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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. In 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 3775-3782). Piscataway, NJ, USA: IEEE.

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Item Permalink: http://hdl.handle.net/11858/00-001M-0000-0013-C757-7 Version Permalink: http://hdl.handle.net/21.11116/0000-0003-3C96-1
Genre: Conference Paper

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 Creators:
Robuffo Giordano, P1, Author              
Stemmer, A, Author
Arbter, K, Author
Albu-Schäffer, A, Author
Affiliations:
1External Organizations, ou_persistent22              

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 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.

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 Dates: 2008-09
 Publication Status: Published in print
 Pages: -
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 Rev. Method: -
 Identifiers: DOI: 10.1109/IROS.2008.4650984
BibTex Citekey: 5558
 Degree: -

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Title: 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2008)
Place of Event: Nice, France
Start-/End Date: 2008-09-22 - 2008-09-26

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Title: 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems
Source Genre: Proceedings
 Creator(s):
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Publ. Info: Piscataway, NJ, USA : IEEE
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 3775 - 3782 Identifier: ISBN: 978-1-4244-2058-2