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Assembling Wheels to Continuously Conveyed Car Bodies Using a Standard Industrial Robot

Lange, Friedrich and Werner, Jochen and Scharrer, Johannes and Hirzinger, Gerd (2010) Assembling Wheels to Continuously Conveyed Car Bodies Using a Standard Industrial Robot. Int. Conf. on Robotics and Automation (ICRA), Anchorage, AK, USA.

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Abstract

Within assembly lines, wheel assembly to continuously conveyed car bodies is still executed by human workers using a device that compensates the weight of the wheel. This paper presents a solution in which a robot autonomously assembles and fixes the wheels. The approach uses a sensor- driven control strategy that compensates a possible temporal or spatial offset. Three types of sensors are proposed for adequate perception of the wheel hub. Their signals are fused by a Kalman filter that allows predictions in the time domain. Finally, a feed-forward controller is used, that is designed to consider the predictions in order to minimize dynamical delays. The control is driven by a special task description that extents usual robot programming methods.

Document Type:Conference or Workshop Item (Paper)
Title:Assembling Wheels to Continuously Conveyed Car Bodies Using a Standard Industrial Robot
Authors:
AuthorsInstitution or Email of Authors
Lange, Friedrichfriedrich.lange@dlr.de
Werner, Jochenjochen.werner@iwb.tum.de
Scharrer, Johannesjohannes.scharrer@iwb.tum.de
Hirzinger, Gerdgerd.hirzinger@dlr.de
Date:May 2010
Page Range:pp. 3863-3869
Status:Published
Keywords:Robotics; Compliant Assembly; Intelligent and Flexible Manufacturing
Event Title:Int. Conf. on Robotics and Automation (ICRA)
Event Location:Anchorage, AK, USA
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 - Leistungszentrum Robotik - Mechatronik und Telerobotik (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Dr.-Ing. Friedrich Lange
Deposited On:06 Dec 2010 11:07
Last Modified:12 Dec 2013 21:07

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