FP7-ICT-314355

Laboratory for manufacturing systems & Automation

Director: Professor G. Chryssolouris

X-act project

Dual arm for assembly tasks

ERF 2014, Rovereto

Sotiris Makris, Panagiota Tsarouchi

LMS

1

FP7-ICT-314355

Laboratory for manufacturing systems & Automation

Director: Professor G. Chryssolouris

Content

• Service oriented architecture

• Dual arm motion generation

• Human robot cooperation

• Automotive assembly case-application

2

FP7-ICT-314355

Laboratory for manufacturing systems & Automation

Director: Professor G. Chryssolouris

X-act Service oriented architecture

3

FP7-ICT-314355

Laboratory for manufacturing systems & Automation

Director: Professor G. Chryssolouris 5

Goal

Motion planner High level

commands

“Approach Goal

position” Path towards the goal

is automatically

generated

OBS

X-act Dual arm motion generation

Free space motion, dual arm-robot

programming

FP7-ICT-314355

Laboratory for manufacturing systems & Automation

Director: Professor G. Chryssolouris 6

Implementation of COMAU Smart Dual Arm in

Moveit!

FP7-ICT-314355

Laboratory for manufacturing systems & Automation

Director: Professor G. Chryssolouris 7

Motion planning search algorithm

Algorithm implementation Matlab-Free space planning

• Matlab Robotics Toolbox

• Smart Six kinematics modelling

• General representation for

serial-link manipulators

• Kinematic constraints (Joint

limits)

• Trajectory generation for free

space

• Distance due to translation and

due to rotation criteria

FP7-ICT-314355

Laboratory for manufacturing systems & Automation

Director: Professor G. Chryssolouris 9

Motion planning search algorithm in Smart Dual

arm robot

FP7-ICT-314355

Laboratory for manufacturing systems & Automation

Director: Professor G. Chryssolouris 11

X-act Dual arm robot commanding-

application

FP7-ICT-314355

Laboratory for manufacturing systems & Automation

Director: Professor G. Chryssolouris

Automotive industry-Dual arm robot application

Dashboard assembly case characteristics:

• Parts with complex geometries

• Heavy and flexible parts, that require both arms for

manipulation

• Small parts that require dexterous handling

• Flexible parts that involve human

12

FP7-ICT-314355

Laboratory for manufacturing systems & Automation

Director: Professor G. Chryssolouris

Cell layout

14

Loading area Assembly area

FP7-ICT-314355

Laboratory for manufacturing systems & Automation

Director: Professor G. Chryssolouris

1:Product specific gripper arm1

2: Product specific gripper arm2

Grasping of traverse with Dual arm robot

FP7-ICT-314355

Laboratory for manufacturing systems & Automation

Director: Professor G. Chryssolouris

Lift & place traverse

Lift traverse Place traverse

FP7-ICT-314355

Laboratory for manufacturing systems & Automation

Director: Professor G. Chryssolouris

Grasp body computer

FP7-ICT-314355

Laboratory for manufacturing systems & Automation

Director: Professor G. Chryssolouris

Body computer screwing

FP7-ICT-314355

Laboratory for manufacturing systems & Automation

Director: Professor G. Chryssolouris

Human Robot collaborative cable installation

FP7-ICT-314355

Laboratory for manufacturing systems & Automation

Director: Professor G. Chryssolouris 20

Thank you

X-act

Laboratory for Manufacturing Systems and Automation Director: Professor G. Chryssolouris

University of Patras

http://www.xact-project.eu/