Basic robotic operations such as grasps of structure’s parts and their placement are mostly model-based and do not take into account modelling error and geometry variations. As consequences, quality of the assembly cannot be trusted. In this paper, we propose to use 3D sensor and sensor-based control to improve the precision a positioning task. The interaction matrix is constructed upon assembl...

Performing complex assembly tasks with robots requires fine-motion planners able to cope with uncertainty and contact motions, which is a difficult issue. This report proposes a method to predict the behavior of motions under contact uncertainty in order to check the feasibility of paths generated by gross-motion planning algorithms from a nominal model of the environment. This pragmatical appr...

The Virtual Commissioning VC technology is the latest trend in automotive assembly which, among other benefits, promises a more efficient handling of the complexity in assembly systems, a great reduction in the system’s ramp-up time, and a resulting shortening of the product’s time to market. This paper presents the application of VC techniques to the case of an industrial robotic cell, involvi...

The ergonomic assessment of adopted working postures is essential for avoiding musculoskeletal risk factors in manufacturing contexts. Several observational methods based on external analyst observations are available; however, they relatively subjective and suffer low repeatability. Over the past decade, digitalization this has received high research interest. Robotic applications have potenti...

We consider the following problem that arises in mechanical assembly planning: given an assembly, identify a subassembly that can be removed as a rigid object without disturbing the rest of the assembly. This is the assembly partitioning problem. Speciically, we consider planar assemblies of simple polygons and subassembly removal paths consisting of a single nite translation followed by a tran...

On-orbit assembly is an enabling technology for many space applications. However, current methods of human assisted assembly are high in cost and risk to the crew, motivating a desire to automate the on-orbit assembly process using robotic technology. Construction of large space structures will likely involve the manipulation of flexible elements such as trusses or solar panels, and automation ...

Robots in the future are envisioned to become versatile helpers of man. Major challenges are to make them intelligent enough to enable exible and robust human-robot cooperation in shared workspaces and, moreover, to provide a simple, intuitive communication link between humans and robots. In Bielefeld, Germany, we follow an interdisciplinary approach involving linguistics, cognitive psychology,...

Self-assembly of modular robotic systems enables the construction complex configurations to adapt different tasks. This paper presents a framework for SMORES types robots efficiently self-assemble into tree topologies. These form kinematic chains that have been shown be capable large variety manipulation and locomotion tasks, yet they can reconfigure using mobile reconfiguration. A desired topo...

Given an assembly task as specified by a sequence of subtasks, an autonomous assembly system is capable to achieve the specified goal within a known or unknown environment, without human interaction, from an initial unknown location, with uncertain sensing, uncertain execution, and uncertain actuation. Given an automotive general assembly task and its associated environment, autonomous assembly...