Showing papers by "Olav Egeland published in 2014"

5th CATS 2014 - CIRP Conference on Assembly Systems and Technologies Robotic assembly of aircraft engine components using a closed-loop alignment process

Abstract: This paper presents robotic assembly of aircraft engine components that cannot be assembled using traditional robotic assembly methods. The reason for this is uncertainty in shape and dimensional accuracy due to imperfections in the preceding manufacturing processes. In addition, the aircraft engine components are designed as complex geometry thin shell parts that are compliant in certain directions, resulting in assemblies which cannot meet manufacturing tolerances without forcing the components into shape and position. We present a solution to the problem using two real-time controlled industrial robots and a high accuracy laser triangulation sensor in a closed loop alignment process. c

Online state estimation of flexible beams based on particle filtering and camera images

Abstract: In this paper we present a system for human-robot cooperation where a flexible beam is handled by a human and robot. We use a vision based state estimator to coordinate the robot with the human. The state estimator is based on particle filtering, and the dynamical behaviour of the flexible beam is described by a finite element model, more specifically the absolute nodal coordinate formulation. We present the FEM based dynamical model, the state estimator and demonstrate through experiments that it can be used in human-robot cooperation for tasks like load sharing.

Particle filter based tracking of free-swinging objects for visual servoing

Abstract: We present a visual servoing system for the synchronization of a robot with a dynamic rigid body using a particle filter-based state estimator. We experimentally demonstrate its application for robotic loading of parts onto oscillating hangers in an industrial paint line. The particle filter is implemented with a physical dynamical model of the hanger, using the Euler equations for a pendulum with three degrees of freedom. The visual servoing system is successfully demonstrated using two cameras to get a good 3D estimate of the hanger motion. The experimental results indicate a maximum tracking error of 0.1 degrees.