Force Controlled Assembly of Flexible Aircraft Structure
(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:
https://lup.lub.lu.se/record/2173291
- author
- Stolt, Andreas LU ; Linderoth, Magnus LU ; Robertsson, Anders LU ; Jonsson, Marie and Murray, Tom
- organization
- publishing date
- 2011
- type
- Contribution to conference
- publication status
- published
- subject
- conference name
- IEEE International Conference on Robotics and Automation, 2011
- conference location
- Shanghai, China
- conference dates
- 2011-05-09 - 2011-05-13
- external identifiers
-
- scopus:84871685077
- project
- ProFlexa
- language
- English
- LU publication?
- yes
- additional info
- key=as+ICRA2011 project=ProFlexA,robot
- id
- 426bd866-a101-4417-b6a2-6e2e84e08870 (old id 2173291)
- date added to LUP
- 2016-04-04 13:34:50
- date last changed
- 2022-02-21 07:24:45
@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}},
url = {{https://lup.lub.lu.se/search/files/6155023/8083893.pdf}},
year = {{2011}},
}