Adaptive Component Handling for Intelligent Assembly
Abstract
Loading machines with the help of robots is still frequently carried out through rigid pick-and-place applications. The positions for grasping and placing the components are fixed. This approach is limited when assembling different variants. Deviating assembly positions of the individual variants require the robot to be adapted to the respective component.
The aim of this thesis is to develop an approach for the robotic assembly of sockets or connectors and to subsequently compare it with existing approaches. Visual and force-based methods may be considered individually or in combination.
The resulting robotic assembly approach can first be tested in a peg-in-hole setup, a frequently used test scenario, and subsequently evaluated in more complex real-world scenarios.
Motivation
Loading machines with the help of robots is still frequently carried out through rigid pick-and-place applications. The positions for grasping and placing the components are fixed. This approach is limited when assembling different variants. Deviating assembly positions of the individual variants require the robot to be adapted to the respective component.
Topic Area
Adaptability in component assembly reduces the preparation effort for positioning and enables fast adaptation to component changes. The adaptivity results from a closed control loop of sensing and actuation. Visual and force-based systems, as well as combinations of both, are used as sensor systems. An assembly operation may proceed as follows: first, the target position is localised using a camera system and an approach position is reached. Subsequently, the component can be placed at the assembly position under force control using force-torque sensing.
Description
The aim of this thesis is to develop an approach for the robotic assembly of sockets or connectors and to subsequently compare it with existing approaches. Visual and force-based methods may be considered individually or in combination.
The resulting robotic assembly approach can first be tested in a peg-in-hole setup, a frequently used test scenario, and subsequently evaluated in more complex real-world scenarios.
It is also possible to build on the findings of the “AI for Industry Challenge” competition organised by Intrinsic. Its goal was the development of an approach for the adaptive assembly of SFP and SC connectors.
For practical validation of the findings, a robot cell with a collaborative robot from Universal Robots at the Technology Transfer Centre Nürnberger Land in Lauf is available.
Requirements
- Programming skills (preferably Python and/or C++)
- Ideally initial experience with ROS
- Interest in robotic assembly tasks
This topic is suitable for a bachelor’s, project or master’s thesis and can also be combined with further topics for an M-APR.
Supervision
| Role | Name | |
|---|---|---|
| Supervisor | Prof. Dr. Christian Pfitzner | christian.pfitzner@th-nuernberg.de |
| Co-Supervisor | M. Sc. Patrick Fußy | patrick.fussy@th-nuernberg.de |
Location: TTZ Nürnberger Land, Martin-Luther-Straße 18, Lauf an der Pegnitz
Further information: TTZ Nürnberger Land · Mobile Robotics Lab
Prof. Dr. Christian Pfitzner
Professor of Mobile Robotics
Professor of Mobile Robotics at TH Nürnberg Georg Simon Ohm, Faculty efi. Director of the TTZ Nürnberger Land. Research interests in autonomous navigation, drone technology and sensor fusion.