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Force controlled assembly of flexible aircraft structure
Department of Automatic Control, LTH, Lund University.
Department of Automatic Control, LTH, Lund University.
Department of Automatic Control, LTH, Lund University,.
Linköping University, Department of Management and Engineering, Manufacturing Engineering. Linköping University, The Institute of Technology.
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2011 (English)In: Proceedings - IEEE International Conference on Robotics and Automation, Shanghai, China: IEEE , 2011, 6027-6032 p.Conference paper, Published paper (Refereed)
Abstract [en]

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.
Series
Proceedings - IEEE International Conference on Robotics and Automation, ISSN 1050-4729
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:liu:diva-87430DOI: 10.1109/ICRA.2011.5979962OAI: oai:DiVA.org:liu-87430DiVA: diva2:613900
Conference
IEEE International Conference on Robotics and Automation May 9-13, 2011, Shanghai, China
Available from: 2013-04-02 Created: 2013-01-17 Last updated: 2013-07-22

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Jonsson, MarieMurray, Thomas

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  • apa
  • harvard1
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  • vancouver
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  • Other style
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Language
  • de-DE
  • en-GB
  • en-US
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  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf