Adaptive Haptically Informed Assembly with Mobile Robots in Unstructured Environments
Adaptive Haptically Informed Assembly with Mobile Robots in Unstructured Environments
复制标题
非结构化环境中移动机器人的自适应触觉通知装配
DOI：
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复制
发表时间：
2019
期刊：
影响因子：
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通讯作者：
S. Brell
中科院分区：
文献类型：
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作者：
Pradeep Devadass;S. Stumm;S. Brell
机器人辅助施工过程中的建筑领域，其中包括装配是不常见的，由于机器人的大小差异方面的规模的输出。为了扩展工业机器人的工作空间，这些机器人可以安装在移动的平台的顶部。然而，工业移动的机器人技术目前专注于在明确定义和结构化的生产环境中的利用。然而，由于产品种类的增加，从静态任务重复到动态人机协作的范式转变是显而易见的。特别是移动的机器人面临着非常具体的挑战，如不准确性，动态现场适应性和可预测性的设计是否是可生产的机器人的约束。在本文中，我们将讨论通过已建项目进行现场施工所遇到的这些挑战，并说明为应对这些挑战而采取的解决方案。在这项研究中，我们提出了一种新的方法，现场施工的非标准部件使用移动的机器人。该示范项目由复杂的空间框架木材系统组成，其中结构的每个组件在形状和尺寸上都是独特的。为此，我们结合联合收割机预先规划的设计与人-机器人合作的现场适应。该方法利用嵌入在机器人内的力扭矩传感器与触觉基准相结合，以提高机器人制造的准确性，并允许装配内的人机协作。利用先验设计知识，机器人将工件放置在正确的角度，同时允许人类调整路径以提高精度。本文阐述了各种优化技术，包括潜在的必要的适应开发，以预测设计的可制造性。该研究设想了一种用于复杂系统的安全自动化大规模施工方法，并为施工开辟了新的途径，允许人类工人和移动的机器人在非结构化环境中进行协作。
Robot assisted construction processes in the architectural domain which include assembly are uncommon due the size difference of the robot with respect the scale of the output. In order to extend the workspace of industrial robots, these can be mounted on top of a mobile platform. However industrial mobile robotics currently focuses on the utilization within clearly defined and structured production environments. Nevertheless, due to increasing product variety, a paradigm shift away from repetition of static task towards dynamic human robot collaboration is noticeable. Especially mobile robots face very specific challenges such as inaccuracy, dynamic on-site adaptability and predictability of whether the design is producible within the constraints of the robot. In this paper we discuss these challenges encountered due to onsite construction through a built project and illustrate the solution taken forward to address these challenges. In this research we propose a new methodology for on-site construction of non-standard components using mobile robots. The demonstrated project comprises of complex space frame timber system where every component of the structure is unique in its shape and size. For this we combine pre-planning of design with human-robot collaboration for on-site adaptation. The approach utilizes force torque sensors embedded within the robot in combination with haptic fiducials, in order to improving accuracy of the robotic fabrication and allow for human-robot collaboration within assembly. Employing the a-priori design knowledge the robot places the work-piece at the correct angle, while allowing for human adaptation of the path in order to increase accuracy. The paper illustrates the various optimization techniques developed to predict design manufacturability including potentially necessary adaptions. The research envisions a safe and automated large-scale construction methodology for complex systems and opens to new gateways for construction, allowing the collaboration between human workers and mobile robots within unstructured environments.