Experimental Study of a Dual-Robot Assembly Workcell

双机器人装配工作单元的实验研究

• 批准号: 9404949
• 负责人: Tzyh-Jong Tarn
• 金额: $ 4.61万
• 依托单位: Washington University
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 1994
• 资助国家: 美国
• 起止时间: 1994-05-01 至 1996-10-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=9404949&HistoricalAwards=false
• 关键词: Experimental; Study; Dual; Robot; Assembly

9404949 Tarn The objective of this project is the design and experimental study of a dual-robot assembly workcell based on the event-based planning and control method developed at Washington University. The workcell will be able to perform various coordinated/cooperated assembly tasks and capable of automatic response to some unexpected events such as the occurrence of obstacles or the misplacement of parts. Several problems related to fundamental computer and robotic engineering need to be solved to achieve the above stated goal. The focus of the work will be on the following specific problems: (1) Integration of sensed event with the action planning and control of robotic manufacturing system, and (2) Develop a computing and control architecture and computational algorithm to experimentally implement the event-based action planning and control method for dual-robot assembly workcell. The proposed research project is aimed (1) to elevate dual-robot assembly workcell to a new level of task performance capabilities and (2) to reduce the down-time of robotic workstations in various application environments. ***

9404949塔尔该项目的目的是基于华盛顿大学开发的基于事件的计划和控制方法的双机手组装工作范围的设计和实验研究。 该工作电池将能够执行各种协调/合作的组装任务，并能够自动响应某些意外事件，例如发生障碍物或零件的放置。 需要解决与基本计算机和机器人工程有关的几个问题，以实现上述目标。 工作的重点将放在以下特定问题上：（1）将感知事件集成与机器人制造系统的行动计划和控制，以及（2）开发一种计算和控制架构以及计算算法，以实验实现基于事件的行动计划和控制方法，以实现双重射击装配工作电池。 拟议的研究项目的目标是（1）将双机器人组装工作电池提升到新的任务绩效功能，以及（2）减少各种应用环境中机器人工作站的停机时间。 ***