Lange, Friedrich and Werner, Jochen and Scharrer, Johannes and Hirzinger, Gerd (2010) Assembling Wheels to Continuously Conveyed Car Bodies Using a Standard Industrial Robot. Int. Conf. on Robotics and Automation (ICRA), Anchorage, AK, USA.
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Abstract
Within assembly lines, wheel assembly to continuously conveyed car bodies is still executed by human workers using a device that compensates the weight of the wheel. This paper presents a solution in which a robot autonomously assembles and fixes the wheels. The approach uses a sensor- driven control strategy that compensates a possible temporal or spatial offset. Three types of sensors are proposed for adequate perception of the wheel hub. Their signals are fused by a Kalman filter that allows predictions in the time domain. Finally, a feed-forward controller is used, that is designed to consider the predictions in order to minimize dynamical delays. The control is driven by a special task description that extents usual robot programming methods.
Item URL in elib: | https://elib.dlr.de/67020/ | |||||||||||||||
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Document Type: | Conference or Workshop Item (Paper) | |||||||||||||||
Title: | Assembling Wheels to Continuously Conveyed Car Bodies Using a Standard Industrial Robot | |||||||||||||||
Authors: |
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Date: | May 2010 | |||||||||||||||
Open Access: | Yes | |||||||||||||||
Gold Open Access: | No | |||||||||||||||
In SCOPUS: | No | |||||||||||||||
In ISI Web of Science: | No | |||||||||||||||
Page Range: | pp. 3863-3869 | |||||||||||||||
Status: | Published | |||||||||||||||
Keywords: | Robotics; Compliant Assembly; Intelligent and Flexible Manufacturing | |||||||||||||||
Event Title: | Int. Conf. on Robotics and Automation (ICRA) | |||||||||||||||
Event Location: | Anchorage, AK, USA | |||||||||||||||
Event Type: | international Conference | |||||||||||||||
Organizer: | IEEE | |||||||||||||||
HGF - Research field: | Aeronautics, Space and Transport (old) | |||||||||||||||
HGF - Program: | Space (old) | |||||||||||||||
HGF - Program Themes: | W SY - Technik für Raumfahrtsysteme | |||||||||||||||
DLR - Research area: | Space | |||||||||||||||
DLR - Program: | W SY - Technik für Raumfahrtsysteme | |||||||||||||||
DLR - Research theme (Project): | W - Leistungszentrum Robotik - Mechatronik und Telerobotik (old) | |||||||||||||||
Location: | Oberpfaffenhofen | |||||||||||||||
Institutes and Institutions: | Institute of Robotics and Mechatronics (until 2012) > Robotic Systems | |||||||||||||||
Deposited By: | Lange, Dr.-Ing. Friedrich | |||||||||||||||
Deposited On: | 06 Dec 2010 11:07 | |||||||||||||||
Last Modified: | 31 Jul 2019 19:29 |
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