Force controlled assembly of flexible aircraft structure
2011 (English)In: Proceedings - IEEE International Conference on Robotics and Automation, Shanghai, China: IEEE , 2011, 6027-6032 p.Conference paper (Refereed)
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. © 2011 IEEE.
Place, publisher, year, edition, pages
Shanghai, China: IEEE , 2011. 6027-6032 p.
, Proceedings - IEEE International Conference on Robotics and Automation, ISSN 1050-4729
Engineering and Technology
IdentifiersURN: urn:nbn:se:liu:diva-87430DOI: 10.1109/ICRA.2011.5979962OAI: oai:DiVA.org:liu-87430DiVA: diva2:613900
IEEE International Conference on Robotics and Automation May 9-13, 2011, Shanghai, China