Authors :
Harsha Vardhan K.A; Shibil Irfaan I; Dr. Anbarasi M.P
Volume/Issue :
Volume 8 - 2023, Issue 10 - October
Google Scholar :
https://tinyurl.com/5fr3rxf8
Scribd :
https://tinyurl.com/335j8zhj
DOI :
https://doi.org/10.5281/zenodo.10090833
Abstract :
The main difference between autonomous
robotic assembly and the conventional hard automation
that is used in large-scale production today is how
components are located, obtained, manipulated, aligned,
and assembled. It is possible for an autonomous robotic
assembly system to manage inherent uncertainties,
unknowns, and extraordinary scenarios because of its
great flexibility and adaptability. The purpose of this
study is to present an autonomous mobile manipulator
that can efficiently handle these exceptions and
uncertainty. It accomplishes this by utilizing
sophisticated reactive task management, coordinated
control, and a mix of force- and vision-based guiding.
The mobile manipulation system has demonstrated via
experiments that it is extremely dependable while
carrying out jobs like "Pick and Place" type insertion
assembly, which is frequently encountered in the
assembly of automobile and other industries.
The main difference between autonomous
robotic assembly and the conventional hard automation
that is used in large-scale production today is how
components are located, obtained, manipulated, aligned,
and assembled. It is possible for an autonomous robotic
assembly system to manage inherent uncertainties,
unknowns, and extraordinary scenarios because of its
great flexibility and adaptability. The purpose of this
study is to present an autonomous mobile manipulator
that can efficiently handle these exceptions and
uncertainty. It accomplishes this by utilizing
sophisticated reactive task management, coordinated
control, and a mix of force- and vision-based guiding.
The mobile manipulation system has demonstrated via
experiments that it is extremely dependable while
carrying out jobs like "Pick and Place" type insertion
assembly, which is frequently encountered in the
assembly of automobile and other industries.
