ABSTRACT The Industrial Assembly Challenge at the World Robot Summit was held in 2018 to showcase the state-of-the-art of autonomous manufacturing systems. The challenge included various tasks, such as bin picking, kitting, and assembly of standard industrial parts into 2D and 3D assemblies. Some of the tasks were only revealed at the competition itself, representing the challenge of ‘level 5’ automation, i.e. programming and setting up an autonomous assembly system in less than one day. We conducted a survey among the teams that participated in the challenge and investigated aspects such as team composition, development costs, system setups as well as the teams' strategies and approaches. An analysis of the survey results reveals that the competitors have been in two camps: those constructing conventional robotic work cells with off-the-shelf tools, and teams who mostly relied on custom-made end effectors and novel software approaches in combination with collaborative robots. While both camps performed reasonably well, the winning team chose a middle ground in between, combining the efficiency of established play-back programming with the autonomy gained by CAD-based object detection and force control for assembly operations. GRAPHICAL ABSTRACT

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机器人组装机：学习世界机器人峰会2018组装挑战赛

摘要 世界机器人峰会的工业装配挑战赛于 2018 年举行，旨在展示最先进的自主制造系统。挑战包括各种任务，例如垃圾箱拣选、配套以及将标准工业零件组装成 2D 和 3D 组件。一些任务仅在比赛本身中揭晓，代表了“5 级”自动化的挑战，即在不到一天的时间内编程和建立一个自主装配系统。我们对参与挑战的团队进行了调查，并调查了团队组成、开发成本、系统设置以及团队的策略和方法等方面。对调查结果的分析显示，参赛者分为两大阵营：那些使用现成工具构建传统机器人工作单元的团队，以及主要依赖定制的末端执行器和新颖的软件方法与协作机器人相结合的团队。虽然两个阵营的表现都相当不错，但获胜的团队选择了介于两者之间的中间立场，将既定回放编程的效率与基于 CAD 的对象检测和装配操作的力控制所获得的自主权相结合。图形概要 将已建立的回放编程的效率与基于 CAD 的对象检测和装配操作的力控制所获得的自主性相结合。图形概要 将已建立的回放编程的效率与基于 CAD 的对象检测和装配操作的力控制所获得的自主性相结合。图形概要