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  Robotic assembly of complex planar parts: An experimental evaluation

Robuffo Giordano, P., Stemmer A, Arbter, K., & Albu-Schäffer, A. (2008). Robotic assembly of complex planar parts: An experimental evaluation. Proceedings of the 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2008), 3775-3782.

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Datensatz-Permalink: https://hdl.handle.net/11858/00-001M-0000-0013-C757-7 Versions-Permalink: https://hdl.handle.net/11858/00-001M-0000-0013-C758-5
Genre: Konferenzbeitrag

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 Urheber:
Robuffo Giordano, P1, Autor           
Stemmer A, Arbter, K, Autor
Albu-Schäffer, A, Autor
Affiliations:
1Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497797              

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 Zusammenfassung: In this paper we present an experimental evaluation of automatic robotic assembly of complex planar parts. The torque-controlled DLR light-weight robot, equipped with an on-board camera (eye-in-hand configuration), is committed with the task of looking for given parts on a table, picking them, and inserting them inside the corresponding holes on a movable plate. Visual servoing techniques are used for fine positioning over the selected part/hole, while insertion is based on active compliance control of the robot and robust assembly planning in order to align the parts automatically with the hole. Execution of the complete task is validated through extensive experiments, and performance of humans and robot are compared in terms of overall execution time.

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 Datum: 2008-09
 Publikationsstatus: Erschienen
 Seiten: -
 Ort, Verlag, Ausgabe: -
 Inhaltsverzeichnis: -
 Art der Begutachtung: -
 Identifikatoren: URI: http://www.iros.org/2008
DOI: 10.1109/IROS.2008.4650984
BibTex Citekey: 5558
 Art des Abschluß: -

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Titel: 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems
Veranstaltungsort: Nice, France
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Titel: Proceedings of the 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2008)
Genre der Quelle: Zeitschrift
 Urheber:
Affiliations:
Ort, Verlag, Ausgabe: Piscataway, NJ, USA : IEEE Service Center
Seiten: - Band / Heft: - Artikelnummer: - Start- / Endseite: 3775 - 3782 Identifikator: -