Collaborative two-arm robotic torso for the development of an assembly process

This article discusses the design and construction of a collaborative robotic torso with two arms that analyzes a bolted connection in a work cell as a didactic process. The handler is made up of two anthropomorphic arms, each one with seven degrees of freedom (DOF). Inverse kinematics for each redundant handler was developed by solving off-line genetic algorithms. The automatic process of a bolted connection was implemented by including a machine which monitored the execution of given subroutines for each arm. Artificial vision was used in order to obtain real-time feedback within the process by identifying the bolted connection's parts.