ABSTRACT We present algorithms and results for a robotic manipulation system that was designed to be easily programable and adaptable to various tasks common to industrial setting, which is inspired by the Industrial Assembly Challenge at the 2018 World Robotics Summit in Tokyo. This challenge included assembly of standard, commercially available industrial parts into 2D and 3D assemblies. We demonstrate three tasks that can be classified into ‘peg-in-hole’ and ‘hole-on-peg’ tasks and identify two canonical algorithms: spiral-based search and tilting insertion. Both algorithms use hand-coded thresholds in the force and torque domains to detect critical points in the assembly. After briefly summarizing the state of the art in research, we describe the strategy and approach utilized by the tested system, how it's design bears on its performance, statistics on 20 experimental trials for each task, lessons learned during the development of the system, and open research challenges that still remain. GRAPHICAL ABSTRACT

中文翻译：

---

使用力、扭矩和 RGB-D 传感的自主工业组装

摘要 我们展示了机器人操纵系统的算法和结果，该系统旨在易于编程并适应工业环境中常见的各种任务，其灵感来自 2018 年东京世界机器人峰会上的工业装配挑战赛。这一挑战包括将标准的商用工业零件组装成 2D 和 3D 组件。我们展示了可以分为“peg-in-hole”和“hole-on-peg”任务的三个任务，并确定了两种规范算法：基于螺旋的搜索和倾斜插入。这两种算法都在力和扭矩域中使用手工编码的阈值来检测装配中的关键点。在简要总结研究的最新技术后，我们描述了被测试系统使用的策略和方法，它的设计如何影响其性能，每项任务的 20 次实验性试验的统计数据、系统开发过程中的经验教训以及仍然存在的开放研究挑战。图形概要