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Detection of assembly variations for automatic program adaptation in robotic welding systems

 
: Kuss, Alexander; Schneider, Ulrich; Dietz, Thomas; Verl, Alexander

:
Postprint urn:nbn:de:0011-n-4132106 (704 KByte PDF)
MD5 Fingerprint: 15246d8b27fd3c01f5d74b2b46ef64bc
Erstellt am: 13.9.2016


Verl, Alexander (Chairman, Tagungspräsident); Dragan, Mihai (Programmkomitee); Hägele, Martin (Programmkomitee) ; International Federation of Robotics; Deutsche Gesellschaft für Robotik -DGR-; Informationstechnische Gesellschaft -ITG-; Verband Deutscher Maschinen- und Anlagenbau e.V. -VDMA-, Fachverband Robotik und Automation, Frankfurt/Main; Fraunhofer-Institut für Produktionstechnik und Automatisierung -IPA-, Stuttgart:
47th International Symposium on Robotics 2016 : Robotics in the Era of Digitalization. June 21-22, 2016, Munich, Germany
Berlin: VDE-Verlag, 2016
ISBN: 978-3-8007-4231-8
S.626-631
International Symposium on Robotics (ISR) <47, 2016, München>
Englisch
Konferenzbeitrag, Elektronische Publikation
Fraunhofer IPA ()
Roboterschweißen; Roboterprogrammierung; assembly; variantenreiche Montage; CAD; Kalibrieren

Abstract
This paper proposes a novel approach for detection of assembly variations to adapt the programming of a robotic welding system. A matching process is performed between the different parts of an assembly CAD model and a measured point cloud using an Iterative Closest Point algorithm to determine assembly variations. Experimental validation is performed with an industrial robot equipped with stereo camera and welding gun. A method for accurate calibration of sensor and welding gun is presented as it influences the quality of the welding process. Experimental results show an increased weld seam quality and the robustness of the proposed approach in industrial applications.

: http://publica.fraunhofer.de/dokumente/N-413210.html