The machine tending in a productive plant typically requires the transport of material from a storage area to a productive area. The plant logistics phase is a part of the production process that is often performed manually, due to the technological challenges related to the manipulation of objects in constrained environments, such as the shelf of a warehouse. However, an effort for its automation is justified by the fact that for a human operator, this activity is fatiguing, not ergonomic, and with low added value. This paper proposes a control framework for the automation of plant logistics for an industrial case study, integrating navigation and object manipulation
Robotic Autonomous Loco-Manipulation For Logistics In Industrial Plants
Francesca Negrello;Alessandro Palleschi;Elisa Stefanini;Antonio Bicchi;Manuel G. Catalano
2022-01-01
Abstract
The machine tending in a productive plant typically requires the transport of material from a storage area to a productive area. The plant logistics phase is a part of the production process that is often performed manually, due to the technological challenges related to the manipulation of objects in constrained environments, such as the shelf of a warehouse. However, an effort for its automation is justified by the fact that for a human operator, this activity is fatiguing, not ergonomic, and with low added value. This paper proposes a control framework for the automation of plant logistics for an industrial case study, integrating navigation and object manipulationI documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
