Combining Compliance Control, CAD Based Localization, and a Multi-Modal Gripper for Rapid and Robust Programming of Assembly Tasks
Gal Gorjup,Geng Gao,Anany Dwivedi,Minas Liarokapis,Gal Gorjup,Geng Gao,Anany Dwivedi,Minas Liarokapis
Current trends in industrial automation favor agile systems that allow adaptation to rapidly changing task requirements and facilitate customized production in smaller batches. This work presents a flexible manufacturing system relying on compliance control, CAD based localization, and a multi-modal gripper to enable fast and efficient task programming for assembly operations. CAD file processing ...
