4 accepted papers
Execution of automatically generated programs for accurate robotic machining requires the generated trajectories to be not only accurate with respect to the work piece, but also that the trajectories are continuous differentiable (C1) while avoiding unnecessary large curvatures leading to large acce…
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 present…
In this paper, we present a model based approach for predicting the forward kinematics of a tool for picking prepreg fiber plies from a flat table and draping them onto a double curved mold. The tool consists of suction cups interlinked with springs. The tool has 60 actuated and 240 passive degrees…
Automated assembly operations have traditionally been carried out using “hard automation”, where all parts to be handled during the operation are located at known positions with very high accuracy. Such automation solutions are often mechanically very expensive to implement and also the programming…