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Detection of abembly variations for automatic program adaptation in roboticwelding systems

 
: Kub, A.; Schneider, U.; Dietz, T.; Verl, A.

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
Fraunhofer IPA ()

Abstract
This paper proposes a novel approach for detection of abembly variations to adapt the programming of a robotic welding system. A matching proceb is performed between the different parts of an abembly CAD model and a measured point cloud using an Iterative Closest Point algorithm to determine abembly 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 proceb. Experimental results show an increased weld seam quality and the robustneb of the proposed approach in industrial applications.

: http://publica.fraunhofer.de/dokumente/N-422753.html