Sensor-guided motions for robot-based component testing

  • This paper presents the use of sensor-guided motions for robot-based component testing to compensate the robot’s path deviations under load. We implemented two different sensor-guided motions consisting of a 3D camera system to minimize the absolute deviation and a force/torque sensor mounted directly to the robot’s end effector to minimize occurring transverse forces and torques. We evaluated these two sensor-guided motions in our testing facility with a classical tensile test and a heavy-duty industrial robot. From the obtained results, it can be stated, that transverse forces as well as the absolute deviation were significantly reduced.

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Metadaten
Author:Julian HankeORCiDGND, Christian EymüllerORCiDGND, Alexander PoeppelORCiDGND, Julia ReichmannGND, Anna TrauthORCiDGND, Markus SauseORCiDGND, Wolfgang ReifORCiDGND
URN:urn:nbn:de:bvb:384-opus4-1041967
Frontdoor URLhttps://opus.bibliothek.uni-augsburg.de/opus4/104196
ISBN:978-1-6654-7261-6OPAC
Parent Title (English):2022 Sixth IEEE International Conference on Robotic Computing (IRC), 5-7 December 2022, Naples, Italy
Publisher:IEEE
Place of publication:Piscataway, NJ
Editor:Davide Brugali, Phillip C.-Y. Sheu, Jeffrey Tsai
Type:Conference Proceeding
Language:English
Year of first Publication:2022
Publishing Institution:Universität Augsburg
Release Date:2023/05/02
First Page:81
Last Page:84
DOI:https://doi.org/10.1109/irc55401.2022.00021
Institutes:Mathematisch-Naturwissenschaftlich-Technische Fakultät
Fakultät für Angewandte Informatik
Fakultät für Angewandte Informatik / Institut für Informatik
Mathematisch-Naturwissenschaftlich-Technische Fakultät / Institut für Materials Resource Management
Fakultät für Angewandte Informatik / Institut für Software & Systems Engineering
Fakultät für Angewandte Informatik / Institut für Informatik / Lehrstuhl für Softwaretechnik
Mathematisch-Naturwissenschaftlich-Technische Fakultät / Institut für Materials Resource Management / Lehrstuhl für Hybride Werkstoffe
Mathematisch-Naturwissenschaftlich-Technische Fakultät / Institut für Materials Resource Management / Professur für Mechanical Engineering
Fakultät für Angewandte Informatik / Institut für Informatik / Lehrstuhl für Softwaretechnik / Lehrstuhl für Softwaretechnik
Dewey Decimal Classification:0 Informatik, Informationswissenschaft, allgemeine Werke / 00 Informatik, Wissen, Systeme / 004 Datenverarbeitung; Informatik
Licence (German):Deutsches Urheberrecht