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

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish
Title of host publication2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages722-727
Number of pages6
ISBN (Electronic)9781509067572
DOIs
Publication statusPublished - 2017 Aug 23
Event14th IEEE International Conference on Mechatronics and Automation, ICMA 2017 - Takamatsu, Japan
Duration: 2017 Aug 62017 Aug 9

Publication series

Name2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017

Other

Other14th IEEE International Conference on Mechatronics and Automation, ICMA 2017
CountryJapan
CityTakamatsu
Period17/8/617/8/9

Keywords

  • Co-worker Robot
  • Image Processing
  • Vibration Control

ASJC Scopus subject areas

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

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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