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Classification and Prediction for Accurate Sensor-Based Assembly to Continuously Conveyed Objects

Lange, Friedrich and Scharrer, Johannes and Hirzinger, Gerd (2010) Classification and Prediction for Accurate Sensor-Based Assembly to Continuously Conveyed Objects. Int. Conf. on Robotics and Automation (ICRA), Anchorage, AK, USA.

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Abstract

Typical industrial assembly tasks require an accuracy that cannot be realized by only feedback control if a minimum speed is given by a conveyor. Feed-forward has proven to be advantageous, using predictions of the desired trajectory which will be computed from sensor values. These predictions are improved by a model based classification of the sensor data to typical scenarios. In contrast to linear controllers this assures the fastest possible response to external disturbances, in spite of large dynamical delays. The method is demonstrated by assembling wheels to a car body that is moved by a conveyor, fusing sensor data using an extended Kalman filter.

Document Type:Conference or Workshop Item (Paper)
Title:Classification and Prediction for Accurate Sensor-Based Assembly to Continuously Conveyed Objects
Authors:
AuthorsInstitution or Email of Authors
Lange, Friedrichfriedrich.lange@dlr.de
Scharrer, Johannesjohannes.scharrer@iwb.tum.de
Hirzinger, Gerdgerd.hirzinger@dlr.de
Date:May 2010
Page Range:pp. 2163-2168
Status:Published
Keywords:Sensor Fusion; Compliant Assembly; Industrial Robots
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 11:08
Last Modified:12 Dec 2013 21:07

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