Pose error correction of a robot end-effector using a 3D visual sensor for control cabinet wiring

Hefner F, Schmidbauer S, Franke J (2020)

Publication Type: Conference contribution

Publication year: 2020

Journal

Procedia CIRP Curran

Publisher: Elsevier B.V.

Book Volume: 93

Pages Range: 1133-1138

Conference Proceedings Title: Procedia CIRP

Event location: Chicago, IL US

DOI: 10.1016/j.procir.2020.04.088

Abstract

The wiring of control cabinets in small and medium-sized enterprises is a mostly manually performed process and very time-consuming. Thus, an automated approach for wiring control cabinets is necessary. The proposed solution is based on an ECAD model and performed by a lightweight robot. Before the wire insertion, the tip pose of the gripped wire end and the component port pose are detected by processing 3D sensor data. The sensor is able to detect wire ends with arbitrary cross-section geometries and arbitrary component port shapes. The results prove the functionality of correcting the pose of the robot end-effector with respect to a component port using a 3D sensor.

Authors with CRIS profile

Florian Hefner Lehrstuhl für Fertigungsautomatisierung und Produktionssystematik Simon Schmidbauer Lehrstuhl für Fertigungsautomatisierung und Produktionssystematik Jörg Franke Lehrstuhl für Fertigungsautomatisierung und Produktionssystematik

How to cite

APA:

Hefner, F., Schmidbauer, S., & Franke, J. (2020). Pose error correction of a robot end-effector using a 3D visual sensor for control cabinet wiring. In Robert X. Gao, Kornel Ehmann (Eds.), Procedia CIRP (pp. 1133-1138). Chicago, IL, US: Elsevier B.V..

MLA:

Hefner, Florian, Simon Schmidbauer, and Jörg Franke. "Pose error correction of a robot end-effector using a 3D visual sensor for control cabinet wiring." Proceedings of the 53rd CIRP Conference on Manufacturing Systems, CMS 2020, Chicago, IL Ed. Robert X. Gao, Kornel Ehmann, Elsevier B.V., 2020. 1133-1138.

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