Automated Generation of Robot Trajectories for Assembly Processes Requiring Only Sparse Manual Input

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Abstract

In this paper, a new method for offline programming part assembly operations with tight fittings is presented. More specifically, an assembly process trajectory generator with self programming capabilities is developed where the user needs to provide only very sparse and intuitive input. The presented system is added to the existing skill based robot software package VEROSIM. In VEROSIM, the trajectory generator is applied to an industrial test platform for assembling insulin injection devices at the Danish pharmaceutical company Novo Nordisk, where it is shown that the trajectories as expected are executable. Hence, the method is a strong alternative to online approaches such as programming by demonstration.

Original languageEnglish
Title of host publication2021 IEEE International Conference on Robotics and Automation (ICRA)
PublisherIEEE
Publication date18. Oct 2021
Pages700-707
ISBN (Electronic)9781728190778
DOIs
Publication statusPublished - 18. Oct 2021
Event2021 International Conference on Robotics and Automation (ICRA 2021), IEEE. - Xi'an, China
Duration: 30. May 20215. Jun 2021

Conference

Conference2021 International Conference on Robotics and Automation (ICRA 2021), IEEE.
Country/TerritoryChina
CityXi'an
Period30/05/202105/06/2021

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