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Is a Linear Axis Really Required When Assembling Parts to a Moving Conveyor?

Lange, Friedrich and Scharrer, Johannes and Hirzinger, Gerd (2010) Is a Linear Axis Really Required When Assembling Parts to a Moving Conveyor? Joint 41th Int. Symp. on Robotics and 6th German Conf. on Robotics ISR/ROBOTIK 2010, Munich, Germany.

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Abstract

Assembly tasks at a conveyor are usually executed using a robot that is mounted on a linear axis. In this way the robot is moved in parallel to the conveyor, such that control is almost as with a fixed object. Control without such a linear axis is more demanding as the conveyor motion has to be overlaid to the normal motion of the robot arm. This requires high path accuracy instead of high pose accuracy. In addition there are kinematic restrictions and a more difficult fault management that have to be considered.

Document Type:Conference or Workshop Item (Paper)
Title:Is a Linear Axis Really Required When Assembling Parts to a Moving Conveyor?
Authors:
AuthorsInstitution or Email of Authors
Lange, Friedrichfriedrich.lange@dlr.de
Scharrer, Johannesjohannes.scharrer@iwb.tum.de
Hirzinger, Gerdgerd.hirzinger@dlr.de
Date:June 2010
Status:Published
Keywords:Robotics; Assembly; Industrial robots
Event Title:Joint 41th Int. Symp. on Robotics and 6th German Conf. on Robotics ISR/ROBOTIK 2010
Event Location:Munich, Germany
Event Type:international Conference
Organizer:VDI
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 - Weiterentwicklung Robotik - Mechatronik und Dynamik (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Dr.-Ing. Friedrich Lange
Deposited On:06 Dec 2010 10:18
Last Modified:12 Dec 2013 21:07

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