Is a Linear Axis Really Required When Assembling Parts to a Moving Conveyor?

Konferenz: ISR/ROBOTIK 2010 - ISR 2010 (41st International Symposium on Robotics) and ROBOTIK 2010 (6th German Conference on Robotics)
07.06.2010 - 09.06.2010 in Munich, Germany

Tagungsband: ISR/ROBOTIK 2010

Seiten: 8Sprache: EnglischTyp: PDF

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Lange, Friedrich; Hirzinger, Gerd (Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Weßling, Germany)
Scharrer, Johannes (Institute for Machine Tools and Industrial Management (iwb), Technical University of Munich, Application Center Augsburg, Germany)

Assembly tasks in flow assembly lines are usually executed using a robot that is mounted on a linear axis. In this way the robot is moved in parallel to the conveyor, such that control is almost as with a fixed object. Control without such a linear axis is more demanding as the conveyor motion has to be overlaid to the task-specific motion of the robot arm. This requires high 'path' accuracy instead of a high 'pose' accuracy. In addition further kinematical restrictions apply, and a more difficult fault management has to be considered.