Details
| Original language | English |
|---|---|
| Title of host publication | Proceedings - ICIT 2010 |
| Subtitle of host publication | IEEE-ICIT 2010 International Conference on Industrial Technology |
| Pages | 507-512 |
| Number of pages | 6 |
| Publication status | Published - 14 Jul 2010 |
| Externally published | Yes |
| Event | IEEE-ICIT 2010 International Conference on Industrial Technology, ICIT 2010 - Vina del Mar, Chile Duration: 14 Mar 2010 → 17 Mar 2010 |
Publication series
| Name | Proceedings of the IEEE International Conference on Industrial Technology |
|---|
Abstract
This article presents the application and enhancements of assembly strategies using force-torque maps in view of parallel robots. Starting from classical assembly strategies the fundamentals of force-torque maps are briefly discussed. Taking up the core idea, a strategy for assembling objects by parallel robots is proposed, where frictional effects are reduced by an enhanced force and position control. Special attention is paid to acquisition of force-torque maps with respect to parameter sensitivity. Practical issues are pointed out and discussed in view of industrial applications. A quality assessment of force-torque maps based on a redundancy index is introduced hinting at the performance and possibilities of optimization of the assembly strategy.
ASJC Scopus subject areas
- Computer Science(all)
- Computer Science Applications
- Engineering(all)
- Electrical and Electronic Engineering
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Proceedings - ICIT 2010: IEEE-ICIT 2010 International Conference on Industrial Technology. 2010. p. 507-512 5472750 (Proceedings of the IEEE International Conference on Industrial Technology).
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - Enhancements of force-torque map based assembly applied to parallel robots
AU - Dietrich, Franz
AU - Wobbe, Frank
AU - Buchholz, Dirk
AU - Sowinski, Frank
AU - Raatz, Annika
AU - Schumacher, Walter
AU - Wahl, Friedrich M.
PY - 2010/7/14
Y1 - 2010/7/14
N2 - This article presents the application and enhancements of assembly strategies using force-torque maps in view of parallel robots. Starting from classical assembly strategies the fundamentals of force-torque maps are briefly discussed. Taking up the core idea, a strategy for assembling objects by parallel robots is proposed, where frictional effects are reduced by an enhanced force and position control. Special attention is paid to acquisition of force-torque maps with respect to parameter sensitivity. Practical issues are pointed out and discussed in view of industrial applications. A quality assessment of force-torque maps based on a redundancy index is introduced hinting at the performance and possibilities of optimization of the assembly strategy.
AB - This article presents the application and enhancements of assembly strategies using force-torque maps in view of parallel robots. Starting from classical assembly strategies the fundamentals of force-torque maps are briefly discussed. Taking up the core idea, a strategy for assembling objects by parallel robots is proposed, where frictional effects are reduced by an enhanced force and position control. Special attention is paid to acquisition of force-torque maps with respect to parameter sensitivity. Practical issues are pointed out and discussed in view of industrial applications. A quality assessment of force-torque maps based on a redundancy index is introduced hinting at the performance and possibilities of optimization of the assembly strategy.
UR - http://www.scopus.com/inward/record.url?scp=77954407389&partnerID=8YFLogxK
U2 - 10.1109/ICIT.2010.5472750
DO - 10.1109/ICIT.2010.5472750
M3 - Conference contribution
AN - SCOPUS:77954407389
SN - 9781424456970
T3 - Proceedings of the IEEE International Conference on Industrial Technology
SP - 507
EP - 512
BT - Proceedings - ICIT 2010
T2 - IEEE-ICIT 2010 International Conference on Industrial Technology, ICIT 2010
Y2 - 14 March 2010 through 17 March 2010
ER -