, as it is simple and repetitive for a human. To thi...Show MoreMetadata
Abstract:
Pick and place applications are very common in industrial environments. Autonomous execution of this task is desirable, as it is simple and repetitive for a human. To this end, we employ a mobile robot containing a light weight robot (LWR) arm, a pan-tilt unit (PTU) and a multitude of sensors (see Fig. 1).
Published in: 2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)
Date of Conference: 28-30 October 2015
Date Added to IEEE Xplore: 17 December 2015
ISBN Information: