TY - GEN
T1 - Robust assembly of complex shaped planar parts using vision and force
AU - Stemmer, A.
AU - Schreiber, G.
AU - Arbter, K.
AU - Albu-Schäffer, A.
PY - 2006
Y1 - 2006
N2 - The paper addresses the fusion of vision and forcetorque information for robotic assembly tasks. The torquecontrolled DLR light-weight robot is used, which is specially designed for fast and safe interaction with a changing environment. The image processing is based on standard hardware components and uses color segmentation and affine invariant feature classification. It provides a position estimation within the region of attraction (ROA) of a compliance based assembly strategy. The assembly planning toolbox is based on a theoretical analysis and the maximization of the ROA. This guarantees the local convergence of the assembly process under consideration of the part geometry. The convergence analysis uses the passivity properties of the robot and the environment. The method is validated through extensive experiments.
AB - The paper addresses the fusion of vision and forcetorque information for robotic assembly tasks. The torquecontrolled DLR light-weight robot is used, which is specially designed for fast and safe interaction with a changing environment. The image processing is based on standard hardware components and uses color segmentation and affine invariant feature classification. It provides a position estimation within the region of attraction (ROA) of a compliance based assembly strategy. The assembly planning toolbox is based on a theoretical analysis and the maximization of the ROA. This guarantees the local convergence of the assembly process under consideration of the part geometry. The convergence analysis uses the passivity properties of the robot and the environment. The method is validated through extensive experiments.
UR - http://www.scopus.com/inward/record.url?scp=36348942730&partnerID=8YFLogxK
U2 - 10.1109/MFI.2006.265671
DO - 10.1109/MFI.2006.265671
M3 - Conference contribution
AN - SCOPUS:36348942730
SN - 1424405661
SN - 9781424405664
T3 - IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems
SP - 493
EP - 500
BT - 2006 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI
T2 - 2006 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI
Y2 - 3 September 2006 through 6 September 2006
ER -