Sensor-supported, Robot-based Manipulation

Fig. 7: Sample application: cable assemblies for car doors (electrical or hydraulic cables)
Fig. 7: Sample application: cable assemblies for car doors (electrical or hydraulic cables)
Fig. 8: Searching for jumps and corners in one-dimensional signals
Fig. 8: Searching for jumps and corners in one-dimensional signals

Project definition

The goal is the robot-based completion of manipulation and assembly tasks, including accommodation for workpiece and environmental uncertainties, such as flexible parts (Fig. 7). Uncertainties are compensated for by means of sensors that determine the contact state between the workpiece and the manipulation and control the process (Fig. 8). Colour cameras and force/torque sensors can be utilised.

Areas of expertise

  • Description of assembly tasks based on contact states
  • Execution of contact-based assembly processes by means of force/torque sensors, colour cameras or ultrasound sensors
  • Extraction of discrete decision features from continuous signals
  • Recognition of jumps and corners in one-dimensional signals
  • Detection of irregularities in frequency spectra
  • Tracking of simple objects (e.g. cables) in a series of colour images

Applications

  • Manipulation of rigid or deformable linear objects
  • Execution of automatically generated assembly sequences
  • Assembly and disassembly of a variety of workpieces

Projects

Wanted

Student Jobs / Open Positions