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Robotic Assembly of Complex Planar Parts: An Experimental Evaluation

Robuffo Giordano, Paolo and Stemmer, Andreas and Arbter, Klaus and Albu-Schäffer, Alin (2008) Robotic Assembly of Complex Planar Parts: An Experimental Evaluation. In: RSJ, pp. 3775-3782. International Conference on Intelligent Robots and Systems, IROS, Nice (Frankreich).

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Abstract

In this paper we present an experimental evaluation of automatic robotic assembly of complex planar parts. The torque-controlled DLR light-weight robot, equipped with an on-board camera (eye-in-hand configuration), is committed with the task of looking for given parts on a table, picking them, and inserting them inside the corresponding holes on a movable plate. Visual servoing techniques are used for fine positioning over the selected part/hole, while insertion is based on active compliance control of the robot and robust assembly planning in order to align the parts automatically with the hole. Execution of the complete task is validated through extensive experiments, and performance of humans and robot are compared in terms of overall execution time.

Document Type:Conference or Workshop Item (Speech, Paper)
Title:Robotic Assembly of Complex Planar Parts: An Experimental Evaluation
Authors:
AuthorsInstitution or Email of Authors
Robuffo Giordano, PaoloUNSPECIFIED
Stemmer, AndreasUNSPECIFIED
Arbter, KlausUNSPECIFIED
Albu-Schäffer, AlinUNSPECIFIED
Date:2008
Journal or Publication Title:RSJ
Refereed publication:Yes
In ISI Web of Science:No
Page Range:pp. 3775-3782
Status:Published
Keywords:-
Event Title:International Conference on Intelligent Robots and Systems, IROS
Event Location:Nice (Frankreich)
Event Type:international Conference
Organizer:IEEE
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - Vorhaben DLR-Leichtbau-Roboter III (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Monika Klauer
Deposited On:22 Oct 2008
Last Modified:12 Dec 2013 20:33

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