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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: |
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| 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: | no assignement | ||||||||
| HGF - Program: | Space | ||||||||
| HGF - Program Themes: | no assignment | ||||||||
| 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: | 06 Dec 2010 10:18 |
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