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Assembling wheels to continuously conveyed car bodies using a standard industrial robot

机译:使用标准工业机器人将车轮组装到连续输送的车身上

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Within assembly lines, wheel assembly to continuously conveyed car bodies is still executed by human workers using a device that compensates the weight of the wheel. This paper presents a solution in which a robot autonomously assembles and fixes the wheels. The approach uses a sensor-driven control strategy that compensates a possible temporal or spatial offset. Three types of sensors are proposed for adequate perception of the wheel hub. Their signals are fused by a Kalman filter that allows predictions in the time domain. Finally, a feed-forward controller is used, that is designed to consider the predictions in order to minimize dynamical delays. The control is driven by a special task description that extents usual robot programming methods.
机译:在装配线内,仍然由人类工人使用补偿车轮重量的装置来将车轮装配到连续输送的车身上。本文提出了一种解决方案,其中机器人可以自动组装并固定车轮。该方法使用传感器驱动的控制策略,该策略可补偿可能的时间或空间偏移。为了充分感知轮毂,提出了三种类型的传感器。它们的信号由允许在时域中进行预测的卡尔曼滤波器进行融合。最后,使用前馈控制器,该控制器设计用于考虑预测,以最大程度地减少动态延迟。该控制由扩展常规机器人编程方法的特殊任务描述驱动。

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