Advances in Robotics & Automation

Übelhör T

Publications

• Research Article
  Cooperating Robot Force Control for Positioning and Untwisting of Thin Walled Components
  Author(s): Felix Bertelsmeier, Detert T, Übelhör T, Schmitt R and Corves BFelix Bertelsmeier, Detert T, Übelhör T, Schmitt R and Corves B
  
  Geometric deformations in large thin walled components such as airplane shells caused by gravitational influences have to be compensated before assembly. The research objective is to develop a metrology assisted robot based assembly system that detects deformations and compensates them through force controlled movements of the robots. This paper describes the development of a cooperating robot force control for three industrial robots. The control algorithm uses a numerical optimization to take into account the strong mechanical coupling of the robots by the handled component... Read More»
  DOI: 10.4172/2168-9695.1000179

  Abstract PDF