Here is a robot that can autonomously assemble an IKEA chair with two arms with grippers and a 3D camera. NTU Singapore researchers used open source libraries to develop the right algorithm for this project.
The robot assembled IKEA’s Stefan chair in 8 minutes and 55 minutes. It spent a few more minutes on planning the motion pathways. Here is how it works:
The robot starts the assembly process by taking 3D photos of the parts laid out on the floor to generate a map of the estimated positions of the different parts. Next, using algorithms developed by the team, the robot plans a two-handed motion that is fast and collision-free. The force sensors mounted on the wrists help to determine the amount of force required, allowing the robot to precisely and consistently detect holes by sliding the wooden plug on the surfaces of the work pieces, and perform tight insertions.