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Nottensteiner, Korbinian and Bodenmüller, Tim and Kaßecker, Michael and Roa Garzon, Máximo Alejandro and Stemmer, Andreas and Stouraitis, Theodoros and Seidel, Daniel and Thomas, Ulrike (2016) A Complete Automated Chain for Flexible Assembly using Recognition, Planning and Sensor-Based Execution. In: Proceedings - International Symposium on Robotics. VDE Verlag. 47th International Symposium on Robotics ISR, 21.-22.Juni, München, Deutschland. ISBN 978-3-8007-4231-8.
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Abstract
This paper presents a fully automated system for automatic assembly of aluminum profile constructions. This high grade of automation of the entire process chain requires novel strategies in recognition, planning and execution. The system includes an assembly sequence planner integrated with a grasp planning tool, a knowledge-based reasoning method, a skill-based code generation, and an error tolerant execution engine. The modular structure of the system allows its adaptation to new products, which can prove especially useful for SMEs producing small lot sizes. The system is robust and stable, as demonstrated with the repeated execution of different geometric assemblies.
| Item URL in elib: | https://elib.dlr.de/105315/ | |||||||||||||||||||||||||||
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| Document Type: | Conference or Workshop Item (Speech) | |||||||||||||||||||||||||||
| Title: | A Complete Automated Chain for Flexible Assembly using Recognition, Planning and Sensor-Based Execution | |||||||||||||||||||||||||||
| Authors: |
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| Date: | June 2016 | |||||||||||||||||||||||||||
| Journal or Publication Title: | Proceedings - International Symposium on Robotics | |||||||||||||||||||||||||||
| Refereed publication: | Yes | |||||||||||||||||||||||||||
| Open Access: | No | |||||||||||||||||||||||||||
| Gold Open Access: | No | |||||||||||||||||||||||||||
| In SCOPUS: | No | |||||||||||||||||||||||||||
| In ISI Web of Science: | No | |||||||||||||||||||||||||||
| Publisher: | VDE Verlag | |||||||||||||||||||||||||||
| ISBN: | 978-3-8007-4231-8 | |||||||||||||||||||||||||||
| Status: | Published | |||||||||||||||||||||||||||
| Keywords: | robotic assembly, automatic planning | |||||||||||||||||||||||||||
| Event Title: | 47th International Symposium on Robotics ISR | |||||||||||||||||||||||||||
| Event Location: | München, Deutschland | |||||||||||||||||||||||||||
| Event Type: | international Conference | |||||||||||||||||||||||||||
| Event Dates: | 21.-22.Juni | |||||||||||||||||||||||||||
| HGF - Research field: | Aeronautics, Space and Transport | |||||||||||||||||||||||||||
| HGF - Program: | Space | |||||||||||||||||||||||||||
| HGF - Program Themes: | Space System Technology | |||||||||||||||||||||||||||
| DLR - Research area: | Raumfahrt | |||||||||||||||||||||||||||
| DLR - Program: | R SY - Space System Technology | |||||||||||||||||||||||||||
| DLR - Research theme (Project): | R - Vorhaben Intelligente Mobilität (old) | |||||||||||||||||||||||||||
| Location: | Oberpfaffenhofen | |||||||||||||||||||||||||||
| Institutes and Institutions: | Institute of Robotics and Mechatronics (since 2013) > Cognitive Robotics | |||||||||||||||||||||||||||
| Deposited By: | Nottensteiner, Korbinian | |||||||||||||||||||||||||||
| Deposited On: | 19 Jul 2016 09:24 | |||||||||||||||||||||||||||
| Last Modified: | 19 Jul 2016 09:24 |
Available Versions of this Item
- A Complete Automated Chain for Flexible Assembly using Recognition, Planning and Sensor-Based Execution. (deposited 19 Jul 2016 09:24) [Currently Displayed]
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