Abstract
We present a survey of multi-robot assembly applications and methods and describe trends and general insights into the multi-robot assembly problem for industrial applications. We focus on fixtureless assembly strategies featuring two or more robotic systems. Such robotic systems include industrial robot arms, dexterous robotic hands, and autonomous mobile platforms, such as automated guided vehicles. In this survey, we identify the types of assemblies that are enabled by utilizing multiple robots, the algorithms that synchronize the motions of the robots to complete the assembly operations, and the metrics used to assess the quality and performance of the assemblies.
- ABB Automation Technologies BA, Robotics. Robotics Application Manual: Force Control for Assembly. SE-721 68. Vasteras, Sweden.Google Scholar
- K. Abd, K. Abdhary, and R. Marian. 2011. A scheduling framework for robotic flexible assembly cells. King Mongkut’s University of Technology North Bangkok: Int. J. Appl. Sci. Technol. 4, 1 (2011), 31--38.Google Scholar
- Tauseef Aized. 2009. Modelling and performance maximization of an integrated automated guided vehicle system using coloured Petri net and response surface methods. Comput. Industr. Eng. 57 (2009), 822--831. Google ScholarDigital Library
- Ji-Hun Bae. 2014a. Peg-in-Hole Assembly by Hand-Arm Coordination. Retrieved from https://www.youtube.com/watch?v=G-52JZVbBt8.Google Scholar
- Ji-Hun Bae. 2014b. Robotic Dual Hand-Arm Manipulation: Robotic Peg-in-Hole. (7 January, 2015 2014). Retrieved from https://www.youtube.com/watch?v=j5qcDDifzpk.Google Scholar
- Ji-Hun Bae, Sung-Woo Park, Jae-Han Park, Moon-Hong Baeg, Doik Kim, and Sang-Rok Oh. 2012. Development of a low cost anthropomorphic robot hand with high capability. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems. 4776--4782. Google ScholarCross Ref
- Tucker Balch and Lynne E. Parker. 2002. Robot Teams: From Diversity to Polymorphism. AK Peters, Ltd.Google Scholar
- Simon Bøgh, Mads Hvilshøj, Morten Kristiansen, and Ole Madsen. 2011. Autonomous industrial mobile manipulation (AIMM): from research to industry. In Proceedings of the 42nd International Symposium on Robotics. 1--9.Google Scholar
- Adrienne Bolger, Matt Faulkner, David Stein, Lauren White, Seung kook Yun, and Daniela Rus. 2010. Experiments in decentralized robot construction with tool delivery and assembly robots. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems. 5085--5092.Google ScholarCross Ref
- M. Bonert, L. H. Shu, and B. Benhabib. 2010. Motion planning for multi-robot assembly systems. Int. J. Comput. Integr. Manufact. 13, 4 (2010), 301--310. Google ScholarCross Ref
- Roger BostelMan, James Albus, Nicholas Dagalakis, and Adam Jacoff. 1996. RoboCrane [R] project: An advanced concept for large scale manufacturing. In Proceedings of the Association for Unmanned Vehicle Systems International (AUVSI’96). 509--522.Google Scholar
- Torgny Brogårdh. 2009. Robot control overview: An industrial perspective. Model. Ident. Control 30, 3 (2009), 167--180.Google ScholarCross Ref
- Michael E. Caine, Tomas Lozano-Pérez, and Warren P. Seering. 1989. Assembly strategies for chamferless parts. In Proceedings of the IEEE International Conference on Robotics and Automation. 472--477.Google Scholar
- Christian Carøe. 2012. Rotor Shaft Assembly Using the KUKA LWR. Retrieved from https://www.youtube.com/watch?v=bR77UhcS0z4.Google Scholar
- Christian Carøe, Mikkel Hvilshøj, and Casper Schou. 2012. Intuitive Programming of AIMM Robot. Thesis, Aalborg University, Aalborg, Denmark.Google Scholar
- Siddhart R. Chhatpar and Michael S. Branicky. 2001. Search strategies for peg-in-hole assemblies with position uncertainty. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems. 1465--1470. Google ScholarCross Ref
- Benjamin Y. Choo, Stephen C. Adams, Brian A. Weiss, Jeremy A. Marvel, and Peter A. Beling. 2016. Adaptive multi-scale prognostics and health management for smart manufacturing systems. Int. J. Prognost. Health Manage. 7 (2016).Google Scholar
- Pierre Dauchez, Philippe Fraisse, and François Pierrot. 2005. A vision/position/force control approach for performing assembly tasks with a humanoid robot. In Proceedings of the 5th IEEE-RAS International Conference on Humanoid Robots. 277--282. Google ScholarCross Ref
- Dominique Deneux. 1999. Introduction to assembly features: An illustration synthesis methodology. J. Intell. Manufact. 10 (1999), 29--39. Google ScholarCross Ref
- M. A. Diftler, J. S. Mehling, M. E. Abdallah, N. A. Radford, L. B. Bridgwater, A. M. Sanders, R. S. Askew, D. M. Linn, J. D. Yamokoski, F. A. Permenter, B. K. Hargrave, R. Platt, R. T. Savely, and R. O. Ambrose. 2011. Robotnaut 2 - The first humanoid robot in space. In Proceedings of the IEEE International Conference on Robotics and Automation. 2178--2183.Google Scholar
- Gregory Dorais, R. Peter Bonasso, David Kortenkamp, Barney Pell, and Debra Schreckenghost. 1999. Adjustable autonomy for human-centered autonomous systems. In Proceedings of the 16th International Joint Conference on Artificial Intelligence Workshop on Adjustable Autonomy Systems. 16--35.Google Scholar
- Rajesh Doriya, Siddharth Mishra, and Swati Gupta. 2015. A brief survey and analysis of multi-robot communication and coordination. In Proceedings of the 2015 International Conference on Computing, Communication, and Automation (ICCCA’15). IEEE, 1014--1021. Google ScholarCross Ref
- Anthony Downs, Anthony Downs, William Harrison, William Harrison, Craig Schlenoff, and Craig Schlenoff. 2016. Test methods for robot agility in manufacturing. Industr. Robot: Int. J. 43, 5 (2016), 563--572. Google ScholarCross Ref
- S. Edwards and C. Lewis. 2012. Applying the robot operating system (ROS) to industrial applications. Proceedings of the IEEE International Conference on Robotics and Automation: ECHORD Workshop (2012).Google Scholar
- Joe Falco, Jeremy Marvel, and Elena Messina. 2013. Proceedings of the NISTIR-7940: Dexterous Manipulation for Manufacturing Applications Workshop. Report. National Institute of Standards and Technology.Google Scholar
- Hamed Fazlollahtabar, Borna Rezaie, and Hassan Kalantari. 2010. Mathematical programming approach to optimize material flow in an AGV-based flexible jobshop manufacturing system with performance analysis. Int. J. Adv. Manufact. Technol. 51 (2010), 1149--1158. Google ScholarCross Ref
- Yanqiong Fei and Xifang Zhao. 2003. An assembly process modeling and analysis for robotic multiple peg-in-hole. J. Intell. Robot. Syst. 36 (2003), 175--189. Google ScholarDigital Library
- Li-Chen Fu and Yung-Jen Hsu. 1993. Fully automated two-robot assembly cell. In Proceedings of the IEEE International Conference on Robotics and Automation. 332--338. Google ScholarCross Ref
- Seiji Furuno, Motoji Yamamoto, and Akira Mohri. 2003. Trajectory planning of mobile manipulator with stability considerations. In Proceedings of the IEEE International Conference on Robotics and Automation. 3403--3408. Google ScholarCross Ref
- A. Gayretli and H. S. Abdalla. 1999. A feature-based prototype system for the evaluation and optimization of manufacturing processes. In Proceedings of the 24th International Conference on Computer and Industrial Engineering, Vol. 37. 481--484.Google Scholar
- Suat Genc, Robert W. Messler Jr., and Gary A. Gabriele. 1998. A systematic approach to integral snap-fit attachment design. Res. Eng. Design 10 (1998), 84--93. Google ScholarCross Ref
- P. R. Glibert, D. Coupez, Y. M. Peng, and A. Delchambre. 1990. Scheduling of a multi-robot assembly cell. Comput. Integr. Manufact. Syst. 3, 4 (1990), 236--245. Google ScholarDigital Library
- Dave Gravel, Frank Maslar, George Zhang, Srini Nidamarthi, Heping Chen, and Tom Fuhlbrigge. 2008. Toward robotizing powertrain assembly. In Proceedings of the 7th World Congress on Intelligent Control and Automation. 541--546. Google ScholarCross Ref
- David P. Gravel and Wyatt S. Newman. 2001. Flexible robotic assembly efforts at ford motor company. In Proceedings of the 2001 IEEE International Symposium on Intelligent Control. 173--182. Google ScholarCross Ref
- Brad Hamner, Seth Koterba, Jane Shi, Reid Simmons, and Sanjiv Singh. 2010. An autonomous mobile manipulator for assembly tasks. Auton. Robots 28 (2010), 131--149. Google ScholarDigital Library
- Alwin Hoffmann. 2012. Factory 2020 - Final Version. Retrieved from https://www.youtube.com/watch?v=gf3673XkHCw.Google Scholar
- Alwin Hoffmann. 2014. SoftRobot. Retrieved from https://swt.informatik.uni-augsburg.de/softrobot/hauptseite/hauptseite.html.Google Scholar
- Norbert A. M. Hootsman, Steven Dubowsky, and Patrick Z. Mo. 1992. The experimental performance of a mobile manipulator control algorithm. In Proceedings of the IEEE International Conference on Robotics and Automation. 1948--1954. Google ScholarCross Ref
- Andreas Hörmann, W. Meier, and J. Schloen. 1989. A control architecture for an advanced fault-tolerant robot system. In Proceedings of the Intelligent Autonomous Systems 2, an International Conference. 576--585.Google Scholar
- Andreas Hörmann and Ulrich Rembold. 1991. Development of an advanced robot for autonomous assembly. In Proceedings of the IEEE International Conference on Robotics and Autonomous Systems. 2452--2457.Google ScholarCross Ref
- Satoshi Hoshino, Hiroya Seki, and Yuji Naka. 2008. Development of a flexible and agile multi-robot manufacturing system. In Proceedings of the 17th International Federation of Automatic Control World Congress. Google ScholarCross Ref
- Sheng-Fen Hsieh. 2003. Re-configurable dual-robot assembly system design, development and future directions. Industr. Robot: Int. J. 30, 3 (2003), 250--257. Google ScholarCross Ref
- ISO 9283 1998. ISO 9126 Manipulating Industrial Robots—Performance Criteria and Related Test Methods. Standard. International Organization for Standardization.Google Scholar
- Dennis Jarvis, Jacqueline Jarvis, Duncan McFarlane, Andrew Lucas, and Ralph Rönnquist. 2001. Implementing a multi-agent systems approach to collaborative autonomous manufacturing operations. In Proceedings of the Aerospace Conference, Vol. 6. 2803--2811. Google ScholarCross Ref
- Danny J. Johnson. 1999. Assembly cells versus assembly lines: Insights on performance improvements from simulation experiments and a case study. Supply Chain and Information Management Conference Papers, Posters and Proceedings (1999), 999--1001.Google Scholar
- Meir Kalech. 2012. Diagnosis of coordination failures: A matrix-based approach. Auton. Agents Multi-Agent Syst. 24, 1 (2012), 69--103. Google ScholarDigital Library
- Meir Kalech and Gal A. Kaminka. 2007. On the design of coordination diagnosis algorithms for teams of situated agents. Artific. Intell. 171, 8 (2007), 491--513. Google ScholarDigital Library
- Gal A. Kaminka, Dan Erusalimchik, and Sarit Kraus. 2010. Adaptive multi-robot coordination: A game-theoretic perspective. In Proceedings of the 2010 IEEE International Conference on Robotics and Automation (ICRA’10). IEEE, 328--334. Google ScholarCross Ref
- Kenji Kaneko, Fumio Kanehiro, Shuuji Kajita, Kazuhiko Yokoyama, Kazuhiko Akachi, Toshikazu Kawasaki, Shigehiko Ota, and Takakatsu Isozumi. 2002. Design of prototype humanoid robotics platform for HRP. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems. 2431--2436. Google ScholarCross Ref
- Ozcan Kilincci. 2010. A petri net-based heuristic for simple assembly line balancing problem of type 2. Int. J. Adv. Manufact. Technol. 46 (2010), 329--338. Google ScholarCross Ref
- Ozcan Kilincci and G. Mirac Bayhan. 2008. A p-invariant-based algorithm for simple assembly line balancing problem of type-1. Int. J. Adv. Manufact. Technol. 37 (2008), 400--409. Google ScholarCross Ref
- Ross A. Knepper, Todd Layton, John Romanishin, and Daniela Rus. 2013. IkeaBot: An autonomous multi-robot coordinated furniture assembly system. In Proceedings of the IEEE International Conference on Robotics and Automation. Google ScholarCross Ref
- Soenke Kock, Timothy Vittor, Bjoern Matthias, Henrik Jerregard, Mats Källman, Ivan Lundberg, Roger Mellander, and Mikael Hedelind. 2011. Robot concept for scalable, flexible assembly automation: A technology study on a harmless dual-armed robot. In Proceedings of the IEEE International Symposium on Assembly and Manufacturing. 1--5. Google ScholarCross Ref
- G. Ayorkor Korsah, Anthony Stentz, and M. Bernardine Dias. 2013. A comprehensive taxonomy for multi-robot task allocation. Int. J. Robot. Res. 32, 12 (2013), 1495--1512. Google ScholarDigital Library
- J. Krüger, T. K. Lien, and A. Verl. 2009. Cooperation of human and machines in assembly lines. CIRP Ann. Manufact. Technol. 58 (2009), 628--646.Google ScholarCross Ref
- Jaesung Kwon, Woosung Yang, Yosun Lee, Ji-Hun Bae, and Younghwan Oh. 2014. Biologically inspired control algorithm for an unified motion of whole robotic arm-hand system. In Proceedings of the IEEE International Symposium on Robot and Human Interactive Communication. 398--404. Google ScholarCross Ref
- Jin-Kyu Lee and Tae-Eog Lee. 2010. Automata-based supervisory control logic design for a multi-robot assembly cell. Int. J. Comput. Integr. Manufact. 15, 4 (2010), 319--334. Google ScholarCross Ref
- Hsin-Te Liao and Ming C. Leu. 1998. Analysis of impact in robotic peg-in-hole assembly. Robotica 16, 3 (1998), 347--356. Google ScholarDigital Library
- Tim C. Lueth, Uwe M. Nassal, and Ulrich Rembold. 1995. Reliability and integrated capabilities of locomotion and manipulation for autonomous robot assembly. J. Robot. Auton. Syst. 14 (1995), 185--198. Google ScholarCross Ref
- Ole Madsen, Simon Bøgh, Casper Schou, Rasmus Skovgaard Andersen, Jens Skov Damgaard, Mikkel Rath Pedersen, and Volker Krüger. 2015. Integration of mobile manipulators in an industrial production. Industr. Robot: Int. J. 42, 1 (2015), 11--18. Google ScholarCross Ref
- Jeremy Marvel, Elena Messina, Brian Antonishek, Lisa Fronczek, and Karl Van Wyk. 2015. NISTIR 8093: Tools for Collaborative Robots within SME Workcells. Report. National Institute of Standards and Technology. Retrieved from http://dx.doi.org/10.6028/NIST.IR.8093. Google ScholarCross Ref
- Jeremy A. Marvel. 2010. Autonomous Learning for Robotic Assembly Applications. Dissertation, Case Western Reserve University, Cleveland, OH, USA.Google Scholar
- Jeremy A. Marvel and Joe Falco. 2012. NISTIR 7901: Best Practices and Performance Metrics Using Force Control for Robotic Assembly. Report. National Institute of Standards and Technology. Retrieved from http://dx.doi.org/10.6028/NIST.IR.7901. Google ScholarCross Ref
- Jeremy A. Marvel, Wyatt S. Newman, Dave P. Gravel, George Zhang, Jianjun Wang, and Tom Fuhlbrigge. 2008. Automated learning for paramter optimization of robotic assembly tasks utilizing genetic algorithms. In Proceedings of the IEEE International Conference on Robotics and Biomimetics. 179--184.Google Scholar
- Jeremy A. Marvel and Rick Norcross. 2017. Implementing speed and separation monitoring in collaborative robot workcells. Robot. Comput.-Integr. Manufact. 44 (2017), 144--155. Google ScholarDigital Library
- Roberto Micalizio and Pietro Torasso. 2014. Cooperative monitoring to diagnose multiagent plans.J. Artific. Intell. Res. (JAIR) 51 (2014), 1--70.Google ScholarDigital Library
- Yaskawa Motoman. 2013. Yaskawa Motoman MH80 Robot Unloading Trucks. Retrieved from https://www.youtube.com/watch?v=8wngL0BnF_4.Google Scholar
- Tetsuya Mouri, Haruhisa Kawasaki, and Katsuya Umebayashi. 2005. Developments of new anthropomorphic robot hand and its master slave system. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems. 3225--3230. Google ScholarCross Ref
- Wyatt S. Newman, Yonghong Zhao, and Yoh-Han Pao. 2001. Interpretation of force and moment signals for compliant peg-in-hole assembly. In Proceedings of the IEEE International Conference on Robotics and Automation. 571--576. Google ScholarCross Ref
- Harald Niederreiter. 1978. Quasi-monte carlo methods and pseudo-random numbers. Bull. Amer. Math. Soc. 84, 6 (1978), 957--1041. Google ScholarCross Ref
- Johan Niemann. 2013. Development of a Reconfigurable Assembly System with Enhanced Control Capabilities and Virtual Commissioning. Thesis, Central University of Technology, Free State, Bloemfontein, South Africa.Google Scholar
- Shimon Y. Nof and Zvi Drezner. 1993. The multiple-robot assembly plan problem. J. Intell. Robot. Syst. 5 (1993), 57--71. Google ScholarCross Ref
- Nikolaos Papakostas, George Michaelos, Stiris Makris, Dimitris Zouzias, and George Chryssolouris. 2011. Industrial applications with cooperaing robots for flexible assembly. Int. J. Comput. Integr. Manufact. 24, 7 (2011), 650--660. Google ScholarDigital Library
- Chanhun Park, Kyoungtaik Park, Dong IL Park, and Jin-Ho Kyung. 2009. Dual arm robot manipulator and its easy teaching system. In Proceedings of the IEEE International Symposium on Assembly and Manufacturing. 242--247.Google ScholarCross Ref
- Hyeonjun Park, Ji-Hun Bae, Jae-Han Park, Moon-Hong Baeg, and Jaeheung Park. 2013. ntuitive peg-in-hole assembly strategy with a compliant manipulator. In Proceedings of the 44th International Symposium on Robotics. 1--5.Google Scholar
- Rajendra Patel, Mikael Hedeling, and Pablo Lozan-Villegas. 2012. Enabling robots in small-part assembly lines: The “ROSETTA approach”—An industrial perspective. In Proceedings of the ROBOTIK 2012: 7th German Conference on Robotics. 1--5.Google Scholar
- Lars Petersson, David Austin, and Danica Kragic. 2000. High-level control of a mobile manipulator for door opening. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems. 2333--2338. Google ScholarCross Ref
- Bui Trong Quan, Jian Huang, Minoru Harada, and Tetsuro Yabuta. 2006. Control of a macro-micro robot system using manipulability of the micro robot. JSME Int. J. Ser. C: Mech. Syst. Mach. Elem. Manufact. 49, 3 (2006), 897--904. Google ScholarCross Ref
- Carlos Rodríguez, Andrés Monta no, and Raúl Suárez. 2013. Manipulation tasks with a dual arm system including obstacles removing. In Proceedings of the IEEE 18th Conference on Emerging Technologies and Factory Automation. 1--7.Google ScholarCross Ref
- J. Rojas and Richard A. Peters II. 2012. Analysis of autonomous cooperative assembly using coordination schemes by heterogeneous robots using a control basis approach. Auton. Robots 32, 4 (2012), 369--383. DOI:http://dx.doi.org/10.1007/s10514-012-9274-3 Google ScholarDigital Library
- Brian Rooks. 2001. AGVs find their way to greater flexibility. Assembly Automat. 21, 1 (2001), 38--43. Google ScholarCross Ref
- Michael Rubenstein, Alejandro Cornejo, and Radhika Nagpal. 2014. Programmable self-assembly in a thousand-robot swarm. Science 345, 6198 (2014), 795--799. Google ScholarCross Ref
- Jean-Philippe Saut, Mokhtar Gharbi, Juan Cortéz, Daniel Sidobre, and Thierry Siméon. 2010. Planning pick-and-place tasks with two-handed regrasping. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems. 4528--4533.Google Scholar
- Joseph M. Schimmels. 2002. Method and apparatus for assembling rigid parts. US patent US6408531 B1.Google Scholar
- Brennan Sellner, Frederik W Heger, Laura M Hiatt, Reid Simmons, and Sanjiv Singh. 2006. Coordinated multi-agent teams and sliding autonomy for large-scale assembly. In Special Issue Proc. IEEE Multi-Robot Syst. IEEE.Google Scholar
- M. A. Sequeira and A. H. Basson. 2009. Case study of a fixture-based reconfigurable assembly system. In Proceedings of the IEEE International Symposium on Assembly and Manufacturing. 387--392. Google ScholarCross Ref
- Andre Sharon, Neville Hogan, and David Hardt. 1993. The macro/micro manipulator: An improved architecture for robot control. Robot. Comput. Integr. Manufact. 10, 3 (1993), 209--222. Google ScholarCross Ref
- Ruhizan Liza Ahmad Shauri and Kenzo Nonami. 2011. Assembly manipulation of small objects by dual-arm manipulator. Assembly Automat. 31, 3 (2011), 263--274. Google ScholarCross Ref
- Jane Shi and Roland Menassa. 2010. Flexible robotic assembly in dynamic environments. In Proceedings of the 10th Performance Metrics for Intelligent Systems Workshop. 271--276. Google ScholarDigital Library
- Michael Shneier and Roger Bostelman. 2014. NISTIR-8022: Literature Review of Mobile Robots for Manufacturing. Report. National Institute of Standards and Technology.Google Scholar
- Reid Simmons, Sanjiv Singh, David Hershberger, Josue Ramos, and Trey Smith. 2000. First results in the coordination of heterogeneous robots for large-scale assembly. In Proceedings of the 7th International Symposium on Experimental Robotics (ISER’00). 323--332.Google Scholar
- Ashley Stroupe, Terry Huntsberger, Avi Okon, Hrand Aghazarian, and Matthew Robinson. 2005. Behavior-based multi-robot collaboration for autonomous construction tasks. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems. 1495--1500. Google ScholarCross Ref
- Liying Su, Lei Shi, Yucqing Yu, and Qixiao Xia. 2009. Bolt and screw assemblage throug collaborative kinematics operation of two modular robots based on the position feedback. In Proceedings of the IEEE International Conference on Information and Automation. 1574--1579.Google Scholar
- Thomas Sugar and Vijay Kumar. 2008. Control and Coordination of Multiple Mobile Robots in Manipulation and Material Handling Tasks. Vol. 250. 15--24.Google ScholarCross Ref
- Dong Sun and James K. Mills. 2002. Adaptive synchronized control for coordination of multirobot assembly tasks. IEEE Trans. Robot. Automat. 18, 4 (2002), 498--510. Google ScholarCross Ref
- Wheelift Systems. Custom Engineered AGV Systems for Heavy Assembly Operations. Retrieved from http://www.wheelift.com/agv_systems.html.Google Scholar
- Jun Takamatsu, Koichi Ogawara, Hiroshi Kimura, and Katsushi Ikeuchi. 2007. Recognizing assembly tasks through human demonstration. Int. J. Robot. Res. 26 (2007), 641--659. Google ScholarDigital Library
- Milind Tambe. 1997. Agent architectures for flexible. In Proceedings of the 14th National Conference on Artificial Intelligence (AI’07). AAAI press. 22--28.Google Scholar
- U. Thomas, S. Molkenstruck, R. Iser, and F. M. Wahl. 2007. Multi sensor fusion in robot assembly using particle filters. In Proceedings of the IEEE International Conference on Robotics and Automation. 3837--3843. Google ScholarCross Ref
- William Townsend. 2000. The barretthand grasper—Programmbly flexible part handling and assembly. Industr. Robot: Int. J. 27, 3 (2000), 181--188. Google ScholarCross Ref
- Hamid Ullah, Erik L. J. Bohez, and M. A. Irfan. 2006. Assembly features: Definition, classification, and instantiation. In Proceedings of the IEEE 2006 International Conference on Emerging Technologies. 617--623.Google Scholar
- H. van Dyke Parunak. 1999. Industrial and Practical Applications of DAI. MIT Press, Cambridge, MA,337--421.Google Scholar
- Winfried van Holland and Willem F. Bronsvoort. 2000. Assembly features in modeling and planning. Robot. Comput. Integr. Manufact. 16 (2000), 277--294. Google ScholarCross Ref
- Karl Van Wyk and Jeremy A. Marvel. 2017. Strategies for improving and evaluating robot registration performance. IEEE Trans. Auto. Sci. Eng. (2017).Google Scholar
- Dragoljub Šurdilovic, Francesco Grassini, and Maurizio De Bartolemei. 2001. Synthesis of impedance control for complex co-operating robot assembly task. In Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics. 1181--1186.Google ScholarCross Ref
- Patrick Waurzyniak. 2013. Aerospace automation picks up the pace. Manufact. Eng. 150, 3 (2013), 55--62.Google Scholar
- Daniel E. Whitney. 1982. Quasi-static assembly of compliantly supported rigid parts. J. Dynam. Syst. Measure. Control 104, 1 (1982), 65--77. Google ScholarCross Ref
- Charles Wick and Raymond F. Veilleux (Eds.). 1987 Tools and Manufacturing Engineers Handbook: Volume 4: Quality Control and Assembly (4th Ed.). Dearborn, MI, USA.Google Scholar
- Yanchun Xia, Yuehong Yin, and Zhaoneng Chen. 2005. Dynamic analysis for peg-in-hole assembly with contact deformation. Int. J. Adv. Manufact. Technol. 30, 1--2 (2005), 118--128.Google Scholar
- Y. Yamada, S. Nagamatsu, and Y. Sato. 1995. Development of multi-arm robots for automobile assembly. In Proceedings of the IEEE International Conference on Robotics and Automation. 2224--2229. Google ScholarCross Ref
- Zhi Yan, Nicolas Jouandeau, and Arab Ali Cherif. 2013. A survey and analysis of multi-robot coordination. Int. J. Adv. Robot. Syst. 10, 399 (2013), 1--18. Google ScholarCross Ref
- Peijiang Yuan. 2006. An adaptive feedback scheduling algorithm for robot assembly and real-time control systems. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems. 2226--2231. Google ScholarCross Ref
- George Zhang, Arnold Bell, Hui Zhang, Jianmin He, Jianjun Wang, and Carlos Martinez. 2008. On-pendant robotic assembly parameter optimization. In Proceedings of the 7th World Congress on Intelligent Control and Automation. 547--552. Google ScholarCross Ref
Index Terms
- Multi-Robot Assembly Strategies and Metrics
Recommendations
A Framework and Architecture for Multi-Robot Coordination
In this paper, we present a framework and the software architecture for the deployment of multiple autonomous robots in an unstructured and unknown environment, with applications ranging from scouting and reconnaissance, to search and rescue, to ...
A Hierarchical Force Guided Robot Assembly Method Using Contact State Model
Intelligent Robotics and ApplicationsAbstractIn the industrial robotic assembly process, it is difficult to establish a precise physical model. Moreover the assembly process is generally described by contact state. A robot phased guided assembly method based on the contact state model is ...
Multi-scale assembly with robot teams
In this paper we present algorithms and experiments for multi-scale assembly of complex structures by multi-robot teams. We also focus on tasks where successful completion requires multiple types of assembly operations with a range of precision ...
Comments