dc.contributor.author | Arbo, Mathias Hauan | |
dc.contributor.author | Pane, Yudha P. | |
dc.contributor.author | Aertbeliën, Erwin | |
dc.contributor.author | Decré, Wilm | |
dc.date.accessioned | 2019-01-05T10:57:16Z | |
dc.date.available | 2019-01-05T10:57:16Z | |
dc.date.created | 2019-01-04T12:53:20Z | |
dc.date.issued | 2018 | |
dc.identifier.citation | IEEE International Conference on Automation Science and Engineering. 2018, 690-696. | nb_NO |
dc.identifier.issn | 2161-8070 | |
dc.identifier.uri | http://hdl.handle.net/11250/2579314 | |
dc.description.abstract | A system architecture is presented to generate sensor-controlled robot tasks from knowledge encoded in a CAD model. This architecture consists of an application layer where the user annotates assembly tasks in the CAD software. A process layer infers the specific robot skills and parameters from the CAD model and annotated data. A control layer executes the complex, force-controlled tasks. A proof-of-concept implementation is made, consisting of an application layer implemented in FreeCAD and a process layer that focuses on using fuzzy inference to generate appropriate skill-dependent process parameters from the geometric CAD information and annotations in the CAD model. In the control layer, a constraint-based control framework is used to robustly execute the assembly tasks. The system is validated on a challenging assembly task involving the assembly of screw compressor parts. | nb_NO |
dc.language.iso | eng | nb_NO |
dc.publisher | Institute of Electrical and Electronics Engineers (IEEE) | nb_NO |
dc.title | A System Architecture for Constraint-Based Robotic Assembly with CAD Information | nb_NO |
dc.type | Journal article | nb_NO |
dc.description.version | submittedVersion | nb_NO |
dc.source.pagenumber | 690-696 | nb_NO |
dc.source.journal | IEEE International Conference on Automation Science and Engineering | nb_NO |
dc.identifier.doi | 10.1109/COASE.2018.8560450 | |
dc.identifier.cristin | 1650383 | |
dc.description.localcode | © 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. | nb_NO |
cristin.unitcode | 194,63,25,0 | |
cristin.unitname | Institutt for teknisk kybernetikk | |
cristin.ispublished | true | |
cristin.fulltext | preprint | |
cristin.qualitycode | 1 | |