Sciweavers

Share
IROS
2009
IEEE

Mobile robotic dynamic tracking for assembly tasks

8 years 12 months ago
Mobile robotic dynamic tracking for assembly tasks
—Traditional industrial robots have been widely used in automotive manufacturing for nearly 30 years. However, there have been very few attempts to automate mobile robotic systems for final assembly operations, despite their potential for high flexibility and capability. This paper focuses on methods of tracking a dynamic moving vehicle that is similar to the vehicle body on a moving assembly line. We have investigated two tracking methods, one using a laser scanner and the other using a visual fiducial marker. We have also studied the tracking performance of a mobile base using the pure pursuit algorithm with low pass filtering. Experimental results are presented to illustrate the remaining main challenges in achieving robotic assembly on moving assembly lines.
Bradley Hamner, Seth Koterba, Jane Shi, Reid G. Si
Added 24 May 2010
Updated 24 May 2010
Type Conference
Year 2009
Where IROS
Authors Bradley Hamner, Seth Koterba, Jane Shi, Reid G. Simmons, Sanjiv Singh
Comments (0)
books