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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) | ||||||||
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| Title: | Classification and Prediction for Accurate Sensor-Based Assembly to Continuously Conveyed Objects | ||||||||
| Authors: |
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| 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 | ||||||||
| HGF - Program: | Space | ||||||||
| 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: | 22 Jan 2013 16:02 |
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