Now showing 1 - 7 of 7
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Sensor-guided, hybrid controlled parts mating with robots

1992 , Sorowka, D. , Duelen, G. , Münch, H.

Parts mating and especially peg-in-hole operations are essential tasks which have to be solved for robot-based automation of assembly processes. Related to task specification, small or missing chamfers and great tolerances within the spatial relation between peg and hole require the introduction of sensor-based intelligent parts mating strategies. The paper to be presented deals with the theoretical description and practical verification of an advanced parts mating procedure. To demonstrate the attainable performance of robot- based parts mating, a complex mating task was chosen. It is basically defined by mating parts having no chamfers, small tolerances between the mating parts and big deviations of the nominal configuration between the mating parts at the beginning of the assembly process. The peg-in-hole problem was chosen because it is of high importance in the field of industrial assembly automation. The developed solution strategy is characterized by a sequential procedure inclu ding the three phases of the mating process given by Contact, Correction, and Insertion. In the scope of a practical verification based on an advanced robot control system, an industrial robot with six degrees of freedom and a six-component force/torque sensor mounted at the robot's wrist, the applicability and performance of the new control procedure was proven.

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Productie - automatisering in de fabricage - industrie

1989 , Duelen, G.

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Demands of off-line programming systems for industrial robots

1985 , Bernhardt, R. , Duelen, G.

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Robots in CIM - Integrated planning and off-line programming system for robotized work cells

1990 , Bernhardt, R. , Duelen, G.

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Programmierung von Robotersystemen

1989 , Duelen, G. , Katschinski, V.

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Raumfahrtaktivitäten im IPK

1989 , Duelen, G.

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Methods of identification for geometrical data in robot kinematics

1985 , Kirchhoff, K. , Duelen, G. , Held, J.