A System Architecture for Constraint-Based Robotic Assembly with CAD Information

被引:0
|
作者
Arbo, Mathias Hauan [1 ]
Pane, Yudha [2 ]
Aertbelien, Erwin [2 ]
Decre, Wilm [2 ]
机构
[1] Norwegian Univ Sci & Technol, NTNU, Dept Engn Cybernet, Trondheim, Norway
[2] Katholieke Univ Leuven, Dept Mech Engn, Core Lab Flanders Make, Robot Res Grp, Leuven, Belgium
来源
2018 IEEE 14TH INTERNATIONAL CONFERENCE ON AUTOMATION SCIENCE AND ENGINEERING (CASE) | 2018年
关键词
D O I
暂无
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
A system architecture is presented to generate sensor-controlled robot tasks from knowledge encoded in a CAD model. This architecture consists of an application layer where the user annotates assembly tasks in the CAD software. A process layer infers the specific robot skills and parameters from the CAD model and annotated data. A control layer executes the complex, force-controlled tasks. A proof-of-concept implementation is made, consisting of an application layer implemented in FreeCAD and a process layer that focuses on using fuzzy inference to generate appropriate skill-dependent process parameters from the geometric CAD information and annotations in the CAD model. In the control layer, a constraint-based control framework is used to robustly execute the assembly tasks. The system is validated on a challenging assembly task involving the assembly of screw compressor parts.
引用
收藏
页码:690 / 696
页数:7
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