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Recently, industrial robots are widely employed in various fields. However, some assembly tasks are still manually completed because of complicate assembly sequences and requirements of high accuracy positioning. Therefore, we propose a new system in which human workers cooperate with assistant robot complementarily in assembling a heavy mechanical part. This paper describes the prototype of a gravity...
Recently, industrial robots are widely employed in various fields for automation. However, some assembly tasks still need intervention of human workers, because of the complicated assembly skills involved. In order to assist the assembly tasks, some industrial partner robot have been introduced into the assembly line. These devices are designed merely for supporting the weight of the heavy parts,...
This paper presents a robust and efficient method of generating manipulation motion skill for non-force-feedback high speed constrained compliant robot motion. Using a non-structured teaching environment, the inherent task in the captured demonstration force and position data is estimated and reconstructed from three sets of complimentary models, including analytical mathematical modelling, empirical...
Based on the concept of open complex system, the paper analyzes three causes of system complexity: system structure, combination exploding and human intervention. And then the paper pointes out that "un-repeatability" is a core characteristic of complex giant system (CGS). Applying the system dynamics to complexity research, the paper constructes a theoretic framework for studying the large...
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