Integrated Assembly and Performance Evaluation

Abdullah Aamir Hayat; Shraddha Chaudhary; Riby Abraham Boby; Arun Dayal Udai; Sumantra Dutta Roy; Subir Kumar Saha; Santanu Chaudhury

doi:10.1007/978-981-16-6990-3_6

Integrated Assembly and Performance Evaluation

Abdullah Aamir Hayat
, Shraddha Chaudhary
, Riby Abraham Boby
, Arun Dayal Udai
, Sumantra Dutta Roy
, Subir Kumar Saha
, Santanu Chaudhury

Research output: Chapter in Book/Report/Conference proceeding › Chapter

Abstract

This chapter presents the results of experiments on picking and peg in tube assembly using an industrial robot KUKA KR5 arc. The robotic system involves a camera, 2D laser scanner, pneumatic gripper for determining the pose and picking up of pellets. The picked pellets are assembled in force control mode after an initial localization step. The results of multiple trials are presented to prove the validity of the methods presented in earlier chapters of this monograph.

Original language	English
Title of host publication	Studies in Systems, Decision and Control
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	153-174
Number of pages	22
DOIs	https://doi.org/10.1007/978-981-16-6990-3_6
Publication status	Published - 2022
Externally published	Yes

Publication series

Name	Studies in Systems, Decision and Control
Volume	404
ISSN (Print)	2198-4182
ISSN (Electronic)	2198-4190

ASJC Scopus subject areas

Computer Science (miscellaneous)
Control and Systems Engineering
Automotive Engineering
Social Sciences (miscellaneous)
Economics, Econometrics and Finance (miscellaneous)
Control and Optimization
Decision Sciences (miscellaneous)

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10.1007/978-981-16-6990-3_6

Cite this

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title = "Integrated Assembly and Performance Evaluation",

abstract = "This chapter presents the results of experiments on picking and peg in tube assembly using an industrial robot KUKA KR5 arc. The robotic system involves a camera, 2D laser scanner, pneumatic gripper for determining the pose and picking up of pellets. The picked pellets are assembled in force control mode after an initial localization step. The results of multiple trials are presented to prove the validity of the methods presented in earlier chapters of this monograph.",

author = "Hayat, \{Abdullah Aamir\} and Shraddha Chaudhary and Boby, \{Riby Abraham\} and Udai, \{Arun Dayal\} and \{Dutta Roy\}, Sumantra and Saha, \{Subir Kumar\} and Santanu Chaudhury",

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doi = "10.1007/978-981-16-6990-3\_6",

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AU - Hayat, Abdullah Aamir

AU - Chaudhary, Shraddha

AU - Boby, Riby Abraham

AU - Udai, Arun Dayal

AU - Dutta Roy, Sumantra

AU - Saha, Subir Kumar

AU - Chaudhury, Santanu

PY - 2022

Y1 - 2022

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AB - This chapter presents the results of experiments on picking and peg in tube assembly using an industrial robot KUKA KR5 arc. The robotic system involves a camera, 2D laser scanner, pneumatic gripper for determining the pose and picking up of pellets. The picked pellets are assembled in force control mode after an initial localization step. The results of multiple trials are presented to prove the validity of the methods presented in earlier chapters of this monograph.

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UR - https://www.scopus.com/pages/publications/85127151892#tab=citedBy

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M3 - Chapter

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BT - Studies in Systems, Decision and Control

PB - Springer Science and Business Media Deutschland GmbH

ER -

Integrated Assembly and Performance Evaluation

Abstract

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ASJC Scopus subject areas

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