TY - GEN
T1 - Trajectory Planning of Collaborative Robot for 3C Products Assembly
AU - Zhang, Han
AU - Yang, Xiansheng
AU - Hu, Haopeng
AU - Mou, Qingzhi
AU - Lou, Yunjiang
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/8
Y1 - 2019/8
N2 - The assembly problem of 3C (Computer / Communication / Consumer Electronic) production has always been a hot issue. It is very challenging to 3C products assembly process due to part manipulability problems, part assembly constraints related issues, and part positioning problems etc. This paper proposes a collaborative robot system for 3C products assembly consisting of two parallel robots. They have the advantages of high precision, high speed and flexibility, making them ideal for 3C products assembly. In order to manipulate the two parallel robots to complete a mobile phone screen assembly task, a technical solution of the dual-robot system collaborative assembly trajectory planning is proposed. Dividing the mobile phone screen assembly action into two stages, and dual-robot system trajectories with different constraints in two stages is analyzed. According to the efficient and smooth requirements of the assembly task, we present a multi-objective optimization scheme of the dual-robot system trajectories by combining the two stages of assembly trajectory. Finally, the trajectory planning algorithms are verified by V-REP (virtual robot experimentation platform) simulation environment and experiment.
AB - The assembly problem of 3C (Computer / Communication / Consumer Electronic) production has always been a hot issue. It is very challenging to 3C products assembly process due to part manipulability problems, part assembly constraints related issues, and part positioning problems etc. This paper proposes a collaborative robot system for 3C products assembly consisting of two parallel robots. They have the advantages of high precision, high speed and flexibility, making them ideal for 3C products assembly. In order to manipulate the two parallel robots to complete a mobile phone screen assembly task, a technical solution of the dual-robot system collaborative assembly trajectory planning is proposed. Dividing the mobile phone screen assembly action into two stages, and dual-robot system trajectories with different constraints in two stages is analyzed. According to the efficient and smooth requirements of the assembly task, we present a multi-objective optimization scheme of the dual-robot system trajectories by combining the two stages of assembly trajectory. Finally, the trajectory planning algorithms are verified by V-REP (virtual robot experimentation platform) simulation environment and experiment.
UR - https://www.scopus.com/pages/publications/85077812208
U2 - 10.1109/WRC-SARA.2019.8931938
DO - 10.1109/WRC-SARA.2019.8931938
M3 - 会议稿件
AN - SCOPUS:85077812208
T3 - WRC SARA 2019 - World Robot Conference Symposium on Advanced Robotics and Automation 2019
SP - 116
EP - 121
BT - WRC SARA 2019 - World Robot Conference Symposium on Advanced Robotics and Automation 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2nd World Robot Conference Symposium on Advanced Robotics and Automation, WRC SARA 2019
Y2 - 21 August 2019
ER -