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ICRA
2010
IEEE

Classification and prediction for accurate sensor-based assembly to moving objects

9 years 11 months ago
Classification and prediction for accurate sensor-based assembly to moving objects
Abstract-- Typical industrial assembly tasks require an accuracy that cannot be realized by only feedback control if a minimum speed is given by a conveyor. Feed-forward has proven to be advantageous, using predictions of the desired trajectory which will be computed from sensor values. These predictions are improved by a model based classification of the sensor data to typical scenarios. In contrast to linear controllers this assures the fastest possible response to external disturbances, in spite of large dynamical delays. The method is demonstrated by assembling wheels to a car body that is moved by a conveyor, fusing sensor data using an extended Kalman filter.
Friedrich Lange, Johannes Scharrer, Gerd Hirzinger
Added 13 Feb 2011
Updated 13 Feb 2011
Type Journal
Year 2010
Where ICRA
Authors Friedrich Lange, Johannes Scharrer, Gerd Hirzinger
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