An analytical method for the planning of robust assembly tasks of complex shaped planar parts

A. Stemmer, A. Albu-Schäffer, G. Hirzinger

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

43 Scopus citations

Abstract

The paper addresses the automatic assembly of planar parts with complex geometry. Its main focus is on the automatic generation and parameterization of the assembly sequence, which should provide maximal robustness with respect to positioning errors of the robot and residual position uncertainties of vision based object localization. The assembly utilizes active or passive compliance of the robot in order to align the parts automatically. Success of the automatic alignment, i.e. the convergence of the assembly process can be guaranteed using the means of regions of attraction (ROA). The planning optimizes the assembly trajectories and parameters in such a way that the ROA is maximized for a given part geometry. For the convergence analysis, passivity properties of the robot and the environment are used. The method is validated through extensive experiments and can be successfully applied also for the automated assembly planning with passive compliance devices, as widely used today in industrial automation.

Original languageEnglish
Title of host publication2007 IEEE International Conference on Robotics and Automation, ICRA'07
Pages317-323
Number of pages7
DOIs
StatePublished - 2007
Externally publishedYes
Event2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome, Italy
Duration: 10 Apr 200714 Apr 2007

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference2007 IEEE International Conference on Robotics and Automation, ICRA'07
Country/TerritoryItaly
CityRome
Period10/04/0714/04/07

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