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Assembly Planning and Task Planning — Two Prerequisites for Automated Robot Programming

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Robotic Systems for Handling and Assembly

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 67))

Abstract

This contribution aims to present a complete process chain starting from the initial specification of assembly tasks via assembly sequence planning, all the way through task planning and finally task execution. It demonstrates how robot programs can be generated automatically from CAD data. For assembly sequence planning, a new assembly planning system has been developed and evaluated with several representative assembly groups. As an interface to robot control systems, manipulation primitives have been introduced. Manipulation primitive nets are an appropriate way to deal with uncertainties occurring during assembly task execution. This contribution introduces a new approach, demonstrating how to generate manipulation primitive nets automatically. Firstly, CAD data are segmented into surface primitives. A contact formation graph based on topological contacts between such surface primitives is generated afterwards. Based on these contact formation graphs, manipulation primitive nets can be successfully derived. The concept for automated robot programming presented in this contribution is supported by real experiments of actual assembly tasks.

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Authors and Affiliations

  1. Institut of Robotics and Mechatronics, German Aerospace Center (DLR), P.O.Box 1116, 82234, Weßling, Germany

    Ulrike Thomas

  2. Institute for Robotics and Process Control, Technische Universität Braunschweig, Mühlenpfordtstraße 23, 38106, Braunschweig, Germany

    Friedrich M. Wahl

Authors
  1. Ulrike Thomas
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  2. Friedrich M. Wahl
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Editors and Affiliations

  1. Institute of Machine Tools and Production Technology, Technische Universität Braunschweig, Langer Kamp 19b, 38106, Braunschweig, Germany

    Daniel Schütz

  2. Institute for Robotics and Process Control, Technische Universität Braunschweig, Mühlenpfordtstraße 23, 38106, Braunschweig, Germany

    Friedrich M. Wahl

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Thomas, U., Wahl, F.M. (2010). Assembly Planning and Task Planning — Two Prerequisites for Automated Robot Programming. In: Schütz, D., Wahl, F.M. (eds) Robotic Systems for Handling and Assembly. Springer Tracts in Advanced Robotics, vol 67. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-16785-0_19

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  • DOI: https://doi.org/10.1007/978-3-642-16785-0_19

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-16784-3

  • Online ISBN: 978-3-642-16785-0

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