elib
DLR-Header
DLR-Logo -> http://www.dlr.de
DLR Portal Home | Imprint | Privacy Policy | Contact | Deutsch
Fontsize: [-] Text [+]

Classification and Prediction for Accurate Sensor-Based Assembly to Moving Objects

Lange, Friedrich and Scharrer, Johannes and Hirzinger, Gerd (2010) Classification and Prediction for Accurate Sensor-Based Assembly to Moving Objects. Int. Conf. on Robotics and Automation (ICRA), Anchorage, AK, USA.

[img]
Preview
PDF
538kB

Abstract

Typical industrial assembly tasks require an accuracy that cannot be realized by only feedback control if a minimum speed is given by a conveyor. Feed-forward has proven to be advantageous, using predictions of the desired trajectory which will be computed from sensor values. These predictions are improved by a model based classification of the sensor data to typical scenarios. In contrast to linear controllers this assures the fastest possible response to external disturbances, in spite of large dynamical delays. The method is demonstrated by assembling wheels to a car body that is moved by a conveyor, fusing sensor data using an extended Kalman filter.

Item URL in elib:https://elib.dlr.de/80695/
Document Type:Conference or Workshop Item (Paper)
Title:Classification and Prediction for Accurate Sensor-Based Assembly to Moving Objects
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Lange, Friedrichfriedrich.lange (at) dlr.deUNSPECIFIED
Scharrer, Johannesjohannes.scharrer (at) iwb.tum.deUNSPECIFIED
Hirzinger, Gerdgerd.hirzinger (at) dlr.deUNSPECIFIED
Date:May 2010
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Page Range:pp. 2163-2168
Status:Published
Keywords:Sensor Fusion; Compliant Assembly; Industrial Robots
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:22 Jan 2013 16:02
Last Modified:31 Jul 2019 19:39

Repository Staff Only: item control page

Browse
Search
Help & Contact
Information
electronic library is running on EPrints 3.3.12
Copyright © 2008-2017 German Aerospace Center (DLR). All rights reserved.