ABSTRACT In this article, we propose a versatile robotic system for kitting and assembly tasks which uses no jigs or commercial tool changers. Instead of specialized end effectors, it uses its two-finger grippers to grasp and hold tools to perform subtasks such as screwing and suctioning. A third gripper is used as a precision picking and centering tool, and uses in-built passive compliance to compensate for small position errors and uncertainty. A novel grasp point detection for bin picking is described for the kitting task, using a single depth map. Using the proposed system we competed in the Assembly Challenge of the Industrial Robotics Category of the World Robot Challenge at the World Robot Summit 2018, obtaining 4th place and the SICE award for lean design and versatile tool use. We show the effectiveness of our approach through experiments performed during the competition. GRAPHICAL ABSTRACT

中文翻译：

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参加 2018 年世界机器人峰会的 O2AS 团队：使用通用夹具和工具进行机器人配套和组装任务的方法

摘要在本文中，我们提出了一种多功能机器人系统，用于装配和组装任务，它不使用夹具或商业工具更换器。它没有使用专门的末端执行器，而是使用其两指抓手来抓握工具以执行子任务，例如拧紧和抽吸。第三个夹具用作精密拾取和定心工具，并使用内置的被动柔顺来补偿小的位置误差和不确定性。使用单个深度图为配套任务描述了一种用于垃圾箱拾取的新型抓取点检测。使用所提出的系统，我们在 2018 年世界机器人峰会上参加了世界机器人挑战赛工业机器人类别的装配挑战赛，凭借精益设计和多功能工具的使用获得了第四名和 SICE 奖。我们通过在比赛期间进行的实验展示了我们方法的有效性。图形概要