B-PaDY: Robot co-worker in a bumper assembly line: System integration of the prototype

Kazuya Konada; Jun Kinugawa; Shogo Arai; Kazuhiro Kosuge

doi:10.1109/ICMA.2017.8015905

B-PaDY: Robot co-worker in a bumper assembly line: System integration of the prototype

Kazuya Konada, Jun Kinugawa, Shogo Arai, Kazuhiro Kosuge

ENG - Robotics

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

We have been developing a robot, which works in cooperation with workers in an automobile bumper assembly line, named B-PaDY. This robot is not directly involved in the assembly task but performs non-essential tasks for workers. To implement B-PaDY in an actual assembly line, robustness to hand-over bumper are required. However, when an Automatic Guided Vehicle (AGV) brings a bumper to B-PaDY, the AGV is not always in the same position, and B-PaDY cannot grasp the bumper correctly by teaching/playback. Moreover, after grasping the bumper, the robot needs to hand-over the bumper safely and correctly to the workers. In this paper, we propose a method for grasping a bumper robustly by using image processing from the camera input and to hand-over to the worker safely and stably by using a bumper vibration suppression trajectory. Finally, the experiments show the validity of proposed method.

Original language	English
Title of host publication	2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	722-727
Number of pages	6
ISBN (Electronic)	9781509067572
DOIs	https://doi.org/10.1109/ICMA.2017.8015905
Publication status	Published - 2017 Aug 23
Event	14th IEEE International Conference on Mechatronics and Automation, ICMA 2017 - Takamatsu, Japan Duration: 2017 Aug 6 → 2017 Aug 9

Publication series

Name	2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017

Other

Other	14th IEEE International Conference on Mechatronics and Automation, ICMA 2017
Country	Japan
City	Takamatsu
Period	17/8/6 → 17/8/9

Keywords

Co-worker Robot
Image Processing
Vibration Control

ASJC Scopus subject areas

Control and Optimization
Instrumentation
Artificial Intelligence
Industrial and Manufacturing Engineering
Mechanical Engineering

Access to Document

10.1109/ICMA.2017.8015905

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Cite this

Konada, K., Kinugawa, J., Arai, S., & Kosuge, K. (2017). B-PaDY: Robot co-worker in a bumper assembly line: System integration of the prototype. In 2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017 (pp. 722-727). [8015905] (2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICMA.2017.8015905

B-PaDY : Robot co-worker in a bumper assembly line: System integration of the prototype. / Konada, Kazuya; Kinugawa, Jun ; Arai, Shogo ; Kosuge, Kazuhiro.

2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 722-727 8015905 (2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Konada, K, Kinugawa, J , Arai, S & Kosuge, K 2017, B-PaDY: Robot co-worker in a bumper assembly line: System integration of the prototype. in 2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017., 8015905, 2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017, Institute of Electrical and Electronics Engineers Inc., pp. 722-727, 14th IEEE International Conference on Mechatronics and Automation, ICMA 2017, Takamatsu, Japan, 17/8/6. https://doi.org/10.1109/ICMA.2017.8015905

Konada K, Kinugawa J , Arai S , Kosuge K. B-PaDY: Robot co-worker in a bumper assembly line: System integration of the prototype. In 2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017. Institute of Electrical and Electronics Engineers Inc. 2017. p. 722-727. 8015905. (2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017). https://doi.org/10.1109/ICMA.2017.8015905

Konada, Kazuya ; Kinugawa, Jun ; Arai, Shogo ; Kosuge, Kazuhiro. / B-PaDY : Robot co-worker in a bumper assembly line: System integration of the prototype. 2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 722-727 (2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017).

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