TY - GEN
T1 - An analytical method for the planning of robust assembly tasks of complex shaped planar parts
AU - Stemmer, A.
AU - Albu-Schäffer, A.
AU - Hirzinger, G.
PY - 2007
Y1 - 2007
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=36348983358&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2007.363806
DO - 10.1109/ROBOT.2007.363806
M3 - Conference contribution
AN - SCOPUS:36348983358
SN - 1424406021
SN - 9781424406029
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 317
EP - 323
BT - 2007 IEEE International Conference on Robotics and Automation, ICRA'07
T2 - 2007 IEEE International Conference on Robotics and Automation, ICRA'07
Y2 - 10 April 2007 through 14 April 2007
ER -