Pose adjustment techniques in robotic manufacturing

Abstract

A robotic manufacturing system includes at least one first robot arm positioned in a manufacturing cell, a second robot arm coupled to a manufacturing tool and also located within the manufacturing cell. The system includes a pose adjustment station and a manufacturing station inside the cell. A controller is connected to both robot arms and includes a processor and memory storing instructions. When executed by the processor, the instructions cause the system to perform operations including grasping objects with the first robot arm in various initial poses from the highly unstructured storage environment, transferring the objects to the relatively structured pose adjustment station for regrasping in a common adjusted grasp pose that facilitates downstream manufacturing operations. The system then regrasps the objects in the adjusted grasp pose(s) and performs manufacturing and manufacturing operations. The introduction of the pose adjustment station significantly reduces overall weld cycle time.