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Development of a Vision-Based 6D Pose Estimation End Effector for Industrial Manipulators in Lightweight Production Environments

Braun, Georg and Nissler, Christian and Krebs, Florian (2015) Development of a Vision-Based 6D Pose Estimation End Effector for Industrial Manipulators in Lightweight Production Environments. In: 2015 20th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA), pp. 1-6. 2015 IEEE 20th Conference on Emerging Technologies & Factory Automation (ETFA), 8-11 Sept. 2015, Luxembourg. DOI: 10.1109/ETFA.2015.7301469

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Abstract

Carbon fiber reinforced plastics are playing a key role for aircraft constructions nowadays as well as in the future because of the convenient ratio of strength to weight. Due to the growing requirements of this market, an automation of the production process is necessary. Because of the high unit volumes and accuracy required, the use of robots with increased work accuracy is essential. The German Aerospace Center has developed, in an internal cooperation, an end effector for the camera-based determination of its position and orientation in space. This article deals with the construction and structure of the end effector and first experimental results.

Item URL in elib:https://elib.dlr.de/100451/
Document Type:Conference or Workshop Item (Speech)
Title:Development of a Vision-Based 6D Pose Estimation End Effector for Industrial Manipulators in Lightweight Production Environments
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Braun, Georggeorg.braun (at) dlr.deUNSPECIFIED
Nissler, ChristianChristian.Nissler (at) dlr.deUNSPECIFIED
Krebs, Florianflorian.krebs (at) dlr.deUNSPECIFIED
Date:September 2015
Journal or Publication Title:2015 20th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
DOI :10.1109/ETFA.2015.7301469
Page Range:pp. 1-6
Status:Published
Keywords:aircraft manufacture, carbon fibre reinforced plastics, end effectors, factory automation, industrial manipulators, pose estimation, robot vision
Event Title:2015 IEEE 20th Conference on Emerging Technologies & Factory Automation (ETFA)
Event Location:Luxembourg
Event Type:international Conference
Event Dates:8-11 Sept. 2015
Organizer:IEEE
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Multisensorielle Weltmodellierung, L - Structures and Materials
Location: Augsburg , Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Perception and Cognition
Institute of Structures and Design > Automation and Quality Assurance in Production
Deposited By: Nissler, Christian
Deposited On:15 Dec 2015 11:31
Last Modified:31 Jul 2019 19:57

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