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Force Controlled Assembly of Flexible Aircraft Structure

Stolt, Andreas LU ; Linderoth, Magnus LU ; Robertsson, Anders LU ; Jonsson, Marie and Murray, Tom (2011) IEEE International Conference on Robotics and Automation, 2011
Abstract
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... (More)
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. (Less)
Please use this url to cite or link to this publication:
author
organization
publishing date
type
Contribution to conference
publication status
published
subject
conference name
IEEE International Conference on Robotics and Automation, 2011
external identifiers
  • Scopus:84871685077
project
ProFlexa
language
English
LU publication?
yes
id
426bd866-a101-4417-b6a2-6e2e84e08870 (old id 2173291)
date added to LUP
2011-10-11 11:30:06
date last changed
2016-10-13 04:56:12
@misc{426bd866-a101-4417-b6a2-6e2e84e08870,
  abstract     = {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.},
  author       = {Stolt, Andreas and Linderoth, Magnus and Robertsson, Anders and Jonsson, Marie and Murray, Tom},
  language     = {eng},
  title        = {Force Controlled Assembly of Flexible Aircraft Structure},
  year         = {2011},
}