Multi-Robot Assembly of High-Performance Aerospace Components

Tingelstad, Lars; Capellan, Alvaro; Thomessen, Trygve; Lien, Terje K.

doi:10.3182/20120905-3-hr-2030.00117

Cited by 8 publications

(7 citation statements)

References 5 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…[16] used PyMoco for a tight tolerance compliant assembly task of critical aero engine components. [17] used PyMoCo for a real-time sensor-based control system with multiple sensors in a linefollowing application.…”

Section: A Applicationsmentioning

confidence: 99%

Real-time analysis of a multi-robot sewing cell

Schrimpf

Lind

Mathisen

2013

2013 IEEE International Conference on Industrial Technology (ICIT)

View full text Add to dashboard Cite

SummaryThis PhD thesis presents topics related to sensor-based real-time robot control in applied automation.While in the past industrial challenges often could be solved with traditional robot programming methods, the industry looks more and more towards the automation of complex tasks that need real-time sensor-feedback in the control loop of the robot. This is especially important in applications where the workpiece shape or characteristics are uncertain or unknown. When working on such workpieces, the movement has to be adjusted in real-time, ie. while the robot is moving. To achieve this, sensors are added in the control loop of the robot.One challenge for the implementation of industrial solutions including real-time control is the lack of appropriate interfaces in most commercially available robots. When such interfaces are not present, in-house developed solutions can be used to access the low-level system of the robots, at least for research applications. These usually require modifications of the hardware, the software platform or both. Often, interfaces are implemented that allows for parts of the control loop being moved to an external PC. In this thesis, real-time interfaces for two different industrial manipulators are presented that are used for lab experiments and demonstrators. The real-time interfaces work position-based and have update frequencies of about 100 Hz. Ethernet UDP is used to communicate with the external controller platform. Experiments are presented that measure the delays in the low-level systems of the robots.To externally control the movement of the real-time controlled robots from an application controller, a trajectory generator is needed. This thesis gives an overview of three different on-line trajectory generators that were in-house developed. The real-time capabilities of the presented trajectory generators were analyzed in order to ensure that the requirement for response times of the real-time interfaces are met.Based on a presented real-time interface and trajectory generator, a iii iv test platform was built. The test platform demonstrates tracking of a line that is sketched on the workpiece. The robot tool is controlled to keep a fixed distance between tool and workpiece, while maintaining an orientation perpendicular to the workpiece surface. The line tracking is done using a line-of-sight based control method. Experiments are presented, measuring the delays in the robot-sensor system. The main part of this thesis is a presentation of an automated robotic sewing cell that demonstrates a case of sewing for the furniture industry. The system is able to sew together two parts with slightly different shapes. A two-robot solution is presented that controls the work pieces independently during the sewing operation. A force sensor is integrated in the control system to keep a constant sewing force. The seam allowance is controlled by an edge control system based on optical sensors that are mounted on the sewing machine. The real-time capabilities of the system are analyze...

show abstract

Section: A Applicationsmentioning

confidence: 99%

Real-time analysis of a multi-robot sewing cell

Schrimpf

Lind

Mathisen

2013

2013 IEEE International Conference on Industrial Technology (ICIT)

View full text Add to dashboard Cite

show abstract

“…As explained in the introduction, previous solutions have been implemented with a sense-act solution where alignment errors have been measured, then a correction has been done based on a calculated increment computed from a model [10], or with an increment using a fixed step size [14]. This is typically done iteratively where a new measurement has been made after the correction is completed, and new corrections are made until the required accuracy is achieved.…”

Section: Alignment Correction Controllermentioning

confidence: 99%

“…The robot system is shown in Fig. 2 A previous version of the system was presented in [14]. The previous test cell had two robots and a high-precision laser distance sensor mounted on one of the robots.…”

Section: Introductionmentioning

confidence: 99%

Robotic Assembly of Aircraft Engine Components Using a Closed-loop Alignment Process

Tingelstad

Egeland

2014

Procedia CIRP

Self Cite

View full text Add to dashboard Cite

This paper presents robotic assembly of aircraft engine components that cannot be assembled using traditional robotic assembly methods. The reason for this is uncertainty in shape and dimensional accuracy due to imperfections in the preceding manufacturing processes. In addition, the aircraft engine components are designed as complex geometry thin shell parts that are compliant in certain directions, resulting in assemblies which cannot meet manufacturing tolerances without forcing the components into shape and position. We present a solution to the problem using two real-time controlled industrial robots and a high accuracy laser triangulation sensor in a closed loop alignment process.

show abstract

“…An inaccurate transformation causes misalignment between parts, which negatively impacts the performance of assembly tasks [1]. The same is also true for other tasks, such as automated drilling [2] or welding [3], where accurate positioning is critical. Inspections of large parts (e.g., on the order of meters), such as wind turbine blades [4] or components of an airplane [5][6][7], are frequently performed by sensors mounted on a robot arm [8,9], but the required tolerances are submillimeter.…”

Section: Introductionmentioning

confidence: 99%

Improving 3D vision-robot registration for assembly tasks

Franaszek¹,

Cheok²,

Wyk³

et al. 2020

View full text Add to dashboard Cite

Good registration between the coordinate frames of a perception system and a robot is important for the efficient operation of autonomous systems in vision-guided assembly lines. Rigid-body registration, which is based on the measurement of corresponding points (fiducials) in both frames, is a commonly used method. Noise and possible bias in the measured points degrade the quality of registration as gauged by the Target Registration Error (TRE). A method to restore the rigid body condition (RRBC) was recently developed to reduce TRE when the bias is larger than the noise. This was achieved by applying corrections to target locations in the vision sensor frame. This paper presents two procedures to improve the performance of the RRBC method by: 1) selecting the location of fiducials used for calculating correction to the target location and 2) selecting the correct arm configuration for fiducial from multiple configurations as calculated by inverse kinematics. Experiments performed with a motion tracking system and two different robot arms show that these two procedures can further reduce the Root Mean Square of TRE (RMST) to less than 20 % of the uncorrected RMST.

show abstract

Multi-Robot Assembly of High-Performance Aerospace Components

Cited by 8 publications

References 5 publications

Real-time analysis of a multi-robot sewing cell

Real-time analysis of a multi-robot sewing cell

Robotic Assembly of Aircraft Engine Components Using a Closed-loop Alignment Process

Improving 3D vision-robot registration for assembly tasks

Contact Info

Product

Resources

About