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.