Dual arm robot in cooperation with humans for flexible assembly

This paper discusses a flexible assembly cell, including a dual arm robot in cooperation with humans for assembly tasks typically performed by operators. The robot performs these tasks both in isolation and cooperation with the human. Sensor data are used for programming the robot's motion and controlling the program's execution in a fenceless setup. Safety is ensured with the use of 3D sensing devices, while the tasks' coordination is managed by the so-called station controller. The programming approach combines both offline and on-line methods, in an intuitive manner. The proposed assembly cell is demonstrated in an automotive industry case.