Assembly approach for bimanual robots

Myun Joong Hwang, Seong Youb Chung, Doo Yong Lee

Research output: Contribution to conferencePaperpeer-review

8 Scopus citations

Abstract

Bimanual, or two-handed, robots can be useful for assembly tasks in unstructured environment where it is difficult to have fixtures. The assembly is planned at the task-level with assembly models using contact states and their transitions. The lower-level velocity commands are automatically derived from the task-level symbolic transitions by solving constrained optimization problem formulated with assembly constraints and positions of the workpieces. The proposed approach is evaluated with simulation of the peg-in-hole assembly with an L-shape peg, that ordinary position control scheme cannot complete.

Original languageEnglish
Pages1482-1487
Number of pages6
StatePublished - 2005
EventProceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005 - Monterey, CA, United States
Duration: 24 Jul 200528 Jul 2005

Conference

ConferenceProceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005
Country/TerritoryUnited States
CityMonterey, CA
Period24/07/0528/07/05

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