Intuitive Constraint-Based Robot Programming for Robotic Assembly Tasks

Lorenz Halt1, Frank Naegele2, Philipp Tenbrock1, Andreas Pott3

  • 1Fraunhofer Institute for Manufacturing Engineering and Automatio
  • 2Fraunhofer IPA
  • 3Fraunhofer-Gesellschaft

Details

Category

Interactive Session

Sessions

10:30 - 13:00 | Tue 22 May | podJ | TuA@J

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Abstract

Recent intuitive robot programming approaches operate on task level, enabling programmers to intuitively arrange or compose encapsulating robot capabilities (skills). This paper presents an approach to intuitively create (sub-)skills. General guidelines for assembly process descriptions #2860 provided by the Association of German Engineers VDI are applied to robot programming, in particular addressing assembly applications. The guidelines are exemplary applied to the constraint-based approach iTaSC (instantaneous Task Specification using Constraints), presenting a procedure to hierarchically combine elementary processes to (sub-)skills. Six elementary processes are identified to be sufficient to implement a wide variety of assembly tasks. An iTaSC implementation was developed and two exemplary assembly tasks were realized to evaluate the approach.

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Summary

Exemplary applications: Snap-mounting on DIN-rails and door handle insertion

  • Applied the general guidelines for assembly process descriptions VDI #2860 to robot programming
  • In particular to the constraint based iTaSC formalism
  • Identified six elementary processes to implement a wide variety of assembly tasks
  • Aimed towards end-users without a deep understanding of robot motion/force control