Mobile Preassembly Systems with Cooperative Dual-Arm Manipulation - A Concept for Industrial Applications in the Near Future

Jonas Wittmann, Mathias Laile, Johannes Rainer, Johannes Fottner, Daniel Rixen

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

1 Scopus citations

Abstract

In current manufacturing plants, autonomous guided vehicles (AGVs) are used for the transport of material. Our goal is to expand the use of AGVs, enabling them to perform complex handling and preassembly tasks. For a more efficient production, these tasks should be performed during transport. We propose a concept for a mobile dual-arm robot that we develop in a two-year project. Four modules are at the core of our solution: the Task Planner controls the high-level process, the Dual-Arm Planner enables coordinated and cooperative dual-arm manipulation, the Vision module detects objects and the Navigator controls the mobile base. Preliminary experiments demonstrate the navigation and manipulation capabilities of our robot.

Original languageEnglish
Title of host publicationEurope ISR 2023 - International Symposium on Robotics, Proceedings
PublisherVDE VERLAG GMBH
Pages242-249
Number of pages8
ISBN (Electronic)9783800761418
StatePublished - 2023
Event56th International Symposium on Robotics, ISR Europe 2023 - Stuttgart, Germany
Duration: 26 Sep 202327 Sep 2023

Publication series

NameEurope ISR 2023 - International Symposium on Robotics, Proceedings

Conference

Conference56th International Symposium on Robotics, ISR Europe 2023
Country/TerritoryGermany
CityStuttgart
Period26/09/2327/09/23

Keywords

  • cooperating robots
  • dual arm manipulation
  • mobile manipulation

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