Lessons Learned Developing an Assembly System for WRS 2020 Assembly Challenge
This work addresses the challenge of robotic assembly for competition, but it is incremental as it builds on existing methods without claiming broad advancements.
The authors tackled the problem of building a flexible and robust assembly system for the WRS 2020 Assembly Challenge by integrating machine vision, behavior trees, and recovery strategies, resulting in selection for the finals based on robust performance in qualifying rounds.
The World Robot Summit (WRS) 2020 Assembly Challenge is designed to allow teams to demonstrate how one can build flexible, robust systems for assembly of machined objects. We present our approach to assembly based on integration of machine vision, robust planning and execution using behavior trees and a hierarchy of recovery strategies to ensure robust operation. Our system was selected for the WRS 2020 Assembly Challenge finals based on robust performance in the qualifying rounds. We present the systems approach adopted for the challenge.