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Force Controlled Assembly of Flexible Aircraft Structure

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Author

Summary, in English

The use of industrial robots in the aircraft industry has been hampered by a combination of poor accuracy of the robots and poor calibration of the workcell, and also manufacturing variability in composite parts. A way to handle these difficulties is using force control. An experimental case where a semi-compliant rib is aligned to multiple surfaces is used as an example to show this. The constraint-based task specification framework is used for the modelling and control, and the search and alignment sequence required for the assembly is modeled with a state machine. An implementation on an industrial robot system is presented and experimental data is evaluated. The described approach is easy to apply to other fields and more complicated assembly operations as well.

Publishing year

2011

Language

English

Document type

Conference paper

Topic

  • Control Engineering

Conference name

IEEE International Conference on Robotics and Automation, 2011

Conference date

2011-05-09 - 2011-05-13

Conference place

Shanghai, China

Status

Published

Project

  • ProFlexa

Research group

  • LCCC