Jun 21, 2012 , by
Public Summary Month 20/2012
The JILAS experiment was successfully demonstrated at the Automatica 2012 in Munich.
A multimedia report is available: http://youtu.be/ovyQcHwtN0o
The experiment is finished.
Apr 16, 2012 , by
Public Summary Month 18/2012
The JILAS experiment has been chosen to be shown at the fair "Automatica 2012" in Munich. At the ECHORD booth a robot supported assembly of airplane components can partly be performed by the visitors.
Feb 8, 2012 , by
Public Summary Month 16/2012
At the moment the experiments are continuing on.
Status: A robot supported assembly of the components is possible. The operator has the possibility, to support the assembly process by exerting forces to the component in the robot gripper while the robot is moving to the target position. Improvements of the controller algorithms are currently investigated.
The Human-Machine-Interface is extended by presenting system informations in an intuitive understandable way to the operator, therefore additional hardware(touchscreen, spacemouse) is currently built in.
Dec 8, 2011 , by
Public Summary Month 14/2011
First force- and target guided positioning tasks of the airplane component have been performed. The challange is, to handle the coupling of relatively soft parts of the components (e.g. the elastic ends of the formers see here
) as well as stiff parts (see here
). Further efforts have to be made to develop a robust controller strategy.
A measurement system available at ZHAWs premises (Leica TS30) is installed in the lab and connected to the system via a serial interface. In a first step the position of components will be measured via attached reflex tapes previously attached to them. You can see the actual status of the measurement system here
.
Oct 17, 2011 , by
Public Summary Month 12/2011
In order to assemble parts, the forces of the assembly movement have to be controlled. In the JILAS experiment this is done via a force sensor mounted at the wrist of the robot.
Different controller strategies were discussed and assessed for their use in the contact task during the assembly of the airplane components.
==> see here and here for a demonstration of two different algorithms. In the first video you see the robot laying down a part. The second video shows a simple force controlled assembly of two parts. Both movements are controlled by the use of the force sensor signals.
