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Robust Assembly Planning Method for Complex Shaped Planar Parts

This analytical method by Stemmer, A. Albu-Schaeffer, and G. Hirzinger from the German Aerospace Center (DLR) ensures automatic generation and parameterization of assembly sequences, guaranteeing convergence within a region of attraction (ROA). By optimizing assembly trajectories, the ROA is maximized considering part geometry. Experimental positioning using image processing within the ROA and robust assembly through impedance control are facilitated. DLR-KUKA lightweight robot leverages vision and impedance control for automatic insertion of planar parts.

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Robust Assembly Planning Method for Complex Shaped Planar Parts

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  1. An Analytical Method for the Planning of Robust Assembly Tasks of Complex Shaped Planar Parts • Stemmer, A. Albu-Schaeffer, and G. HirzingerInstitute of Robotics and Mechatronics, • German Aerospace Center (DLR), Germany • The assembly sequence is automatically generated and parameterized. • Convergence of the assembly process can be guaranteed within a region of attraction (ROA). • Assembly trajectories are optimized such that the ROA is maximal for a given part geometry. • Image processing is used in experiments for positioning within the ROA, impedance control is used for robust assembly. DLR-KUKA light-weight robot inserts planar parts automatically using vision and impedance control.

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