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
Abstract
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 is employed to extract component pose data from 3D assembly models, while the system's active compliance compensates for errors in calibration or positioning. To minimize retooling delays, a novel gripper design incorporating both a parallel jaw element and a rotating module is proposed. The developed system placed first in the manufacturing track of the Robotic Grasping and Manipulation Competition of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2019, experimentally validating its efficiency.