Abstract

Planning a Minimum Sequence of Positions for Picking Parts From Multiple Trays Using a Mobile Manipulator

Highlights

  • There is an increasing demand on robots which are able to flexibly perform tasks in the human environment [1] and industrial production

  • The current mobile manipulators are well-suited for part-supply tasks in a structured environment, where the robot picks up and transports objects to the desired location

  • We expect to use mobile manipulators to replace human workers to perform the partsupply tasks in an automotive assembly factory, where different categories of assembly parts of automobiles are scattered in a large storage area

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Summary

Introduction

There is an increasing demand on robots which are able to flexibly perform tasks in the human environment [1] (such as opening doors [2] and fetch a cup of coffee [3]) and industrial production (e.g., inspection and sealant tasks in aerospace industry [4], robotic painting [5], robotic machining [6], and part pickup and transport operations in warehouses [7]). The current mobile manipulators are well-suited for part-supply tasks in a structured environment, where the robot picks up and transports objects to the desired location. These tasks are still heavily occupied by human workers. We expect to use mobile manipulators to replace human workers to perform the partsupply tasks in an automotive assembly factory, where different categories of assembly parts of automobiles are scattered in a large storage area. To perform the part-supply tasks, the mobile manipulators have to move to a sequence of positions to pick up the target assembly parts from multiple trays and transport them to the assembly area

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