An Integration Framework to facilitate Product Assembly in Human-Robot Collaboration

This paper presents an integration framework for different software modules to facilitate product assembly in human-robot collaboration. The key hardware components used include a collaborative robot (UR5e), a gripper, and a vision system. The software integration framework integrates software modules for perception, task planning and allocation, and robot motion planning. The framework's effectiveness is demonstrated through a use case of assembling an electronic weight scale. The framework lays the foundation for future research and innovation in the field.