ABSTRACT Cell production systems for assembly operations generally require tool changes using several hands and a customized work table. The initial setting and resetting of the assembly system are costly. We implemented a system comprising the use of only two hands and without the requirement of tool changers. In addition, multiple sensors are used to perform tasks robustly to avoid errors. The peg-in-hole task is performed robustly against errors without the precise positioning of objects. The objective is to develop a system that is lean and agile and can be set up quickly. We evaluate this system based on the task-board and assembly tasks during the assembly challenge in the industrial robotics category of the World Robot Summit 2018. GRAPHICAL ABSTRACT

中文翻译：

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开发具有快速和低成本安装的装配系统

摘要 用于装配操作的单元生产系统通常需要使用多只手和定制的工作台来更换工具。组装系统的初始设置和重置成本很高。我们实施了一个系统，只需要使用两只手，不需要工具更换器。此外，多个传感器用于稳健地执行任务以避免错误。在没有精确定位物体的情况下，孔中钉任务可以稳健地防止错误。目标是开发一个精益敏捷且可以快速设置的系统。我们在 2018 年世界机器人峰会工业机器人类别的装配挑战期间根据任务板和装配任务评估该系统。图形摘要