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Nottensteiner, Korbinian (2023) Adaptive Task Execution for Flexible Robotic Assembly Systems Using Intrinsic Tactile Sensing. Dissertation, Technische Universität München.
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Official URL: https://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:91-diss-20230425-1692273-1-2
Abstract
Today's production requires flexible assembly systems that are able to manufacture individual products with little effort and can deal with uncertainties. In this thesis, a framework for autonomous robotic assembly is developed, which is based on reusable object-centric assembly skills. Using intrinsic tactile sensing in combination with the compliant control of light-weight robots, these skills can compensate for uncertainties and actively adapt to the present situation during task execution.
| Item URL in elib: | https://elib.dlr.de/195369/ | ||||||||
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| Document Type: | Thesis (Dissertation) | ||||||||
| Title: | Adaptive Task Execution for Flexible Robotic Assembly Systems Using Intrinsic Tactile Sensing | ||||||||
| Authors: |
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| Date: | 2 June 2023 | ||||||||
| Journal or Publication Title: | Universitätsbibliothek der Technischen Universität München | ||||||||
| Refereed publication: | Yes | ||||||||
| Open Access: | No | ||||||||
| Number of Pages: | 190 | ||||||||
| Status: | Published | ||||||||
| Keywords: | one-of-a-kind production, flexible assembly systems, robotic assembly, intrinsic tactile sensing, particle filtering, skill-based robot execution | ||||||||
| Institution: | Technische Universität München | ||||||||
| Department: | TUM School of Computation, Information and Technology | ||||||||
| HGF - Research field: | Aeronautics, Space and Transport | ||||||||
| HGF - Program: | Space | ||||||||
| HGF - Program Themes: | Robotics | ||||||||
| DLR - Research area: | Raumfahrt | ||||||||
| DLR - Program: | R RO - Robotics | ||||||||
| DLR - Research theme (Project): | R - Factory of the Future synergy project [RO] | ||||||||
| Location: | Oberpfaffenhofen | ||||||||
| Institutes and Institutions: | Institute of Robotics and Mechatronics (since 2013) > Cognitive Robotics | ||||||||
| Deposited By: | Nottensteiner, Korbinian | ||||||||
| Deposited On: | 05 Jun 2023 07:33 | ||||||||
| Last Modified: | 16 May 2025 10:15 |
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