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Title:

Grasped Element Position Recognition and Robot Pose Adjustment during Assembly

Document type:
Konferenzbeitrag
Contribution type:
Textbeitrag / Aufsatz
Author(s):
Iturralde, Kepa; Kinoshita, Taku; Bock, Thomas
Pages contribution:
461-468
Abstract:
Upgrading building envelopes with fully prefabricated 2D modules requires high accuracy during the manufacturing process with tolerances lower than 1 mm. In the research described in this paper, computer designed and accurately manufactured objects have been assembled with robotic arms. However, in previous phases, it was detected that during the assembly process, the placement differed from the planned location due to undesired deviations of the object while being grasped and placed b...     »
Keywords:
Deviation; Localization; Estimation; Adjustment
Horizon 2020:
636984
Editor:
International Association for Automation and Robotics in Construction (IAARC)
Book / Congress title:
36th International Symposium on Automation and Robotics in Construction
Date of congress:
21-24.05.2019
Year:
2019
Language:
en
Publication format:
WWW
Fulltext / DOI:
doi:https://doi.org/10.22260/ISARC2019/0062
WWW:
https://www.iaarc.org/publications/fulltext/ISARC_2019_Paper_107.pdf
TUM Institution:
Lehrstuhl für Baurealisierung und Baurobotik
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