SOME CRITERIA TO HELP THE EXPERIMENTAL SETUP OF ASSEMBLY CELLS WITH COOPERATING ROBOTS

摘要

A pragmatic approach for aid in the designing of assembly cells with cooperating robots is presented in this paper. The conditions justifying the use of multiple cooperation have been previously defined. Effort was then focused on the appropriate characterization of the assembly tasks with the aim of helping find solutions for solving both collision and coordination problems. The capability of the laboratory used for experimental studies on cooperating robots is also illustrated. The presented criteria have been applied to the cell setup of a mechanical assembly process.