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



Interactive Session


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


Full Text


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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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