Lessons Learned Developing an Assembly System for WRS 2020 Assembly Challenge

TL;DR

This paper details the development of a robust, flexible robotic assembly system for the WRS 2020 Challenge, integrating vision, planning, and recovery strategies, achieving finalist status.

Contribution

It introduces an integrated system combining machine vision, behavior-based planning, and recovery strategies for robotic assembly in competitive scenarios.

Findings

System achieved robust performance in qualifiers

Selected for finals based on reliability

Demonstrated effective integration of vision and planning

Abstract

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.