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Robotic assembly planning and control with enhanced adaptability through function blocks
KTH, School of Industrial Engineering and Management (ITM), Production Engineering.ORCID iD: 0000-0001-8679-8049
KTH, School of Industrial Engineering and Management (ITM), Production Engineering.ORCID iD: 0000-0002-3517-3636
2015 (English)In: The International Journal of Advanced Manufacturing Technology, ISSN 0268-3768, E-ISSN 1433-3015, Vol. 77, no 1-4, 705-715 p.Article in journal (Refereed) Published
Abstract [en]

Manufacturing companies today need to maintain a high level of flexibility and adaptability to deal with uncertainties on dynamic shop floors, including, e.g. cutting tool shortage, part supply interruption, urgent job insertion or delay and machine unavailability. Such uncertainties are characteristic in component assembly operations. Addressing the problem, we propose a new method using function blocks to achieve much improved adaptability in assembly planning and robot control. In this paper, we propose to use event-driven function blocks for robotic assembly, aiming to plan trajectory and execute assembly tasks in real time. It is envisioned that this approach will achieve better adaptability if applied to real-world applications.

Place, publisher, year, edition, pages
Springer Publishing Company, 2015. Vol. 77, no 1-4, 705-715 p.
Keyword [en]
Adaptability, Robotic assembly, Trajectory planning, Function block
National Category
Other Engineering and Technologies
Identifiers
URN: urn:nbn:se:kth:diva-163461DOI: 10.1007/s00170-014-6468-1ISI: 000350117300055Scopus ID: 2-s2.0-84925461308OAI: oai:DiVA.org:kth-163461DiVA: diva2:800939
Note

QC 20150408

Available from: 2015-04-08 Created: 2015-04-07 Last updated: 2017-12-04Bibliographically approved

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Wang, LihuiGivehchi, Mohammad

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