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Conference Paper

Robotic assembly of complex planar parts: An experimental evaluation

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http://pubman.mpdl.mpg.de/cone/persons/resource/persons84174

Robuffo Giordano,  P
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;

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Citation

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.


Cite as: http://hdl.handle.net/11858/00-001M-0000-0013-C757-7
Abstract
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.