a) Description

The video presents the automatic assembly of planar parts with complex
geometry. The main focus of the work is on the automatic generation and
parameterization of the assembly sequence, which should provide maximal
robustness with respect to positioning errors of the robot and residual
position uncertainties of vision based object localization. The assembly
utilizes the impedance controlled DLR-KUKA light-weight robot in order to
align the parts automatically. Success of the automatic alignment, i.e. the
convergence of the assembly process can be guaranteed using the means of
regions of attraction (ROA). The planning optimizes the assembly trajectories
and parameters in such a way that the ROA is maximized for any given part
geometry. Image processing is used in experiments for positioning within the
ROA, impedance control is used for robust assembly.

The video sequence shows a complete assembly process of three planar parts,
which have to be inserted into corresponding hole in a plate. The plate can be
freely positioned on the table. First, image processing is used for the
localization of the plate and the holes. Then the impedance controlled robot
executes the planned assembly process. The experiment was demonstrated on the
Automatica robotics fair in Munich.


b)  Player Information

The video is in MPEG-1 format. I can be played with Windows Media Player, VLC,
Xine and many others.


c) Contact Information:

A. Stemmer, A. Albu-Schaeffer, G. Hirzinger
Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Germany
E-mail: andreas.stemmer@dlr.de , alin.albu-schaeffer@dlr.de

http://www.robotic.dlr.de/




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