Multi-Robot Assembly Strategies and Metrics

Published: January 26, 2018

Author(s)

Jeremy A. Marvel, Roger V. Bostelman, Joseph A. Falco

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 by which the quality and performance of the assemblies are assessed.
Citation: ACM Computing Surveys
Volume: 51
Issue: 1
Pub Type: Journals

Keywords

Temporal Logic, Automata, Discrete-event dynamic systems
Created January 26, 2018, Updated January 08, 2018