Human-robot collaboration has become a key driver for manufacturing sustainability in Europe. Thanks to the many advantages that a fenceless, shared working environment offers, industry has recently grown a particular interest in collaborative robotics, thus sustaining the transition from academy to factories of this technology. In this work, we present a robotic solution integrating a serial manipulator and a mobile platform, both characterized by collaborative features, for feeding raw material to a packaging automatic machine. The goal is to provide an overview of such a complex system from different points of view, including hardware and software architecture, trajectory planning, computer-vision strategies, customized mechanical design, and field validation. We will describe the obtained results and the lessons learned, and provide an outlook for future evolution.

Mobile cobots for autonomous raw-material feeding of automatic packaging machines

Comari S.;Di Leva R.;Carricato M.
;
2022

Abstract

Human-robot collaboration has become a key driver for manufacturing sustainability in Europe. Thanks to the many advantages that a fenceless, shared working environment offers, industry has recently grown a particular interest in collaborative robotics, thus sustaining the transition from academy to factories of this technology. In this work, we present a robotic solution integrating a serial manipulator and a mobile platform, both characterized by collaborative features, for feeding raw material to a packaging automatic machine. The goal is to provide an overview of such a complex system from different points of view, including hardware and software architecture, trajectory planning, computer-vision strategies, customized mechanical design, and field validation. We will describe the obtained results and the lessons learned, and provide an outlook for future evolution.
Comari S.; Di Leva R.; Carricato M.; Badini S.; Carapia A.; Collepalumbo G.; Gentili A.; Mazzotti C.; Stagliano K.; Rea D.
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11585/890632
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