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. ***

[404949] Tarn该项目的目标是基于华盛顿大学开发的基于事件的规划和控制方法的双机器人装配工作单元的设计和实验研究。该工作单元将能够执行各种协调/合作的装配任务，并能够自动响应一些意外事件，如障碍物的发生或零件的错位。为了实现上述目标，需要解决与计算机和机器人工程相关的几个基本问题。本文将重点研究以下具体问题：(1)将感知事件与机器人制造系统的行动计划与控制集成；(2)开发计算与控制体系结构和计算算法，实验实现基于事件的双机器人装配工作单元行动计划与控制方法。提出的研究项目旨在(1)将双机器人装配工作单元的任务性能提升到一个新的水平；(2)减少机器人工作站在各种应用环境中的停机时间。＊＊＊