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An Analytical Method for the Planning of Robust Assembly Tasks of Complex Shaped Planar Parts

An Analytical Method for the Planning of Robust Assembly Tasks of Complex Shaped Planar Parts. Stemmer, A. Albu-Schaeffer, and G. Hirzinger Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Germany. The assembly sequence is automatically generated and parameterized.

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An Analytical Method for the Planning of Robust Assembly Tasks of Complex Shaped Planar Parts

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  1. An Analytical Method for the Planning of Robust Assembly Tasks of Complex Shaped Planar Parts • Stemmer, A. Albu-Schaeffer, and G. HirzingerInstitute of Robotics and Mechatronics, • German Aerospace Center (DLR), Germany • The assembly sequence is automatically generated and parameterized. • Convergence of the assembly process can be guaranteed within a region of attraction (ROA). • Assembly trajectories are optimized such that the ROA is maximal for a given part geometry. • Image processing is used in experiments for positioning within the ROA, impedance control is used for robust assembly. DLR-KUKA light-weight robot inserts planar parts automatically using vision and impedance control.

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