A Complete Automated Chain for Flexible Assembly using Recognition, Planning and Sensor-Based Execution

Konferenz: ISR 2016 - 47st International Symposium on Robotics
21.06.2016 - 22.06.2016 in München, Germany

Tagungsband: ISR 2016

Seiten: 8Sprache: EnglischTyp: PDF

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Nottensteiner, Korbinian; Bodenmueller, Tim; Kassecker, Michael; Roa, Maximo A.; Stemmer, Andreas; Stouraitis, Theodoros (Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Germany)
Seidel, Daniel (Sensor Based Robotic Systems and Intelligent Assistance Systems, TU Munich, Germany)
Thomas, Ulrike (Robotics and Human Machine Interaction Lab, TU Chemnitz, Germany)

This paper presents a fully automated system for automatic assembly of aluminum profile constructions. This high grade of automation of the entire process chain requires novel strategies in recognition, planning and execution. The system includes an assembly sequence planner integrated with a grasp planning tool, a knowledge-based reasoning method, a skill-based code generation, and an error tolerant execution engine. The modular structure of the system allows its adaptation to new products, which can prove especially useful for SMEs producing small lot sizes. The system is robust and stable, as demonstrated with the repeated execution of different geometric assemblies.