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. 2018 Feb;51(1):14.
doi: 10.1145/3150225. Epub 2018 Jan 1.

Multi-Robot Assembly Strategies and Metrics

Jeremy A Marvel  1 , Roger Bostelman  1 , Joe Falco  1
Affiliations

Multi-Robot Assembly Strategies and Metrics

Jeremy A Marvel et al. ACM Comput Surv. 2018 Feb.

Abstract

We present a survey of multi-robot assembly applications and methods and describe trends and general insights into the multi-robot assembly problem for industrial applications. We focus on fixtureless assembly strategies featuring two or more robotic systems. Such robotic systems include industrial robot arms, dexterous robotic hands, and autonomous mobile platforms, such as automated guided vehicles. In this survey, we identify the types of assemblies that are enabled by utilizing multiple robots, the algorithms that synchronize the motions of the robots to complete the assembly operations, and the metrics used to assess the quality and performance of the assemblies.

Keywords: Applied computing → Computer-aided manufacturing; Computer systems organization → Robotics; Computing methodologies → Motion path planning; Cooperation and coordination; Robot assembly; assembly performance metrics; manufacturing robotics; multi-robot coordination.

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Figures

Fig. 1
Fig. 1
Generic, parameterized search strategies for peg-in-hole insertion include the walking stochastic search (A), the spiral search (B), and the raster search (C).
Fig. 2
Fig. 2
Commanded forces (F) and moments (M) adjust based on measured forces (fi ) to compensate for partial engagements in the tilt strategy.
Fig. 3
Fig. 3
Generic, parameterized search strategies for peg-in-hole insertion include the walking stochastic search (A), the spiral search (B), and the raster search (C).
Fig. 4
Fig. 4
Master-less assembly of truss support rods into central connector nodes from [Šurdilovic et al. 2001]
See this image and copyright information in PMC

References

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    1. Bae Ji-Hun. Peg-in-Hole Assembly by Hand-Arm Coordination. 2014a Retrieved from https://www.youtube.com/watch?v=G-52JZVbBt8.
    1. Bae Ji-Hun. Robotic Dual Hand-Arm Manipulation: Robotic Peg-in-Hole. 2014b (7 January, 2015 2014). Retrieved from https://www.youtube.com/watch?v=j5qcDDifzpk.

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