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Force Controlled Assembly of Flexible Aircraft Structure

Författare:
Publiceringsår: 2011
Språk: Engelska
Dokumenttyp: Konferensbidrag
Ytterligare information: Key=as+ICRA2011 project=ProFlexA,robot

Sammanfattning

The use of industrial robots in the aircraft industry has been hampered by a combination of poor accuracy of the robots and poor calibration of the workcell, and also manufacturing variability in composite parts. A way to handle these difficulties is using force control. An experimental case where a semi-compliant rib is aligned to multiple surfaces is used as an example to show this. The constraint-based task specification framework is used for the modelling and control, and the search and alignment sequence required for the assembly is modeled with a state machine. An implementation on an industrial robot system is presented and experimental data is evaluated. The described approach is easy to apply to other fields and more complicated assembly operations as well.

Disputation

Nyckelord

  • Technology and Engineering

Övriga

2011 IEEE International Conference on Robotics and Automation
2011-05-09
Shanghai, P.R. China
Published
Yes
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