Benchmarking Protocols for Evaluating Small Parts Robotic Assembly Systems.
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ABSTRACT:
SUBMITTER: Kimble K
PROVIDER: S-EPMC7537423 | biostudies-literature | 2020
REPOSITORIES: biostudies-literature
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Benchmarking Protocols for Evaluating Small Parts Robotic Assembly Systems.
Kimble Kenneth K Van Wyk Karl K Falco Joe J Messina Elena E Sun Yu Y Shibata Mizuho M Uemura Wataru W Yokokohji Yasuyoshi Y
IEEE robotics and automation letters 20200101 2
This paper presents a set of performance metrics, test methods, and associated artifacts to help progress the development and deployment of robotic assembly systems. The designs for three task board artifacts that replicate small part insertion and fastening operations such as threading, snap fitting, and meshing with standard screws, nuts, washers, gears, electrical connectors, belt drives, and wiring are presented. To support the evaluation of robotic assembly and disassembly operations, bench ...[more]
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