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Autonomous control of an Industrial robot based on formalized process description for cabin assembly

Srinivasan, Venkatachalam and Markusheska, Nastasija and Walther, Jan-Niclas and Gindorf, Alex and Hesse, Christian and Biedermann, Jörn and Meller, Frank and Nagel, Björn (2020) Autonomous control of an Industrial robot based on formalized process description for cabin assembly. Deutsche Luft- und Raumfahrtkongress 2020, 2020-09-01 - 2020-09-03, Online.

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Envisioning advance assembly concepts in Aircraft manufacturing are essential for sustaining the competition and acquiring customers. In this paper we focus ourselves on describing an approach that offers adaptable process flow, reliable assembling methodology that provides faster cycle time along with safety to human workers. Further we also introduce the methodologies to program robot control from different sources which could be of interest to the Aerospace manufacturers. The process planning associated with deployment of robots and communication between the robots using external sensors are described here. Based on existing assembly model for cabin, the initial assembly instructions are written with Ontology. Time consuming activities during such assembly work are identified and interactions are reframed such that the overall assembly time is optimized. This is achieved by collecting and storing the meta-data of the robot motion which may describe the different process times, and associated robot motions. Feasibility on preempting the failure through live visualization of robot data (such as joint current, joint temperature) is studied along with analyzing and improving process by visualizing robot motions in Blender.

Item URL in elib:https://elib.dlr.de/136122/
Document Type:Conference or Workshop Item (Lecture)
Title:Autonomous control of an Industrial robot based on formalized process description for cabin assembly
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Srinivasan, VenkatachalamUNSPECIFIEDhttps://orcid.org/0000-0002-6674-303XUNSPECIFIED
Markusheska, NastasijaUNSPECIFIEDhttps://orcid.org/0000-0001-7116-8087UNSPECIFIED
Walther, Jan-NiclasUNSPECIFIEDhttps://orcid.org/0000-0001-5738-658XUNSPECIFIED
Hesse, ChristianUNSPECIFIEDhttps://orcid.org/0000-0002-9456-5277UNSPECIFIED
Nagel, BjörnUNSPECIFIEDhttps://orcid.org/0000-0001-8076-9853UNSPECIFIED
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
EditorsEmailEditor's ORCID iDORCID Put Code
Srinivasan, VenkatachalamUNSPECIFIEDhttps://orcid.org/0000-0002-6674-303XUNSPECIFIED
Keywords:Automation, Cabin, Assembly process, autonomous, control, ontology, robot
Event Title:Deutsche Luft- und Raumfahrtkongress 2020
Event Location:Online
Event Type:Other
Event Start Date:1 September 2020
Event End Date:3 September 2020
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Aeronautics
HGF - Program Themes:fixed-wing aircraft
DLR - Research area:Aeronautics
DLR - Program:L AR - Aircraft Research
DLR - Research theme (Project):L - Systems and Cabin (old)
Location: Hamburg
Institutes and Institutions:Institute of System Architectures in Aeronautics
Deposited By: Srinivasan, Venkatachalam
Deposited On:21 Sep 2020 07:33
Last Modified:24 Apr 2024 20:38

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