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A Complete Automated Chain for Flexible Assembly using Recognition, Planning and Sensor-Based Execution

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/
Document Type:Conference or Workshop Item (Speech)
Title:A Complete Automated Chain for Flexible Assembly using Recognition, Planning and Sensor-Based Execution
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Nottensteiner, Korbiniankorbinian.nottensteiner (at) dlr.deUNSPECIFIED
Bodenmüller, TimTim.Bodenmueller (at) dlr.deUNSPECIFIED
Kaßecker, Michaelmichael.kassecker (at) dlr.deUNSPECIFIED
Roa Garzon, Máximo AlejandroMaximo.Roa (at) dlr.deUNSPECIFIED
Stemmer, Andreasandreas.stemmer (at) dlr.deUNSPECIFIED
Stouraitis, TheodorosTheodoros.Stouraitis (at) dlr.deUNSPECIFIED
Seidel, Danieldaniel.seidel (at) dlr.deUNSPECIFIED
Thomas, UlrikeUlrike.Thomas (at) dlr.deUNSPECIFIED
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 Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Intelligente Mobilität
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

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