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In this paper a flexible robot system for assembly operations in a semi structured environment is proposed. The system uses a moveable robot equipped with an arbitrarily mounted 3D camera and a 2D camera on the robot gripper for accurate object detection. The system is developed based on the Robot Operating System (ROS) and uses the state of the art trajectory planner MoveIt for collision free robot...
In this paper the developmental process of a flexible robot-based assembly cell by a research institute in cooperation with the cells end-user is described. The developed cell contains novel processes-such as the assembly of parts with only minimal geometrical clearance-and is capable of producing a large number of product variations. Additionally a lean feeding method to process loosely supplied...
Industrial robots offer a good basis for machining from a conceptual point of view. Still they are rarely utilized for machining applications in industry compared to CNC machines due to their low stiffness and the bad achievable work piece quality. Available compensation approaches, like online compensation approaches to increase position accuracy using costly additional hardware and measurement equipment...
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