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In this paper we present an interactive system to enhance bilateral teleoperation through online virtual fixtures generation and task switching. This is achieved using a stereo camera system which provides accurate information of the surrounding environment of the robot and of the tasks that have to be performed in it. The use of the proposed approach aims at improving the performances of bilateral...
In this paper we present a vision-based system for online virtual fixture generation suitable for manipulation tasks using remote controlled robots. This system makes use of a stereo camera system which provides accurate pose estimation of parts within the surrounding environment of the robot using features detection algorithms. The proposed approach is suitable for fast adaptation of the teleoperation...
In electronic manufacturing system, the design of the robotic hand with sufficient dexterity and configuration is important for the successful accomplishment of the assembly task. Due to the growing demand from high-mix manufacturing industry, it is difficult for the traditional robot to grasp a large number of assembly parts or tools having cylinder shapes with correct postures. In this research,...
In human and robot collaborative hybrid assembly cell as we proposed, it is important to develop automatic subtask allocation strategy for human and robot in usage of their advantages. We introduce a folk-joint task model that describes the sequential and parallel features and logic restriction of human and robot collaboration appropriately. To preserve a cost-effectiveness level of task allocation,...
In electronic manufacturing system, the design of the robotic hand is important for the successful accomplishment of the assembly task. Due to the restriction of the architecture of traditional robotic hands, it is difficult to grasp the cylinder shaped assembly parts with correct posture. In this research, a novel 4-DOF jaw like gripper is designed and built for precise positioning and twisting online...
Manufacturing industry tends to employ more flexible assembly cells for High-Mix, Low-Volume production. We has proposed an innovative human and robot hybrid assembly cell within this purpose to solve the problem of persistent growing cost for human resources and now and again changes in programs and configurations for robots, and to achieve a high manufacturing efficiency. One of the key issues is...
To design a safe path planning for the manipulator is a key issue during the human worker and manipulator cooperation cell assembly. In this study, a cell assembly system involving human worker and manipulator is designed. According to the camera vision information, the locations of the human worker and the manipulator are calculated, and then the potential field is calculated based on the Artificial...
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