ICRA 2023poster9 citations
Auto-Assembly: a framework for automated robotic assembly directly from CAD
Fedor Chervinskii, Sergei Zobov, Aleksandr Rybnikov, Danil Petrov, Komal Vendidandi
Abstract
In this work, we propose a framework called Auto-Assembly for automated robotic assembly from design files and demonstrate a practical implementation on modular parts joined by fastening using a robotic cell consisting of two robots. We show the flexibility of the approach by testing it on different input designs. Auto-Assembly consists of several parts: design analysis, assembly sequence generation, bill-of-process (BOP) generation, conversion of the BOP to control code, path planning, simulation, and execution of the control code to assemble parts in the physical environment.
BibTeX
@inproceedings{icra2023_autoassemblyafra,
title = {Auto-Assembly: a framework for automated robotic assembly directly from CAD},
author = {Fedor Chervinskii and Sergei Zobov and Aleksandr Rybnikov and Danil Petrov and Komal Vendidandi},
booktitle = {ICRA 2023},
year = {2023}
}